CN119699979A - Endoscopic imaging method and system, imaging method and device, and electronic equipment - Google Patents
Endoscopic imaging method and system, imaging method and device, and electronic equipment Download PDFInfo
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Abstract
本申请提供一种内窥镜成像方法及系统、成像方法及装置和电子设备。其中系统包括：白光照明模块，用于获取标准的白光，对内窥镜的目标组织进行照明；分束模块，用于将白光的反射光，分为第一路光束及第二路光束；白光成像处理模块，用于使用第一路光束，则获取标准白光图像；同时，高光谱成像处理模块，用于使用第二路光束，则采集高光谱图像，并从高光谱图像的多个窄带图像，选取中心波长差异达到预设差异的两个以上窄带图像；并，以及，基于所述两个以上窄带图像的至少任意的两个窄带图像进行促进与抑制机制的融合以及颜色通道组合，生成伪彩色图像；图像显示模块，用于显示标准白光图像、高光谱图像及伪彩色图像，用于实现内窥镜的实时检查。
The present application provides an endoscopic imaging method and system, an imaging method and device, and an electronic device. The system includes: a white light illumination module, which is used to obtain standard white light to illuminate the target tissue of the endoscope; a beam splitting module, which is used to divide the reflected light of the white light into a first light beam and a second light beam; a white light imaging processing module, which is used to use the first light beam to obtain a standard white light image; at the same time, a hyperspectral imaging processing module, which is used to use the second light beam to collect a hyperspectral image, and select two or more narrow-band images whose central wavelength difference reaches a preset difference from multiple narrow-band images of the hyperspectral image; and, based on at least any two of the two or more narrow-band images, a fusion of promotion and inhibition mechanisms and a combination of color channels are performed to generate a pseudo-color image; an image display module, which is used to display standard white light images, hyperspectral images, and pseudo-color images, so as to realize real-time inspection of the endoscope.
Description
Technical Field
The present invention relates to the field of imaging technologies, and in particular, to an endoscope imaging method and system, an imaging method and device, and an electronic device.
Background
Image imaging in the related art requires the use of a plurality of light sources of different spectral characteristics to generate different images corresponding to the plurality of light sources, respectively. Such as different wavelength light sources including a first wavelength light source and a second wavelength light source. First, after a user manually switches to a light source of a first wavelength, an image corresponding to the light source of the first wavelength is generated using the light source of the first wavelength. Then, the user manually operates the light source to switch to the light source of the second wavelength, and an image corresponding to the light source of the second wavelength is generated by using the light source of the second wavelength.
Therefore, the user needs to switch the light source for multiple times, the operation flow of the user is complex, and the imaging efficiency and the instantaneity are affected.
Disclosure of Invention
The application provides an improved endoscope imaging method and system, an imaging method and device and electronic equipment.
The present application provides an endoscopic imaging system comprising:
The white light illumination module is used for obtaining standard white light and illuminating a target tissue of the endoscope;
the beam splitting module is used for splitting the reflected light of the white light into a first path of light beam and a second path of light beam;
the white light imaging processing module is used for acquiring a standard white light image by using the first path of light beam, and simultaneously,
The hyperspectral imaging processing module is used for acquiring hyperspectral images by using the second path of light beams, selecting more than two narrow-band images with center wavelength difference reaching preset difference from a plurality of narrow-band images of the hyperspectral images, and performing fusion and color channel combination of a promotion and inhibition mechanism based on at least any two narrow-band images of the more than two narrow-band images to generate a pseudo-color image;
And the image display module is used for displaying the standard white light image, the hyperspectral image and the pseudo-color image and realizing real-time examination of the endoscope.
The hyperspectral imaging processing module comprises a mapping unit and a fusion unit for promoting and inhibiting, wherein the fusion unit for promoting and inhibiting is used for fusing a promotion and inhibition mechanism based on the same two narrowband images to generate the monochromatic image, the mapping unit is used for respectively mapping the monochromatic image generated based on the same two narrowband images to a first color channel of an RGB channel, a second color channel of the RGB channel and a third color channel of the RGB channel, and combining the color channels of the images mapped by the first color channel, the second color channel and the third color channel to obtain a pseudo-color image;
Or alternatively
The hyperspectral imaging processing module comprises a mapping unit and a fusion unit for promoting and inhibiting, wherein the fusion unit is used for carrying out fusion of the promotion and inhibition mechanism based on the bionical vision of each two narrowband images, and correspondingly generating the monochromatic images, the mapping unit is used for respectively mapping the monochromatic images generated correspondingly based on each two narrowband images to a first color channel of an RGB channel, a second color channel of the RGB channel and a third color channel of the RGB channel, and carrying out color channel combination on the images mapped by the first color channel, the second color channel and the third color channel to obtain a pseudo-color image.
The endoscope imaging system further comprises a control module, a display module and a display module, wherein the control module is used for receiving a switching instruction for the standard white light image, the hyperspectral image and the pseudo-color image and switching to an image to be displayed;
Or alternatively
The image display module comprises three displays which are used for respectively displaying the standard white light image, the hyperspectral image and the pseudo-color image.
Further, the hyperspectral imaging processing module comprises an HSI image acquisition unit:
The HSI image acquisition unit is used for acquiring a hyperspectral image by using a hyperspectral camera, wherein the hyperspectral image comprises a plurality of generated narrow-band light images, and the hyperspectral camera acquires reflected light in the whole spectrum range at one time;
and/or the number of the groups of groups,
The HSI image acquisition unit is used for combining an image sensor with a filtering color wheel to obtain hyperspectral images, wherein the filtering color wheel comprises filters with different wave bands, and the plurality of narrow-band light images are obtained by sequentially filtering light with different wavelengths onto a monochromatic sensor by rotating the filtering color wheel;
and/or the number of the groups of groups,
The HSI image acquisition unit is used for acquiring a hyperspectral image by using a grating spectrometer, wherein the hyperspectral image is spectrum information of each wavelength, which is recorded by the grating spectrometer and is obtained by decomposing the entered white light into a plurality of spectrums with different wavelengths through a grating.
