CN100457020C - Scanning endoscope - Google Patents

Abstract

A scanning endoscope amenable to both rigid and flexible forms, scans a beam of light across a field-of-view, collects light scattered from the scanned beam, detects the scattered light, and produces an image. The endoscope may comprise one or more bodies housing a controller, light sources, and detectors; and a separable tip housing the scanning mechanism. The light sources may include laser emitters that combine their outputs into a polychromatic beam. Light may be emitted in ultraviolet or infrared wavelengths to produce a hyperspectral image. The detectors may be housed distally or at a proximal location with gathered light being transmitted thereto via optical fibers. A plurality of scanning elements may be combined to produce a stereoscopic image or other imaging modalities. The endoscope may include a lubricant delivery system to ease passage through body cavities and reduce trauma to the patient. The imaging components are especially compact, being comprised in some embodiments of a MEMS scanner and optical fibers, lending themselves to interstitial placement between other tip features such as working channels, irrigation ports, etc.

Description

Scanning endoscope

Technical field

The present invention relates to the scanning beam system, particularly use the endoscope and the peritoneoscope of scanning beam imaging.

Background technology

The application based on the temporary patent application of submitting on June 23rd, 2003 number be 60/482,376, the artificial Brunswick labor husband of invention (Wiklof) waits, is entitled as the application proposition of " scanning endoscope ", and this application day to require priority.

Video-endoscope and peritoneoscope obtain general application since the eighties in 20th century.Peritoneoscope is the hard device that can be used for MIN invasive surgical.On the typical meaning, peritoneoscope uses its near-end external interface to contain the handle of a digital camera.This digital camera probes into patient's body lumen by one, and internal arrangement the pipe of a series of end to end rod-shaped lens and gather video image.Photographing unit passes the signal to the control station that generally includes a display by electric wire.Equally typically be placed on the control station is the light source that is generally xenon lamp.Light source transmits light by optical fiber coupled with it to handle.Light enters body cavity through the optical fiber that passes through again in laparoscopically pipe then.Usually, the end of optical fiber is concentric circles at the end of pipe, perhaps forms the part arc in the pipe outer end.In use, through overregulating light source intensity, can provide the well-lit image at video-frequency monitor.

Endoscope is typical bendable apparatus, can be used for diagnosis or other programs.Modern endoscope's (with some peritoneoscopes) uses terminal pinnacle digital camera to gather optical signal, and converts it to the signal of telecommunication, then the signal of telecommunication is delivered to handle by flexible pipe.This signal is sent to control station subsequently and shows, this operation is similar to laparoscopically mode of operation.Usually locate the termination in a pair of aperture of camera gun both sides except lighting fiber, light source is delivered to body cavity in the mode similar to peritoneoscope.Wish to observe or advance the actuation means of direction of this pipe except can be used for that the clinician is aimed on the endoscope pinnacle, endoscope also comprises injection gallery and service aisle usually.Endoscope and peritoneoscope can be that the end is looked or side-looking.In last view apparatus, the visual field directly is positioned at the place ahead of device end.The visual field of side-looking device is positioned at the position of departing from axial 70 ° or other angles of tube end.Can there be different variations this visual field according to using.For example, colonoscope (a kind of endoscope that is used to check colon) has 140 ° of diagonal angles of visual field usually, and the laparoscopically diagonal angle of visual field is near 70 °.

Apparatus can be by the service aisle of many endoscopies.Tweezers and other devices can pass the internal diameter of service aisle and enter body cavity through improvement, make the clinician obtain tissue samples etc. with them.In the laparoscopy field, generally be apparatus to be introduced program by single micro-incision.Usually apparatus also with peritoneoscope equally by the trocar or the collar, so that otch is lined up row, prevent to wrap up improper or damage and keep sealing.

Peritoneoscope and endoscope all can use pixelation sensor array such as charge-coupled device (CCD) or complementary metal oxide semiconductors (CMOS) (CMOS) device.In the pixelation imager, each pixel correspondence an element of array, and each element is accepted luminous energy with the selected sampling interval from the conjugate point of visual field.Each element is converted into optical signal and the proportional signal of telecommunication of the brightness of its conjugate point.

The digital endoscope of today and peritoneoscope may run into picture quality and the limited problem of dynamic range, and often show the common consequence that other is not complied with one's wishes.Especially endways in the imaging system, diameter restrictions has become the generally obstruction that improves resolution.

Summary of the invention

Many-side of the present invention relates to the scanning beam imaging system, and particularly scanning beam endoscope, peritoneoscope and other are used for from the imaging device of readily accessible local images acquired not relatively.Also can be used for other scannings in many aspects or the scanning beam imaging device comprises compact bar code imager, introscope, machine vision camera etc.

The present invention also is applicable to rigidity and the flexible application in medical science and the non-medical field aspect a lot.In many cases, term " endoscope " and " peritoneoscope " use interchangeably, and can be regarded as the special instrument in the relative broad range, comprise gastroscope, enteroscope, S sigmoidoscope, colonoscope, laryngoscope, conchoscope, tracheascope, duodenoscope, choledochoscope, the kidney mirror, cystoscope, metroscope, peritoneoscope, arthroscope or the like.