The application provides an endoscopic imaging method, comprising the following steps:
The white light illumination module obtains standard white light and illuminates target tissues of the endoscope;
the beam splitting module splits the reflected light of the white light into a first path of light beam and a second path of light beam;
the white light imaging processing module acquires a standard white light image by using the first path of light beam, and simultaneously,
The hyperspectral imaging processing module acquires hyperspectral images by using the second path of light beams, selects more than two narrow-band images with center wavelength difference reaching preset difference from a plurality of narrow-band images of the hyperspectral images, and performs fusion and color channel combination of a promotion and inhibition mechanism based on at least any two narrow-band images of the more than two narrow-band images to generate a pseudo-color image;
The image display module displays the standard white light image, the hyperspectral image and the pseudo-color image and is used for realizing real-time examination of the endoscope.
The application provides an imaging method, which comprises the following steps:
Obtaining standard white light, and illuminating an object to be detected;
dividing the reflected light of the white light into a first path of light beam and a second path of light beam;
The first path of light beam is used to obtain standard white light image, and at the same time,
Collecting hyperspectral images by using the second path of light beams, selecting more than two narrow-band images with center wavelength difference reaching preset difference from a plurality of narrow-band images of the hyperspectral images, and performing fusion and color channel combination of a promotion and inhibition mechanism based on at least any two narrow-band images of the more than two narrow-band images to generate a pseudo-color image;
and displaying the standard white light image, the hyperspectral image and the pseudo-color image.
Further, the two or more narrowband images include any two narrowband images, each time any color channel of the RGB channels is mapped, the monochrome image will be generated based on the same two narrowband images;
the fusing and color channel combining of the promotion and inhibition mechanism based on at least any two narrow-band images of the two or more narrow-band images, generating a pseudo-color image, comprises:
Fusing the promotion and inhibition mechanisms of the bio-bionic vision based on the two narrow-band images to generate a single-color image;
mapping the single-color images generated based on the same two narrowband images to a first color channel of an RGB channel, a second color channel of the RGB channel, and a third color channel of the RGB channel, respectively;
and carrying out color channel combination on the images mapped by the first color channel, the second color channel and the third color channel to obtain a pseudo-color image.
Further, the two or more narrowband images comprise any two or more narrowband images, and each time any color channel of RGB channels is mapped, the monochrome image is correspondingly generated based on different two narrowband images;
the fusing and color channel combining of the promotion and inhibition mechanism based on at least any two narrow-band images of the two or more narrow-band images, generating a pseudo-color image, comprises:
fusing promotion and inhibition mechanisms of bionical vision based on at least two different narrow-band images, and correspondingly generating a monochromatic image;
Mapping the single-color images generated based on the two narrow-band images respectively to a first color channel of an RGB channel, a second color channel of the RGB channel and a third color channel of the RGB channel;
and carrying out color channel combination on the images mapped by the first color channel, the second color channel and the third color channel to obtain a pseudo-color image.
Further, the collecting hyperspectral image comprises obtaining hyperspectral image by using a hyperspectral camera, wherein the hyperspectral image comprises a plurality of generated narrow-band light images which are obtained by the hyperspectral camera in one step and reflect light in the whole spectrum range;
and/or the number of the groups of groups,
The hyperspectral image acquisition method comprises the steps of combining an image sensor with a filtering color wheel to obtain hyperspectral images, wherein the filtering color wheel comprises filters with different wave bands, and the plurality of narrowband light images are obtained by sequentially filtering light with different wavelengths onto a monochromatic sensor by rotating the filtering color wheel;
and/or the number of the groups of groups,
The hyperspectral image acquisition method comprises the steps of acquiring a hyperspectral image by using a grating spectrometer, wherein the hyperspectral image is obtained by decomposing the entered white light into a plurality of spectrums with different wavelengths by the grating spectrometer, and respectively recording the spectrum information of each wavelength.
Further, the method for displaying the standard white light image, the hyperspectral image and the pseudo-color image comprises the steps of displaying the standard white light image, the hyperspectral image and the pseudo-color image on a display, receiving a switching instruction for the displayed standard white light image, hyperspectral image and pseudo-color image, and responding to the switching instruction to switch to the image to be displayed;
Or alternatively
The displaying the standard white light image, the hyperspectral image and the pseudo-color image includes displaying the standard white light image, the hyperspectral image and the pseudo-color image on three displays, respectively.
The present application provides an imaging apparatus for realizing the imaging method as described above, the imaging apparatus comprising:
The illumination module is used for acquiring standard white light and illuminating the detected object;
the beam splitting module is used for splitting the reflected light of the white light into a first path of light beam and a second path of light beam;
the white light imaging processing module is used for acquiring a standard white light image by using the first path of light beam, and simultaneously,
The hyperspectral imaging processing module is used for acquiring hyperspectral images by using the second path of light beams, selecting more than two narrow-band images with center wavelength difference reaching preset difference from a plurality of narrow-band images of the hyperspectral images, and performing fusion and color channel combination of a promotion and inhibition mechanism based on at least any two narrow-band images of the more than two narrow-band images to generate a pseudo-color image;
And the image display module is used for displaying the standard white light image, the hyperspectral image and the pseudo-color image.
The present application provides an electronic device comprising one or more processors for implementing an imaging method as described in any of the above.
The present application provides a computer-readable storage medium having stored thereon a program which, when executed by a processor, implements the imaging method as described in any one of the above.
The present application provides a computer program product comprising a computer program/instruction which, when executed by a processor, implements the imaging method as claimed in any one of the preceding claims.
In some embodiments, the imaging method of the application automatically generates the standard white light image and the pseudo-color image without user participation, and displays the hyperspectral image, the standard white light image and the pseudo-color image, thereby improving imaging efficiency and instantaneity.