In certain exemplary embodiments of the present invention, a plurality of color light sources, for example narrow spectrographic light source combines and in fact forms white light.This white light is sent to terminal pinnacle by one or more optical fiber and forms light beam, by this light beam field of view (FOV) is scanned.At least a portion is by FOV reflection, scattering, refraction, or other turbulent light are converted to the signal of telecommunication after gathering.The quantity information of the position of light beam and the light collected is carried out combination just formed digital picture.According to certain optional embodiment, the information of relevant light-beam position depends on image itself.

According to an exemplary embodiments, color light source can be red, green, blue laser, light emitting diode or other device.According to another exemplary embodiments, the light source with multiple number of different qualities can combinedly form scanning beam.For example, a pair of red light source that has only several nano wave length difference each other can be used to improve the resolving power for red object.In another example, the light source of Wavelength distribution between HONGGUANG, green glow and blue light can be used to set up possesses four, five, six, even the system of polychrome territory channel more.In another example, wavelength infrared ray, ultraviolet or outside light source can be synthesized and be extendible spectroscopic system.

According to other exemplary embodiments, the light source with treatment characteristic can be used for medical treatment.For example, high energy infra red can be used for burning, and ultraviolet can be used for activating phototropic medicine etc.Narrow wavelength light source in conjunction with after can be used to avoid being exposed under the light of unwanted wavelength, when generally using, only wish that they are activated in the specific wavelength position such as phototropic medicine or photodynamic diagnosis chemicals.Treatment Shu Keyou doctor or long-range expert optionally activate, and perhaps also can activate automatically based on its picture characteristics.They can be in whole visual field, is activated in certain part of visual field, perhaps special in the visual field, minority view region.

According to other exemplary embodiments, a plurality of light sources can synthesize colored unbalanced light beam itself.In this example, image can the electronics mode be realized colour balance.According to other exemplary embodiments, needn't use a plurality of color light sources, but preferably use one or more wideband light sources relatively.

According to some embodiment, light beam by the central authorities of scanning mirror, after first mirror reflects, is got back to scanning mirror with one heart, to scan whole visual field.This with one heart bundle path of great use, such as the size that can be used for being reduced to the picture tip.The polarization characteristic of bundle and first reflecting mirror can be controlled or select to make signal intensity to maximize, and make the light that departs from the visual field minimize.According to optional embodiment,, but still part light can be returned reflecting mirror with half-mirror even polarization does not match.

Light in the light beam can and/or reflect by visual field surface scattering, transmission, absorption, and may run into a plurality of propagation paths by body cavity.This light that part as above-mentioned mode are transmitted is gathered in one or more collection points.This or these collection point may comprise non-imaging collection and checkout gear, for example is arranged at terminal photodiode.Alternatively, this harvester can comprise optical fiber, is used to the detecting unit gathering light and be sent to far-end, and this detecting unit can be converted to the signal of telecommunication with light so that further handle.For example, these gather the periphery that optical fiber can the circumference type be arranged in scanner.Alternatively, light can be scanned once more and assembled with anti-focusing or confocal mode by scanning mirror.The another kind of selection be, gathers optical fiber and can run through the top and be arranged in gap between injection gallery and the service aisle etc.Also have a kind of selection to be, isolating collection optical fiber can be inserted body cavity, as the form with instrument, the trocar or other devices are gathered dispersive light from the imaging end at a distance.Another selection is made partially transparent at least with the top, to increase the area that can collect light.

According to some exemplary embodiments, described endoscope or peritoneoscope can be with the light source and/or the detectors that are arranged on the handle.According to optional exemplary embodiments, endoscope or peritoneoscope can comprise the control station that contains light source and/or detector.Light can be transferred to or spread out of from optical fiber and control station by an adapter, and described adapter can comprise that electronics connects, and is used to provide power and monitoring scanning device, the operation of shows signal, control system etc. is provided for handle.

According to exemplary embodiments, scanning device can be the MEMS scanning device, and it can use for example progressive scan pattern or bilateral sine sweep pattern.In certain embodiments, scanning device is operated by field drives.In other optional embodiment, scanning device can be driven by static, also can be driven by static and magnetic field compound mode, perhaps by other devices of knowing altogether, drives as piezoelectricity or bimorph cell.Described MEMS scanning device can be large volume micromechanics MEMS scanning device, surface micro device, or the other types known altogether of this area.The surface of reflecting mirror can be flat, perhaps selectively comprises optical power to help beam shaping.

According to some exemplary embodiments, described visual field is driven the amplitude of signal and is controlled, and it is less that less amplitude signal produces slightly little angular deflection thereby visual field, and that bigger amplitude signal produces bigger angular deflection thereby visual field is bigger.

According to certain typical embodiment, bundle calibration or focusing arrangement, for example the fiber end face of or above lens, reflecting mirror, aperture and polishing can be used for making beam-shaping.One or above calibrating installation can be by changing the shape of position or shape control light beam.The shape of light beam can make corresponding changes according to the visual field, so that keep the viewpoint size constant relatively with respect to viewpoint fill factor at interval.Alternatively or replenish ground, the shape of bundle can be focused on keeping by user or automaton control.

According to certain typical embodiment, described service aisle can be automatically, for example carries out automatically according to graphical analysis.Vertical outer housing of pipe or sheath can comprise that lubricating oil and/or medicine outlet are to help the needs and minimizing subject discomfort, pathogenicity rate and/or the mortality rate that reduce other drug.

According to certain typical embodiment, concentrating method can be that cross-polarization is carried out in halved tie, to reduce or eliminate direct reflection.

According to certain typical embodiment, described device can comprise method for supervising, for example hematochrome oxidation monitoring or carbon dioxide monitoring.Can use Doppler height measurement to determine blood flow.

According to another typical embodiment, described visual field can be shone with the light source of intensity variable.The light source of this intensity variable can form like this, for example restraints or the multi beam light intensity by adjust this list when a branch of or multi-beam of scanning passes at least a portion visual field.Like this, can throw light on more, can reduce irradiation to brighter and/or nearer zone simultaneously darker and/or farther zone.

According to another typical embodiment, the color balance of visual field or part visual field can be adjusted by with the illuminator of different colours scene being done the difference illumination.Can drive described illuminator in such a way, the ratio that is about to the shared whole scene information of part scene information is as the inverse in order to driving variable illumination data.When arriving a boundary, can on detector, form full and uniform light scattering to the difference irradiation of visual field.Like this, can be fully by the frame buffer that drives the difference illuminator or recover image information fully.For example PIN photodiode, avalanche photodide, photomultiplier tube etc. are effective especially for non-image detector for this pattern.

According to other typical embodiment, the scanning beam illuminator can combine with changing into as visual detectors such as devices as pixel.Consider the pick off of faster, littler or other improvement, use the multiple light source dynamic range of expanding system effectively.By the illumination light intensity extra to farther or darker area applications, multiple light source can be used for the depth of field of expansion equipment similarly.

According to another typical embodiment, can survey the visual field for obtaining view data.In this example, connect the optical signature that a period of time determines or a little dark place or viewpoint at a distance, close this light source enough satisfying safely or in the time of other requirement then with special bright illumination source.In frame subsequently, also can similarly survey other viewpoint.

Description of drawings

Fig. 1 is the structure chart of a simple scanning beam imager.

Fig. 2 is the structure chart that can adjust the apparatus and method of illuminator power.

Fig. 3 is the concept map of explanation to the embodiment of the original state of FOV illumination and the dynamic illuminator of adjusting.It is constant that the energy of light source keeps, the energy of the scattering that detector is received and the proportional variation of the surface brightness of viewpoint.

Fig. 4 a is the sketch of an illuminator converged state, and this illuminator is used to provide scattering flat field or level.The patterns of change that the energy of light source is inversely proportional to the surface brightness with each viewpoint, thus make detector in fact receive the energy of same quantity.

Fig. 4 b is the sketch of an illuminator converged state, and this illuminator is used for the dynamic range of compress slightly FOV, but still keeps the difference of surface brightness.

Fig. 5 is the ideal waveform figure of several two field pictures of the corresponding one dimension FOV of light intensity of the convergence illuminator that obtains via the method among Fig. 4 a.

The flow chart how Fig. 6 is assembled for the explanation pixel value.

The non-converged state figure that Fig. 7 scans the two-dimentional FOV of ideal for explanation two bundle exemplary scanning bundles.

Fig. 8 is convergence figure in the local frame that two bundle scanning beams use Flame Image Process among Fig. 7 are obtained.

Fig. 9 is that Fig. 7 and Fig. 8 plant the interior pseudo-converged state figure of frame that two bundle scanning beams use further Flame Image Process to obtain.

Figure 10 is the isometric map of endoscopic system.

Figure 11 emphasizes the structure chart that concerns between the different ingredients in the endoscopic system.

Figure 12 scans the profilograph of tip assembly.

Figure 13 is the cross-sectional view of scanning endoscope imaging end.

Figure 14 is for having the profilograph on interior vault surface of the scanning end assembly of difference reflection among certain embodiment to two polarizations of light.

Figure 15 is the isometric map of scan components.

Figure 16 is the isometric map of the optical element of imaging end.

Figure 17 is the optical path-tracing figure with similar terminal optical design described in Figure 12-16.

Figure 18 comprises the most advanced and sophisticated layout that is arranged in scan components and service aisle intrapore detection optical fiber all around.

Figure 19 is the isometric map of the end of band lubricant transmission.

Figure 20 is the most advanced and sophisticated layout that possesses the endoscope of spatial or two stereoscopic imaging capabilities.

Figure 21 is a structure chart of exporting the controller of two bundle scanning beams simultaneously.