Drawings
FIG. 1 is a flow chart of an imaging method according to an embodiment of the application;
FIG. 2 is a schematic diagram showing a specific flow of the imaging method shown in FIG. 1;
fig. 3 is a schematic structural diagram of an imaging device according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an endoscopic imaging system according to an embodiment of the present application;
FIG. 5 is a schematic diagram showing a specific configuration of an endoscopic imaging system according to an embodiment of the present application;
FIG. 6 is a flow chart illustrating an exemplary endoscopic imaging method of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with one or more embodiments of the present specification. Rather, they are merely examples of apparatus and methods consistent with aspects of one or more embodiments of the present description as detailed in the accompanying claims.
It should be noted that in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than described in this specification. Furthermore, a single step described in this specification may be described as being split into multiple steps in other embodiments, while multiple steps described in this specification may be described as being combined into a single step in other embodiments.
The user in the related art switches the light sources of different spectral characteristics by manual operation. Therefore, the user needs to switch the light source for multiple times, the operation flow of the user is complex, and the imaging efficiency and the instantaneity are affected.
In order to solve the technical problems that the user needs to switch the light source for multiple times, the operation flow of the user is complex, and the imaging efficiency and the real-time performance are affected, the embodiment of the application provides an imaging method, which divides the reflected light of white light into two paths of light, automatically uses the two paths of light sources to simultaneously perform real-time acquisition of white light images and real-time acquisition of hyperspectral images so as to correspondingly generate standard white light images and pseudo-color images in real time, and displays the hyperspectral images, the standard white light images and the pseudo-color images in real time. Therefore, without the participation of a user, the standard white light image and the pseudo-color image are automatically generated, the hyperspectral image, the standard white light image and the pseudo-color image are displayed, and the imaging efficiency and the instantaneity are improved.
The imaging method of the embodiment of the application can be applied to the tissue detection field of an endoscope, the functional imaging field of the endoscope such as blood oxygen detection and the like, and the remote sensing field. The details are as follows.
Fig. 1 is a flow chart of an imaging method according to an embodiment of the application.
As shown in fig. 1, the imaging method may include, but is not limited to, the following steps 110 to 140:
Step 110, obtaining standard white light, and illuminating the detected object.
At the time of photographing, the condition of an illuminated object can be grasped by white light illumination.
Step 120, dividing the reflected light of the white light into a first path of light beam and a second path of light beam.
The "first" of the "first beam" and the "second" of the "second beam" are used to distinguish the two white lights. Therefore, two white lights can be used simultaneously, so that the standard white light image and the hyperspectral image can be acquired simultaneously and automatically, the situation that the light source is switched by multiple operations is avoided, and the operation of a user is reduced.
Step 130, acquiring a standard white light image by using the first path of light beam, acquiring a hyperspectral image by using the second path of light beam, selecting more than two narrow-band images with center wavelength difference reaching preset difference from a plurality of narrow-band images of the hyperspectral image, and performing fusion and color channel combination of a promotion and inhibition mechanism based on at least any two narrow-band images of the more than two narrow-band images to generate a pseudo-color image.
The pseudo-color image is used to grasp details of an object to be illuminated. Such as basic structural information of the illuminated objects like tissue surfaces, deep tissues, etc. These photographed objects may be referred to as inspected objects.
The plurality of narrowband images of the hyperspectral image may include, but is not limited to, 30 or more bands in which the obtained center wavelength difference reaches a preset difference. Analysis of these bands results in at least two more arbitrary narrowband images of the hyperspectral image. Thus, a pseudo color image can be generated from two or more narrowband images in which the center wavelength difference of 30 or more bands reaches a preset difference. Therefore, the full wave band can be applied, the level of the narrow-band image is more abundant, and the functional imaging and diagnosis are realized. And by exploring and testing different wavelength combinations, spectrum combination optimization is realized, and the imaging effect is further optimized so as to meet the requirements of various focus types.
The standard white light image is obtained in a plurality of ways:
In an alternative mode, a white light image is acquired, and standard processing is performed on the white light image to obtain a standard white light image as the standard white light image. The standard processing may include, but is not limited to, denoising, contrast enhancement, exposure adjustment, sharpening, color correction, etc., so that the visual effect and readability of the image may be improved. The standard post-processing image may display more detail and perform better on different display devices.
In another alternative, a standard white light image is acquired directly. When the shooting effect of the camera can be automatically adjusted to expose, focus, white balance and the like according to the environment, the final image is almost lossless and approaches to the effect after standard processing, the standard white light image can be directly used.
In addition, the fusion of promotion and suppression mechanisms herein is used for image processing of specific features of every two narrowband images, resulting in suppressed image features and enhanced image features, and fusing these suppressed image features and enhanced image features. The specific feature is used to represent a feature having a difference in light absorption.
It should be noted that the fusion of the promotion and inhibition mechanism may include, but is not limited to, fusion of promotion and inhibition mechanism of biomimetic vision. Specifically, at least any two narrow-band images based on more than two narrow-band images are used for fusing a promotion and inhibition mechanism of biomimetic vision to generate a fused image.
Among these, the fusion of the promotion and inhibition mechanisms of biomimetic vision includes, but is not limited to, the receptive field models of the ON-center and the OFF-center in the visual system of the rattlesnake. Correspondingly, based ON the receptive field models of the ON-center and the OFF-center in the visual system of the rattlesnake, respectively carrying out image processing ON specific features of each two narrow-band images in more than two narrow-band images to obtain inhibited image features and enhanced image features, and fusing the inhibited image features and the enhanced image features to obtain a fused image.
In this regard, every two narrowband images are fused by a mechanism of promotion and inhibition of bionic vision to generate a new monochromatic image (which may also be referred to as a fused image). In this way, the interaction between every two narrowband images is fully considered to enhance contrast and depth resolution. And, the new monochrome image to be generated is sent to one of RGB (Red Green Blue) channels for display, and the other color channels use the same operation. For details, see below.