Figure 22 is the oscillogram of a pair of frequency multiplexed bundle.

Figure 23 is the isometric map of detector module.

Figure 24 is the isometric map of light source assembly.

Figure 25 is the side view of the three-color light source of compactness, and Shu Chu bundle is synthetic by X cube here.

Figure 26 a is the structure chart of endoscope's near-end.

Figure 26 b is the abterminal structure chart of endoscope.

Figure 27 is the desirable figure of sine sweep pattern.

The specific embodiment

Figure 1 shows that the structure chart of scanning beam imager 102.Light source 104 produces first light beam 106.Scanning device 108 reflections first light beam makes it to pass through field of view (FOV) to produce second scanning light beam 110, and light beam 110 is represented by 110a among the figure and these two positions of 110b.Scanning light beam 110 has illuminated the viewpoint 112 on the FOV then, so that post-11.2 a and the 112b of corresponding bundle position 110a and 110b represent respectively.When bundle 110 has illuminated a little 112, this illuminating bundle 110 produces the light energy of scattering through reflection, absorption, scattering, refraction or by alternate manner that this object or properties of materials influenced.The part 114 of this scattering luminous energy, on figure, represent by the scattered beam 114a and the 114b that radiate out from a post-11.2 a and 112b respectively, it is transmitted to one or more detectors 116, and detector 116 receives light, produces the corresponding signal of telecommunication according to the luminous energy quantity that is received then.This signal of telecommunication driving governor 118, it is set up digital picture and transmits these images further to handle decoding, file, printing, demonstration or other processing or application by interface 120.

Light source 104 can comprise a plurality of emitters, for example light emitting diode (LEDs), laser, thermal source, arc source, fluorescence source, gas, the perhaps illuminator of other kinds.In certain embodiments, light source 104 comprises the red laser diode of a wave-length coverage in about 635 to 670 nanometers (nm).In another embodiment, light source 104 comprises three laser instrument: solid-state (DPSS) laser instrument of the diode-pumping of a red diode laser instrument, a green and the DPSS laser instrument of a blueness, three's wavelength is about 635nm, 532nm and 473nm respectively.Though direct modulated laser diode, the DPSS laser instrument generally requires external modulation, for example acousto-optic modulator.In the situation of using external modulator, this manipulator also should be considered the part as light source 104.Using under the situation of a plurality of emitters, light source 104 can comprise bundle synthesizing optical device, so that the photosynthetic single beam that becomes that some or all emitters are sent.Light source 104 also can comprise the beam shaping Optical devices, for example one or more collimating lens and/or diaphragm.In addition, though the wavelength of used bundle also can comprise other wavelength all in the scope of visible light among the embodiment formerly in the field of the invention.

Though light beam 106 is illustrated as Dan Shu, can comprise multi beam, converge at single scanning device 108 or a plurality of isolating scanning device 108.

Use the MEMS scanning device among some embodiment.The MEMS scanning device can be the type described in the following example: United States Patent (USP) 6,140, No. 979, be entitled as " band shrinks, regularly and the scanning of distortion correction show " and general the appointment; Patent 6,245 No. 590, is entitled as " frequency adjustable resonance scanning device and manufacture method thereof " and general appointment the thereof; Patent 6,285 No. 489, is entitled as " the frequency adjustable resonance scanning device of band sub-arm " and general appointment the thereof; Patent 6,331 No. 909, is entitled as " frequency adjustable resonance scanning device " and general appointment the thereof; Patent 6,362 No. 912, is entitled as " the scanning imagery equipment of band feed-in conversion " and general appointment the thereof; Patent 6,384 No. 406, is entitled as " torsion resonance structure effectively tuning " and general appointment the thereof; Patent 6,433 No. 907, is entitled as " scanning with a plurality of scan components shows " and general appointment the thereof; Patent 6,512 No. 622, is entitled as " torsion resonance structure effectively tuning " and general appointment the thereof; Patent 6,515 No. 278, is entitled as " frequency adjustable resonance scanning device and manufacture method thereof " and general appointment the thereof; Patent 6,515 No. 781, is entitled as " the scanning imagery equipment of band feed-in conversion " and general appointment the thereof; And/or No. 6,525,310, patent, be entitled as " frequency adjustable resonance scanning device " and general appointment the thereof; Listedly all can be used as reference.

Two dimension MEMS scanning device 108 high-velocity scanning single beam or multi-beams make it cover zone selected among whole two-dimentional FOV or the two-dimentional FOV in an image duration.For example, typical frame frequency is 60Hz.Usually, to make harmonic moving more favourable for one or two scan axis.In one embodiment, one of them work is about the harmonic moving of 19KHz, and another axle is done the disresonance campaign by the sawtooth pattern simultaneously, thereby has created progressive scan pattern.A kind of progressive bilateral scanning pattern, it scans with about 19KHz rate of scanning in the horizontal direction with Dan Shu, with the 60Hz rate of scanning in vertical direction with the sawtooth mode scanning,, this method can be near the resolution of SVGA.In such system, the horizontal sweep action is driven by static, and vertical scanning moves then by magnetically-actuated.Alternatively, horizontal sweep and vertical scanning can be by magnetically or capacitively driving.Static drives and can comprise that static metallic plate, grid drive or similar approach.In different embodiment, two axles can be by sine or resonant drive.