The fusion of the promotion and inhibition mechanism of the bionic vision comprises, but is not limited to, a positive feedback mechanism and a negative feedback mechanism in biological perception and behavior learning, and the fusion of the promotion and inhibition mechanism is correspondingly realized. Thus, sample training learning is required, the suppressed image features and the enhanced image features can be obtained, and the suppressed image features and the enhanced image features are fused to obtain a fused image.
It should also be noted that the fusion of the promotion and inhibition mechanism may further include, but is not limited to, fusion of a deep learning-based neural network model. Wherein the deep learning based neural network model includes an attention mechanism for implementing the facilitated activation function and implementing the suppression mechanism. And the promotion and inhibition mechanism in the biological perception and behavior learning is correspondingly realized. Thus, sample training learning is required, the suppressed image features and the enhanced image features can be obtained, and the suppressed image features and the enhanced image features are fused to obtain a fused image.
Step 140, displaying the standard white light image, the hyperspectral image and the pseudo-color image.
The standard white light image, the hyperspectral image and the pseudo-color image are used for respectively displaying the real-time condition of the detected object. Thus, the analysis and observation are facilitated by using the standard normal image display, the hyperspectral image display and the high-contrast pseudo-color image display for the same detected object.
The pseudo-color image herein may be a high contrast pseudo-color image. The degree of difference between the brightest and darkest regions in the high-contrast pseudo-color image is large. Thus, the pseudo-color image with high contrast is more vivid and bright-dark. Illustratively, the contrast ratio of the high contrast pseudo-color image is typically greater than 5, and may even reach 10 or higher.
Referring to fig. 1, in the step 130, two or more narrowband images with a difference of center wavelength reaching a preset difference are selected from the plurality of narrowband images of the hyperspectral image, where the preset difference may be used to indicate that the narrowband images have a larger difference. Thus, the subsequent fusion of the promotion and inhibition mechanisms is carried out, and the fusion has more meaning.
The preset difference herein may be, but is not limited to, greater than or equal to 50nm (nanometers). Fusion is made more effective for a sufficiently large information gap. The predetermined difference may be, but is not limited to, 80nm (nanometers) or more.
Based on this, in connection with fig. 1, the above-mentioned at least arbitrary two narrowband images based on two or more narrowband images in step 130 of the imaging method perform fusion of promotion and suppression mechanisms and color channel combination to generate a pseudo-color image, which can be implemented by the following embodiments:
In a first alternative embodiment, the two or more narrowband images comprise any two narrowband images, and each time any one of the RGB channels is mapped (which may be referred to as mapping each time), the fusion of the promotion and suppression mechanisms is performed based on the same two narrowband images, resulting in a single color image. Correspondingly, (1) the fusion of the promotion and inhibition mechanism of the bionical vision is carried out based on the two narrow-band images, and a monochromatic image is generated. (2) A single color image to be generated based on the same two narrowband images is mapped to a first color channel of the RGB channel, to a second color channel of the RGB channel, and to a third color channel of the RGB channel, respectively. (3) And combining the color channels of the images mapped by the first color channel, the second color channel and the third color channel to obtain a pseudo-color image.
The third of the "first", "second", and "third color channels" in the "first color channel" described above is used to distinguish three different color channels.
In this embodiment, two narrowband images interact to produce one image, which is mapped directly to one of the RGB channels. Thus, the contrast and depth resolution of the image are enhanced by adopting an image fusion method based on a biological bionic visual mechanism.
In a second alternative embodiment, the two or more narrowband images comprise any two or more narrowband images, and each time any color channel of the RGB channels is mapped (which may be referred to as mapping each time), the fusion of the promotion and suppression mechanisms is performed based on at least two different narrowband images, and the generated monochromatic images are generated correspondingly. Correspondingly, 1) fusing the promotion and inhibition mechanisms of the bionics vision based on at least two different narrow-band images, and correspondingly generating a monochromatic image. 2) The single-color images generated based on the two narrow-band images are mapped to a first color channel of an RGB channel, a second color channel of the RGB channel, and a third color channel of the RGB channel. 3) And combining the color channels of the images mapped by the first color channel, the second color channel and the third color channel to obtain a pseudo-color image.
The narrow-band images of each of the at least two bands are subjected to a pairwise action, and then the pairwise action images are subjected to a further action to obtain an image, and the image is mapped to one of the RGB channels.
In addition, the narrow-band images of each of the at least two bands are subjected to a pairwise effect, and the pairwise effect images are mapped to one of the RGB channels.
In this regard, each time a single color image is mapped to one of the RGB channels, all of the mapped images are finally synthesized, and instead of outputting the image directly through the actual RGB channels, the fused image is generated. The fused image may be referred to as a pseudo-color image.
For example, the first narrowband image O and the second narrowband image P interact to a new monochromatic image, mapping to one of the RGB channels;
The third narrowband image Q and the fourth narrowband image R interact to a new monochromatic image, which is mapped to one of the RGB channels;
The fifth narrowband image S and the fourth narrowband image T interact to a new monochrome image, mapped to one of the RGB channels.
In an embodiment, a pseudo-color fusion algorithm is used, which combines the advantages of multi-band narrowband imaging described above, resulting in a significant improvement in contrast and depth resolution of the image. And, generating a pseudo color image by mutual promotion and suppression of images, and mapping the pseudo color image to one of RGB channels, and repeating the operation to finally generate a fusion image. In this way, hyperspectral image data is mapped to the RGB color space using a fusion algorithm based on a biological vision mechanism to enhance image contrast and resolution.
Continuing with FIG. 1, the acquiring hyperspectral image in step 130 may be implemented in at least any one of the following implementations:
In a first alternative implementation, a hyperspectral camera is used to obtain a hyperspectral image, which includes a plurality of narrowband images generated by the hyperspectral camera capturing reflected light over the entire spectral range at once. As such, hyperspectral cameras are suitable for applications requiring real-time imaging, covering the visible to near infrared bands.