Rely on and use or configuration, have multiple detector to be fit to.For example, in one embodiment, detector can comprise a simple PIN photodiode that is connected with digital converter with amplifier.In this configuration, the positional information of bundle can obtain from scanning device, perhaps alternatively, obtains from Optical devices, and image resolution ratio is by the size and the shape decision of scanning viewpoint 112.Under the situation of multicolour imaging, detector 116 can comprise more accurate decomposition and filtering, so that scattered light is sorted into its parts before detection.As the substitute of PIN photodiode, avalanche photodide (APDs) or photomultiplier tube (PMTs) are more favourable for some application, especially in the low light level is used.

In diverse ways, simple photodetector is PIN photodiode for example, and APDs and PMTs can be arranged in over against whole FOV calmly on using, and also can return and concentrate light poly-ly over against part FOV, concentrate light perhaps confocally.In certain embodiments, photodetector 116 comes collected light by the most ambient light of filter lens elimination.

This device can be composed by monochromatic light, panchromatic light and even ultraphotic and realize.In certain embodiments, adding color channel between conventional RGB passage used on many color cameras, also is feasible.Here, term gray scale and relevant discussion are interpreted as relating to additive method or the application in these each embodiment and the field of the present invention.In control device and method as described below, the pixel gray level can comprise the single value in the single color system, perhaps can comprise three values or more many-valued of RGB in colour or the ultraphotic spectra system.Described control can individually be used for the output intensity (for example redness, green and blue channel) of individual channels, can be common to all passages or be applied to subchannel.

In certain embodiments, illuminator can polarized light-emitting, and the perhaps independent polarizer (not shown) can be used for this light beam is carried out polarization.In this case, detector 116 can comprise scanning beam 110 is carried out the cross-polarized polarizer.Layout can help to improve picture quality by the influence that the minimizing direct reflection is brought image like this.

Fig. 2 is the structure chart of the control scheme of adjusting illumination light intensity.At first, drive circuit can drive light source according to by the figure that digital data value embodied in the frame buffer 202.This frame buffer 202 drives variable illumination devices 109, and this illuminator 109 can comprise light source and the scanning device among Fig. 1 for example.For each viewpoint and zone, detector 116 all can detect the quantity of scattered light and optical signal is converted to the signal of telecommunication.Detector 116 can comprise A/D converter, and the electrical signal conversion that can be used for output is the binary bit value.It is surplus poor the value that is detected can be regarded as.This surplus difference can be selected to be handled by optional I picture processor 210 by inversion device 208 counter-rotatings.The surplus difference of this counter-rotating or treated value subsequently by adder 212 with the analog value addition in the frame buffer 202.This processing procedure runs through entire frame or FOV and carries out, and puts corresponding frame buffer value and all revises up to having scanned all viewpoints and these.Repeat this process then and obtain second frame, the 3rd frame etc.Surplus poor up to all viewpoints of polymerization.In certain embodiments, especially in as the described embodiment of Fig. 4 a, the figure in the frame buffer has been represented the counter-rotating of the FOV real image of this point, is similar to the counter-rotating that photographic negative is being represented corresponding real image.

Inversion device 208, selectable frame inner treater 210, and adder 212 is formed measurement of the level circuit 213.

Figure in the frame buffer 202 is read by inversion device 214 and reverses.The figure of this counter-rotating can carry out optional I picture by optional inter frame image processor 216 controls to be handled, and export demonstration, store, carry out other processing by input/output interface 120 then, or the like.

Optionally I picture processor 210 comprises the processing capacity based on row and frame, in order to operation and the control of control imager.For example, processor 210 can be provided with feedback oscillator and export numerically to adapt to different illuminator controllers and detector with side-play amount, the disperse tendency of gain with elimination or restriction system can be set, can also be used for quickening to assemble and improve system sensitivity.For the back detailed argumentation is arranged in addition on the one hand.For easy to understand, suppose that here the controlling value of detector and illuminator is numerically similar, promptly the detector gray scale difference rank is equal to a poor rank of illuminator output.

Result after assembling as the equipment among Fig. 2, those viewpoints that a few signals is scattered back detector become the rayed by higher light intensity, and those viewpoints of simultaneously a large amount of signal dispersions being returned detector become the rayed by low light intensity.Close in meeting, all luminous energy that receive from each point can reach in fact equal.

One of discrepant reason of surface brightness is the absorptance characteristic of illuminated material.Another reason of this difference is different with the distance of detector.Because being the depth of field, the intrinsic adaptability of light source in the native system, the additional result that takes place through regular meeting become big.In addition, the depth of field of this increase can be realized by the system than lower illumination output of other possible mode tools and more low-power consumption.Because the light intensity of abundant or approximate appropriate quantity exports any one point to, these viewpoints can excessively not thrown light on substantially.The system that contrasts other must shine all viewpoints fully, so that obtain the energy of determining of the viewpoint reflected back of being paid close attention to the darkest among the FOV, native system can only be exported higher irradiation energy to those specific the darkest viewpoints of paying close attention to, and other viewpoints with higher surface brightness receive less illumination energy.In addition, illumination output energy usually is subjected to the restriction of comfortable or safety requirements.Since this safety code depend on usually in the long relatively time period to the oculopupillary size of corresponding human, the tolerance of the whole projectile energy of big relatively viewpoint, so one to illumination energy all conditional system on time and space, nominally its inherent advantages are to reach lower safer grade on the numerical value.Therefore, in some applications, this system can reach high sweep limits on the safe class that limits.

Optionally I picture processor 210 and/or optional inter frame image processor 216 can be cooperated mutually, to guarantee to observe desired safe class or other brightness limit.This operation is carried out by for example system logic or hardware, and it limits any total energy value corresponding to the viewpoint group of the localization of the scope of pixel illumination value in the frame buffer.The intensity of illumination of the confined pixel of intensity was strengthened before further logic can make in subsequently each frame.In fact, compare the system that other allow to have the device safe class, this system optionally makes some pixel can obtain more high-intensity illumination (in the limited time period).Like this, this system can survey distant place and/or the zone, dark place of FOV in multiframe, obtain the gray value of these viewpoints, and can not exceed the desired intensity restriction.

With reference to Fig. 3,4a and 4b, the effect of device shown in Figure 2 can be more effectively visual.Figure 3 shows that the corresponding situation of frame buffer 202 typical initial states.The light beam 110 that variable illumination device 109 produces shows in the drawings three position 110a, 110b and 110c, and they throw light on to three corresponding viewpoint 112a, 112b and 112c separately.Shown in viewpoint 112a have low relatively surface brightness, viewpoint 112b has medium surface brightness, and viewpoint 112c, has high relatively surface brightness, is shown as lead, medium grey and light gray shade respectively.

In the initial state of corresponding diagram 3, primary beam 110 can all be provided with the medium energy irradiation to all positions, is shown the middle long dotted line that joins with viewpoint 112a, 112b and 112c among the figure.Like this, the viewpoint 112b of scotopia point 112a, intermediate light and LensCrafters 112c are respectively with the signal 114b of the signal 114a of faint scattering, medium scattering and the signal 114c reflected back detector 116 of strong scattering.The signal 114a of faint scattering is illustrated as short dash line, and the signal 114b of medium scattering is illustrated as middle long dotted line, and the signal 114c of strong scattering is illustrated as solid line.

Shown in Fig. 4 a in the situation frame buffer 202 converged at planar field of view and responded.After assembling, the surface brightness at 112 each viewpoint place that light beam 110 exposure rates that produced by variable illumination device 109 are contacted with it is inversely proportional to.Especially, scotopia point 112a is by relatively stronger primary beam 110a irradiation, and the result is that the scattered signal 114a of reflected back moderate strength is to detector 116.Medium LensCrafters 112b is shone by the primary beam 110b of moderate strength, and the result is that the scattered signal 114b of reflected back moderate strength is to detector 116.LensCrafters 112c is shone by relative more weak primary beam 110c, and the result is that the scattered signal 114c of reflected back moderate strength is to detector 116.Under the situation shown in Fig. 4 a, image information no longer fully depends on the intensity of the signal that turns back to detector, but depends on the intensity that is used for to the light beam of FOV illumination.

Certainly also may and can preferably not take such radiation modality in some cases so that allow all viewpoints all reflect essentially identical energy to detector to FOV.For example, can preferably the signal that returns slightly be compressed relative intensity, but will they be moved up and down so that drop within the dynamic range of detector 116 on demand with the maintenance scattered signal.Fig. 4 b is described different operating.In this case, the intensity of primary beam 110 has been passed through the adjustment of variable illumination device 109.The intensity that the intensity that improves bundle 110a slightly can improve scattered signal 114a to be being higher than the detection lowest limit of detector 116, but still keeps the intensity of scattered signal 114a to be lower than other the signal 114b by the viewpoint 112b institute scattering of tool high surfaces brightness.This detection lower limit can be equivalent to as quantum efficiency limit, photon noise limit, electrical noise limit or other limits.On the contrary, the brighter viewpoint 112c in surface is shone by bundle 110c, reduce its intensity slightly to reduce the intensity of scattered signal 114c, make it to be lower than the upper limit of detection of detector 116, but its intensity still is kept above the scattered signal 114b that the viewpoint 112b of the low surface brightness of other tools returns.The upper limit of detection of this detector 116 can be equivalent to, integral detector for example, as CCD or CMOS array, with non-pixelation detector, as the non-linear partial of the relevant A/D converter of PIN diode, full capacity, perhaps other are by be provided with actual of designer or the limit arbitrarily.Certainly, other have the corresponding primary beam intensity in viewpoint place that falls into the scattered signal in the detector boundary and can regulate approx with linear or nonlinear mode according to the requirement of using.For example, if half-tone information is suitable, the Shu Jinhang irradiation that the viewpoint that one group of surface brightness increases continuously can be reduced continuously by energy will cause reflectance value to be distributed in the dynamic range of detector in application.On the contrary, if desired with the maximization of gamma and contrast, then be fit to when selecting irradiation energy based on the overall situation or partial thresholding algorithm in application, this algorithm will impel scattered signal intensity to reach the lower limit or the upper limit of detector along one or other direction.