In a second alternative implementation, the hyperspectral image is obtained by combining an image sensor with a filter color wheel, wherein the filter color wheel comprises filters with different wavebands, and the plurality of narrowband images are obtained by sequentially filtering light with different wavelengths onto a monochromatic sensor by rotating the filter color wheel. The image sensor is used for capturing light and converting the light into an electronic signal. The image sensor may include, but is not limited to, a CMOS (Complementary Metal-Oxide-Semiconductor) sensor, a monochrome image sensor camera, and the like, which are not exemplified herein. Thus, the combination of the image sensor and the filter color wheel can be used in a cost sensitive scene with high resolution requirements, providing high quality image resolution.
In a third alternative implementation mode, a grating spectrometer is used to obtain a hyperspectral image, wherein the hyperspectral image is spectrum information of each wavelength recorded by the grating spectrometer through decomposing the entered white light into a plurality of spectrums with different wavelengths through the grating. Thus, the grating spectrometer can provide high spectral resolution and is suitable for finely analyzing the tissue characteristics of the detected object.
Fig. 2 is a schematic flow chart of the imaging method shown in fig. 1.
As further shown in fig. 1 and 2, the step 140 may include, but is not limited to, the following two embodiments:
In an alternative embodiment of step 140, step 141, a standard white light image, a hyperspectral image, and a pseudo-color image are displayed on a display. Accordingly, the above-mentioned imaging method may further include the step 150 of receiving a switching instruction for the displayed standard white light image, hyperspectral image, and pseudo-color image. And, in response to the switching instruction, step 160 switches to the image to be displayed.
In this case, a standard white light image, a hyperspectral image, and a pseudo-color image can be displayed on one display, respectively, and by switching these images, an image to be displayed can be displayed.
Further, a standard white light image, a hyperspectral image and a pseudo color image can be simultaneously displayed on one display in multiple pictures. By switching these pictures, the multi-picture is switched to one picture, and an image to be displayed is enlarged or displayed more pertinently.
In this embodiment, an image to be displayed among a plurality of images can be controlled to be displayed.
In another alternative embodiment of step 140 above, the standard white light image, the hyperspectral image, and the pseudo-color image are each displayed separately on three displays. Thus, each image is directly displayed through the three displays, the user is not required to switch each image, and the images required to be displayed are used and displayed.
Based on the same inventive concept as the above method, the embodiment of the present application further provides an imaging device, as shown in fig. 3, which may include the following illumination module 51, beam splitting module 52, white light imaging processing module 53, hyperspectral imaging processing module 54, and image display module 55:
An illumination module 51 for obtaining standard white light and illuminating the object to be inspected;
The beam splitting module 52 is configured to split the reflected light of the white light into a first path of light beam and a second path of light beam;
The white light imaging processing module 53 is configured to acquire a standard white light image using the first path of light beam, and, at the same time,
The hyperspectral imaging processing module 54 is used for acquiring hyperspectral images by using a second path of light beams, selecting more than two narrow-band images with center wavelength difference reaching preset difference from a plurality of narrow-band images of the hyperspectral images, and performing fusion and color channel combination of a promotion and inhibition mechanism based on at least any two narrow-band images of the more than two narrow-band images to generate a pseudo-color image;
The image display module 55 is used for displaying a standard white light image, a hyperspectral image and a pseudo-color image.
As one embodiment, the image display module 55 is specifically configured to display a standard white light image, a hyperspectral image, and a pseudo color image on one display. Correspondingly, the imaging device further comprises a control module, wherein the control module is used for receiving a switching instruction aiming at the displayed standard white light image, the hyperspectral image and the pseudo-color image, and the switching module is used for responding to the switching instruction and switching to the image to be displayed.
The imaging device provided by the embodiment of the application can achieve the same or similar technical effects as the imaging device provided by the embodiment of the application, which are not exemplified herein.
Currently, the endoscope technology has become an indispensable tool in clinical diagnosis and treatment, and in particular in the fields of digestive tracts, respiratory tracts and the like, the endoscope using white light as a mainstream technology has been widely used. In particular, endoscopes rely primarily on visible light (400-750 nm band) imaging, thus limiting their ability to detect small features and physiological changes in tissue, especially in the identification of early cancers, inflammation and other lesions. Because the white light image can only present tissue surface structure information, the lack of sensitivity to deep tissue chemical components and functions often leads to the neglect or misjudgment of fine lesions, which affects the accuracy of clinical diagnosis. Moreover, the hyperspectral imaging (HYPERSPECTRAL IMAGING, HSI) endoscope system generally needs to switch different light sources to acquire multiband images, a user needs to switch the light sources for multiple times, the operation flow of the user is complex, the imaging efficiency and the instantaneity are affected, and the clinical operation difficulty is increased.
In order to solve the technical problems that the white light image can only present tissue surface structure information, and the lack of sensitivity to chemical components and functions of deep tissues often causes fine lesions to be ignored or misjudged, influences the accuracy of clinical diagnosis, and the user needs to switch light sources for many times, the operation flow of the user is complex, the imaging efficiency and the instantaneity are influenced, the clinical operation difficulty is increased, and the like, the embodiment of the application provides an endoscope imaging system for realizing the imaging method. And performing white light analysis through standard white light image display, performing spectral imaging analysis through hyperspectral images, and fusing more than two narrow-band images with center wavelength difference reaching preset difference with a suppression mechanism to generate a fused image. Therefore, through the beam splitting module and the single white light source design, synchronous acquisition of the white light image and the hyperspectral image can be realized without light source switching, the operation efficiency is improved, the imaging efficiency and the instantaneity are improved, and the device is suitable for real-time clinical operation.