Example shown in Figure 5 is, how to converge to substantially invariable reflectance value along the reflectance value of several viewpoints of a linear path, and gray value keeps opposite with the illuminating bundle intensity profile of scanning pattern simultaneously.FOV111 comprises scanning pattern 112, and a plurality of viewpoints that this scanning pattern has can be classified by the value or the surface brightness rank of reflection coefficient.The reflection coefficient classification comprises white viewpoint 502, light grey viewpoint 504, the viewpoint 506 of medium grey and blackout point 508.Be shown under the FOV 111 is the waveform of several arranged verticals.Waveform 510 is depicted as and scanning pattern 112 relevant lighting device power.In this example, this illuminator power is being held constant at 00 rank in the scanning for the first time, and described rank has 7, with binary bit value labelling, and its scope from-11 to+11.

Waveform 511 is that dynamic range is restricted to three kinds of states: 00 (symbolistic), 〉=+01 and≤ideal response of-01 detector.It has ignored optical effect such as Gauss distorts, and supposes that its gain equals illuminator gain, promptly ± 01 detector cell correspondence ± 01 illuminator unit.In waveform 511, the bundle irradiating and detecting device of 00 intensity that scatters from white viewpoint 502.This can see at the curve (〉=+01) of white viewpoint 502 relevant positions from detector value 512.On the contrary, the bundle from 00 intensity of medium gray viewpoint 506 and blackout point 508 reflections causes in viewpoint 506 and 508 corresponding waveform positions 516≤-01 undetectable response.The signal of light gray viewpoint 504 scattering medium energies, with the detector response grade be that 00 514 waveforms are corresponding.

According to the process of Fig. 2, detector waveform 511 is added on the illuminator waveform 509 after counter-rotating, to produce new illuminator waveform 521.Because initial illuminator waveform 509 is constant, so illuminator waveform 521 only is the counter-rotating of detector waveform 511, have high detection energy area 512 corresponding-01 hypo-intense region 522,514 corresponding 00 moderate strength zones 524, medium detected energy zone, and low detected energy zone 516 corresponding+01 high intensity region 526.

Bundle 112 scans FOV 111 subsequently once more, and used illuminator power waveform 521 can be realized as the form of frame buffer.Detector waveform 531 is by passing through generation the second time of bundle 112.Specifically, in gray viewpoint 506 fall into the dynamic range of detector with light gray viewpoint 504, but still have viewpoint to drop on outside the scope of detector.Detector waveform 531 is added on the previous illuminator waveform 521 after counter-rotating, to produce the illuminator waveform 541 that passes through for the third time, it comprises-10 of white viewpoint 112 corresponding strength class 5s 42,00 of light gray viewpoint 504 corresponding class 5s 44, the viewpoint 506 corresponding class 5s 46 of medium grey+01, and blackout point 508 corresponding class 5s 48+11.The bundle 112 final illuminator power waveform 541 scanning FOV111 that use.Detector intensity waveform 551 is constant and be in the dynamic range 513 of detector as a result, and convergence is finished in expression.Therefore the counter-rotating of illuminator power waveform 541 becomes the image in the linear scanning path 112 of passing through FOV111.So after contrasting 510 pairs of viewpoints and comparing, we can find that the gray value of white viewpoint 502 is+10, the gray value of light gray viewpoint 504 is 00, and the gray value of the viewpoint 506 of medium grey is-01, and the gray value of blackout point 508 is-10.

As seen, system can write down dynamic range can be greater than the image of the dynamic range of detector.In the example of Fig. 5, image has 5 to determine that other tonal ranges of level (10to+10), and detector only has a definite gray level.

Fig. 6 is the logical flow chart of the embodiment of adjustment intensity of illumination.Carry out initialization through step 602 pair frame buffer.In certain embodiments, can set fixed initial value, be positioned at its scope centre, low side or high-end near.Alternatively, can design the quasirandom mode formula tests with the scope to value.In other embodiments, its value can know by the previous pixel from present frame that some method will be described in Fig. 8 and Fig. 9.In more other embodiment, its value can be known from previous frame or previous image.

When using the initial frame buffer values, step 604 and 606a are respectively viewpoint are thrown light on and detected the scattered signal of this viewpoint.If detected signal is too strong in each determining step 608, then weaken intensity of illumination, and this process begins repetition from step 604 and 606 through step 610.If detected signal is not too strong, through this signal of each step 612 test whether too a little less than.If this signal too a little less than, then heighten intensity of illumination, and this process begins repetition from step 604 and 606 through step 614.