Based on the same inventive concept as the above-described method, the embodiment of the present application also provides an imaging apparatus, such as the embodiments shown in fig. 4 and 5are similar to the embodiments shown in fig. 1 to 3, and in the embodiment of fig. 4, the embodiment of the present application provides an endoscopic imaging system for implementing the endoscopic imaging method as described below, compared to the embodiments shown in fig. 1 to 3. And, the system may include various structures including a white light illumination module 511, a beam splitting module 52, a white light imaging processing module 53, a hyperspectral imaging processing module 54, and an image display module 55:
The white light illumination module 511 is configured to obtain standard white light and illuminate a target tissue of the endoscope. The target tissue may be used to represent tissue characteristics of a particular subject. Thus, the white light illumination module 511 uses standard white light to illuminate the target tissue under the endoscope, eliminating the need for a dedicated multi-band light source, and simplifying the system design. White light is used not only for normal viewing but also for subsequent image acquisition.
The beam splitting module 52 is configured to split the reflected light of the white light into a first path of light beam and a second path of light beam. Wherein beam splitting module 52 may include, but is not limited to, one or more of a beam splitter, fiber optic splitter, and optical grating. Thus, the light source is standard white light, and as the light source, the light signal can be used for white light imaging and hyperspectral imaging simultaneously through the beam splitting module 52 without special light source conversion. Thus, by standard white light illumination, in combination with the beam splitting module 52 design, the white light image acquisition unit and the HSI image acquisition unit can operate simultaneously. Thus, bimodal imaging can be completed without switching light sources, operation is simplified, and imaging efficiency is improved.
In this regard, after white light illumination, the returned reflected light is split into two paths by the splitting module 52, one path enters the white light image acquisition unit, and the other path enters the HSI image acquisition unit. The structure ensures independent acquisition of two images, and mutual interference is avoided.
The white light imaging processing module 53 is configured to acquire a standard white light image using the first path of light beam, and, at the same time,
The hyperspectral imaging processing module 54 is configured to collect a hyperspectral image using the second path of light beam, select two or more narrowband images with center wavelength difference reaching a preset difference from a plurality of narrowband images of the hyperspectral image, and perform fusion and color channel combination of a promotion and suppression mechanism based on at least any two narrowband images of the two or more narrowband images to generate a pseudo-color image.
Thus, white light and hyperspectral images can be acquired simultaneously without switching light sources, and the endoscope imaging system adopts a single white light source and is matched with the beam splitting module 52 to allow white light signals to enter different image acquisition modules (such as a white light image acquisition unit and an HSI image acquisition unit), so that efficient dual-mode simultaneous imaging is realized.
The HSI technology is a technology capable of capturing tissue characteristics under different spectrums, and has great potential in improving focus detection sensitivity. The HSI technique is capable of collecting a plurality of band information from visible light to near infrared light, generating detailed spectral data for each pixel, enabling it to identify and distinguish different tissue components, such as absorption differences of oxyhemoglobin and deoxyhemoglobin at different wavelengths. This property provides HSI with significant advantages in detecting microscopic lesions, identifying benign and malignant tissue, and monitoring surgical margins.
In addition, the above two or more narrowband images whose center wavelength difference reaches a preset difference may be, but not limited to, two narrowband images whose center wavelength difference is greater than 50nm, or two narrowband images whose center wavelength difference is greater than 80 nm. Thus, a fusion algorithm based on biological vision is introduced, and the contrast and depth resolution capability of tissues are remarkably enhanced by promoting the fusion of two narrow-band images with larger central wavelength difference with a suppression mechanism and mapping the narrow-band images to an RGB color space.
Compared with the imaging system in the related art, the image fusion method is simpler, can not effectively improve the hierarchical information and contrast of tissues, and limits the application effect of the system in the observation of complex tissue structures.
Compared with the related art, in the embodiment of the application, by selecting more than two narrow-band images with the center wavelength difference reaching the preset difference, the image fusion method of promotion and inhibition is adopted, so that the visualization effect of tissues is remarkably improved, and the method has remarkable advantages in the aspects of focus identification, early lesion detection, disease treatment and the like.
The image display module 55 is used for displaying a standard white light image, a hyperspectral image and a pseudo-color image and realizing real-time examination of the endoscope. The image display module 55 may include, but is not limited to, a display or screen, among others.
While the related art endoscope system can generally acquire different types of images only by switching light sources, the present endoscope imaging system achieves simultaneous acquisition of white light and hyperspectral images through the beam splitting module 52, which greatly improves operation convenience and imaging efficiency. In addition, due to the introduction of the HSI image fusion method, the system not only can provide white light images, but also can bring more abundant tissue information through hyperspectral imaging. The combination of the multi-mode images provides more dimensional information for clinical diagnosis and is helpful for improving the accuracy of diagnosis.
Compared with the related art, in the embodiment of the application, the design of an endoscope imaging system combines the advantages of two imaging modes of WLI and HSI, provides flexible image acquisition and processing schemes, and particularly has great potential in lesion diagnosis and early lesion recognition. The system has obvious clinical application prospect by simplifying the operation flow and improving the imaging quality.
As further shown in fig. 5, the white light imaging processing module 53 includes a white light image acquisition unit and a white light image processing unit, and the hyperspectral imaging processing module 54 includes an HSI image acquisition unit and an HSI image processing unit. The HSI image acquisition unit acquires hyperspectral image data through the hyperspectral sensor, covers image information of a plurality of narrowband optical bands, and provides reflection characteristics of tissues under different spectrums.
The white light image acquisition unit is used for acquiring a standard white light image by using a first path of light beam, and the HSI image acquisition unit is used for acquiring a hyperspectral image by using a second path of light beam;
The white light image processing unit is used for processing a standard white light image, and meanwhile, the HSI image processing unit is used for selecting more than two narrow-band images with center wavelength difference reaching preset difference from a plurality of narrow-band light wave band images in a hyperspectral image, and performing interaction of a bio-bionic visual mechanism on each two narrow-band images of the more than two narrow-band images to generate a monochromatic image.
Note that, the white light image processing unit and the HSI image processing unit described above may be collectively referred to as a two-way image processing unit. The two-way image processing unit performs independent processing based on WLI (white light) images and HSI images acquired simultaneously.
The white light image acquisition unit and the HSI image acquisition unit are relatively independent acquisition channels, and image acquisition is carried out simultaneously. The white light image acquisition unit can realize standard white light imaging, the acquisition frame rate is not lower than 30fps, and the smooth imaging effect of the real-time examination of the endoscope is ensured. The white light image capturing unit may be, but is not limited to, a CMOS (Complementary Metal-Oxide-Semiconductor Image Sensor, complementary metal Oxide semiconductor image sensor). White light images acquired using the CMOS are passed to an image processing module. The image processing module may include the above-described two-way image processing unit. The image processing module may be a chip for implementing the function of image processing.
According to the HSI image acquisition unit, under hyperspectral imaging, the acquisition frame rate is not lower than 15fps, narrowband images with different wavelengths are acquired, the band interval is not lower than 5nm, and the deep tissue information acquisition is improved while the image resolution is ensured.
In addition, the acquisition band interval of the HSI image acquisition unit is not less than 5nm, and the narrow-band spectral bandwidth is controlled within 10nm-30 nm.
And when the HSI image acquisition unit selects the narrow-band images, the band interval is ensured to be more than 5nm so as to ensure the difference and the accuracy of spectrum images in different bands.
The standard white light image hyperspectral image and the fusion image are used for realizing real-time examination of the endoscope.
In another embodiment, the hyperspectral imaging processing module 54 can also include, but is not limited to, an HSI image fusion module that selects two narrow-band images with a wavelength difference greater than 80nm from the HSI data for fusion. Such as mapping HSI images to RGB color space based on fusion algorithms and fusion of the biological vision based promotion and suppression mechanisms.
As further shown in FIG. 5, in an alternative embodiment, the two or more narrowband images comprise any two narrowband images, and each time mapped, a fusion of the promotion and suppression mechanisms is performed based on the same two narrowband images, resulting in a monochromatic image.
Accordingly, the hyperspectral imaging processing module 54 may include, but is not limited to, a mapping unit, and a promoting and suppressing fusion unit, wherein the promoting and suppressing fusion unit is used for fusing promoting and suppressing mechanisms for performing biomimetic vision based on the two same narrowband images to generate the monochromatic images, the mapping unit is used for mapping the monochromatic images generated based on the two same narrowband images to a first color channel of an RGB channel, a second color channel of the RGB channel and a third color channel of the RGB channel respectively, and performing color channel combination on the images mapped by the first color channel, the second color channel and the third color channel to obtain a pseudo-color image.
In the embodiment of the application, the fusion of the pseudo-color images combines the advantages of multi-band narrow-band imaging, so that the contrast and the deep resolution of the images are obviously improved, and a doctor can conveniently identify early lesions in the observation process.
In another alternative embodiment, the above two or more narrowband images comprise any two or more narrowband images, and each mapping is based on at least two different narrowband images to perform fusion of promotion and inhibition mechanisms, and a monochrome image is correspondingly generated.
Accordingly, the hyperspectral imaging processing module 54 may include, but is not limited to, a mapping unit, and a promoting and suppressing fusion unit, wherein the promoting and suppressing fusion unit is used for fusing a promoting and suppressing mechanism of biomimetic vision based on each two different narrowband images to generate the monochromatic image, the mapping unit is used for mapping the monochromatic image generated based on each two different narrowband images to a first color channel of an RGB channel, a second color channel of the RGB channel and a third color channel of the RGB channel, and combining the color channels of the first color channel, the second color channel and the third color channel to obtain a pseudo color image.
As further shown in FIG. 5, the image display module 55 may include, but is not limited to, one or two displays, and the endoscopic imaging system further includes a control module for receiving a switching instruction for the standard white light image, the hyperspectral image, and the pseudo-color image and switching to the image to be displayed. In this way, the doctor can choose to display different types of images as required, so as to better observe and diagnose the focus.
As one embodiment, the control module is further configured to receive any screenshot instruction for the standard white light image, the hyperspectral image and the pseudo-color image, perform screenshot on the current image, save the screenshot, generate a report, and display the diagnosis result.
The control module can realize control through the chip. The control module may include a foot controller and a controller. The screenshot instructions are illustratively the above screenshot instructions entered by a doctor stepping on the foot controller.
The image display module 55 includes three displays for respectively displaying a standard white light image, a hyperspectral image, and a pseudo color image.
With continued reference to fig. 5, in the embodiment of the present application, the above-mentioned hyperspectral imaging processing module 54 may be implemented by the HSI image capturing unit of at least any one of the following 3 embodiments, namely, 1) a hyperspectral camera, which is suitable for a clinical environment requiring rapid response, 2) a monochromatic sensor and a filtering color wheel, which is suitable for high-resolution imaging and has low cost, and 3) a grating spectrometer, which is suitable for a tissue analysis scene requiring high spectral accuracy. The three modes provide flexibility and economical selection for different diagnosis and treatment requirements.
1) Hyperspectral camera
In a first alternative embodiment, the hyperspectral imaging processing module 54 includes an HSI image capturing unit, which is configured to obtain a hyperspectral image using a hyperspectral camera, where the hyperspectral image includes a plurality of narrowband images generated by the hyperspectral camera that capture reflected light over the entire spectral range at one time.
In the first alternative embodiment, the hyperspectral camera is used for acquiring images quickly, hyperspectral image data can be acquired in real time, and the hyperspectral camera is suitable for clinical applications requiring rapid imaging and real-time analysis. Hyperspectral cameras can cover the spectrum from the visible to near infrared range, providing more extensive tissue information. As such, hyperspectral cameras are suitable for real-time imaging and fast-response clinical environments.
2) Color wheel with single color sensor and filtering
In a second alternative embodiment, the HSI image acquisition unit is configured to combine the image sensor with a filter color wheel to obtain a hyperspectral image, where the filter color wheel includes filters with different wavelength bands, and the multiple narrowband images are obtained by sequentially filtering different wavelengths of light onto the monochromatic sensor by rotating the filter color wheel.
The second alternative embodiment described above, the combination of the image sensor and the filter color wheel, results in a relatively low cost, and is suitable for obtaining high quality image data from the image sensor in situations where higher resolution is required. While imaging speed is relatively slow in this manner, its flexibility and cost effectiveness make it one of the better options. Thus, the combination of the image sensor and the filter color wheel is suitable for scenes that require high quality image resolution and are relatively cost sensitive.
3) Grating spectrospectrometer
In a third alternative embodiment, the HSI image acquisition unit is configured to acquire a hyperspectral image by using a grating spectrometer, where the hyperspectral image is spectrum information of each wavelength recorded by the grating spectrometer that decomposes the incoming white light into a plurality of spectrums of different wavelengths through a grating.
The third alternative embodiment described above can provide extremely high spectral resolution, and is suitable for scenes where high accuracy is required for tissue spectral characteristics. The grating spectrometer has excellent wavelength precision and sensitivity, can capture weak spectral changes of tissues, and is very suitable for focus fine imaging and analysis. Therefore, the grating spectrometer is designed for high-precision spectrum resolution application, and is suitable for application scenes in which tissue spectral characteristics need to be analyzed finely.
In the embodiment of the application, three acquisition implementation schemes are provided so as to optimize imaging effect under different clinical requirements, thereby realizing diversified HSI image acquisition. Moreover, through the diversified image acquisition modes, the system can provide a very adaptive solution and meet the wide medical imaging requirements from common endoscope detection to hyperspectral diagnosis and the like.
The three hyperspectral acquisition modes provide solutions for different clinical application requirements, and ensure that the system can adapt to a wide range of medical scenes. Such that the flexibility and adaptability of the system.
The implementation process of the functions and roles of each module/unit in this document is specifically detailed in the implementation process of the corresponding steps in the above method, so that the same technical effects can be achieved, and will not be repeated here.
Fig. 6 is a flow chart illustrating an exemplary endoscopic imaging method of the present application.
As shown in fig. 6, the endoscopic imaging method may include, but is not limited to, the following steps 210 to 240:
in step 210, the white light illumination module obtains standard white light to illuminate the target tissue of the endoscope.
In step 220, the beam splitting module splits the reflected light of the white light into a first beam and a second beam.
Step 230, the white light imaging processing module acquires a standard white light image by using the first path of light beam, and simultaneously, the hyperspectral imaging processing module acquires a hyperspectral image by using the second path of light beam, selects more than two narrow-band images with center wavelength difference reaching preset difference from a plurality of narrow-band images of the hyperspectral image, and performs fusion of a promotion and inhibition mechanism and color channel combination based on at least any two narrow-band images of the more than two narrow-band images to generate a pseudo-color image.
Step 230 may acquire a co-located White Light Image (WLI) and hyperspectral image (HSI) simultaneously without switching the light source between the two. Thus, white light and HSI images are acquired simultaneously, improving the operating efficiency and avoiding the possibility of missing important tissue information when switching modes.
And through independent processing flow, the doctor can select and display one or the combination of the WLI image and the HSI image in the image display module according to the needs.
In step 240, the image display module displays a standard white light image, a hyperspectral image, and a pseudo-color image for implementing real-time inspection of the endoscope.
In the embodiment of the application, WLI and HSI double-path independent imaging is realized by white light illumination without switching light sources. Meanwhile, the HSI image fusion module adopts a multi-band narrow-band image fusion method, so that the depth resolution and the tissue visualization effect of the image are obviously improved. The system not only improves diagnosis efficiency, but also helps doctors to conduct follow-up accurate guidance.
The endoscopic imaging method and system herein can achieve the following effects:
1. clinical effect verification, namely, carrying out experiments in different clinical scenes, accumulating data, verifying the effectiveness of a fusion algorithm of a promotion and inhibition mechanism in early focus detection, and providing quantitative data support.
2. And the applicability and popularization of the system in different medical scenes are improved through the modularized design and a low-cost scheme, and the market potential of the system is enhanced.
An embodiment of the application provides an electronic device including one or more processors configured to implement an imaging method as described above.
The method provided by the embodiment of the invention can be applied to electronic equipment. Specifically, the electronic device can be a desktop computer, a portable computer, an intelligent mobile terminal, a server, a handheld terminal and the like. Any electronic device capable of implementing the embodiments of the present invention belongs to the protection scope of the present invention and is not limited herein.
The endoscope imaging method and system, the imaging method and the imaging device have the same inventive concept, and the same or similar steps can achieve the same effect.
Fig. 7 is a schematic structural diagram of an electronic device 70 according to an embodiment of the present application.
As shown in fig. 7, the electronic device 70 includes one or more processors 71 for implementing the imaging methods described above.
In some embodiments, the electronic device 70 may include a storage medium 79. For example, the computer-readable storage medium may store a program that can be called by the processor 71, and may include a nonvolatile storage medium. In some embodiments, electronic device 70 may include memory 78 and interface 77. In some embodiments, the electronic device 70 may also include other hardware depending on the actual application.
The computer-readable storage medium of the embodiment of the present application has stored thereon a program for realizing the imaging method described above when executed by the processor 71.
The present application provides a computer program product comprising a computer program/instruction which, when executed by a processor, implements a method as claimed in any one of the preceding claims.
The embodiment of the present application also provides a computer program stored on a computer readable storage medium, such as the storage medium 79 of fig. 7, and which when executed by a processor causes the processor 71 to perform the method described above.
The present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Computer-readable storage media include both non-transitory and non-transitory, removable and non-removable media, and information storage may be implemented in any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer-readable storage media include, but are not limited to, phase-change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
The foregoing description of the preferred embodiments is provided for the purpose of illustration only, and is not intended to limit the scope of the disclosure, since any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the disclosure are intended to be included within the scope of the disclosure.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the phrase "comprises an article of manufacture" does not exclude the presence of additional identical elements in a process, method, article of manufacture, or apparatus that comprises the element.
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