Step 608 and 612 threshold value can be provided with multiple mode.For integral detector, CCD detector for example, low threshold value can be set to noise equivalent power (NEP) (as, corresponding to photon spot noise or electronics spot noise), high threshold can be set to full capacity.Instant detector such as typical photodiode, the upper limit of its detection range limits with nonlinear response, and lower limit limits with NEP.Therefore, low threshold value and high threshold can be set so that the gray level resolution maximization by these boundaries.Alternatively, low threshold value and high threshold can be according to settings such as image attributes, application, customer parameter selection, intensity of illumination scope, electric energy saving patterns.

In addition, used low threshold value and high threshold in the step 608 and 612 is variable when passing through FOV.For example, when the dynamic range compressor that uses shown in Fig. 4 b, specify viewpoint the illuminator energy can according to the illumination energy scope and/or in the scope of the respective viewpoints of passing through FOV detected scattering select.For example, the viewpoint 112b of medium grey can only need a spot of intensity of illumination in fact, so that its scattering or reflection coefficient are brought up to when there not being the extra needed minimum level of the detection than scotopia point; If exist extra minimum threshold slightly to improve for this viewpoint than scotopia point 112a description of step 612, so that being brought up to, its surface brightness enough is in the detector dynamic range, vacate the room for extra than the scotopia point, make it also to drop within the dynamic range.

After the scattered signal of the scope that falls into the detector permission received, detector value was inverted through optional step 616 and transmits to be further processed, to store or to show in optional step 618. Step 616 and 618 is the general option step of determining according to using.

For the application that comprises the scanning beam imaging, and itself comprise the pith of pixel information when illuminator power, be necessary pixel illuminator power is reversed and transmits.On the other hand, the scope very big (respectively for step 608 and 612) between low threshold value and high threshold, illuminator power can be used for, and utilizes major part to be retained in pixel information in the detector value, fundamentally the difference on a large scale of passing through FOV of compensation relatively.This for example can be used for being used to compensate the reflectance, scope, absorbance of whole FOV or other can change the effect of signal on total meaning when the illuminator algorithm for power modulation.Use for some, most of or whole useful image informations can be determined by detector and the illuminator power ignored in further handling.

In addition or, as previously mentioned, detector value can transmit through optional step 620, replace transmission illuminator power so that further operate.In some applications, especially those wherein in the very limited application of detector dynamic range, the effective image information from the detector value that selected intensity of illumination obtains is considerably less, and can omit the value of transmission detector.

In other was used, important useful part can be present among illuminator power and the detector value in the view data.One of example of this type application is, wherein illuminator power is used for the working range of expansion instrument, most of image information is present in the value of detector simultaneously, but a small amount of surperficial pixel brightness information that intensity of illumination keeps becomes the most important a small amount of part of pixel value.

The feedback of above-mentioned methodology or feedforward control scheme can by, the algorithm that for example depends on the requirement of embodiment and restriction regulates or look-up table is realized.

Two reductions that possible side effect is time or spatial resolution of system described herein.Promptly, in the process that image is assembled, if image is mobile to some extent with respect to scanning device, just must heavily assemble (increasing period of delay), and/or can cause generating corresponding to having relative detector dynamic range the value (effectively reducing spatial resolution) of the viewpoint of bluring at high correlated edge is arranged.A method that overcomes this problem is fully to improve frame frequency and/or spatial resolution, makes of short duration appearance of any fuzzy viewpoint or quantity less to ignoring.Another technology can be consulted Fig. 2, and wherein optionally I picture processor 210 and optional inter frame image processor 216 can be cooperated and be quickened convergence.

As mentioned above, optionally I picture processor 210 comprises the processing capacity element based on row and frame, control in order to control imager, and the sensitivity that can quicken convergence and enlarge system.Especially, be control source strength grade, optionally I picture processor 210 can be written into frame buffer with gray value, to replace usually by the additional value that is written into of the residue of counter-rotating.I picture processor 210 also can be written into value in the frame buffer in other pixel except that current treated pixel.

Fig. 7, Fig. 8 and Figure 9 shows that optional I picture processor 210 and the optional used method of inter frame image processor 216 in order to improve the speed of assembling or to reduce the time of assembling, Figure 7 shows that simultaneously the frame in Fig. 5 process is operated accordingly.The scanning line 112a and the 112b that Figure 7 shows that two vicinities pass through in the FOV 111 of two dimension.In this example, scanning line 112a is from right to left scanning for scanning scanning line 112b from left to right.FOV111 comprises three zones: middle gray area 506, and the light gray adjacent zone 504a and 504b with its each limit, and scanning line 112a and 112b pass regional 504a of this light gray and 504b.Superimposed is indivedual pixels 702 and 704 on this scanning line.For the purpose of clear, only illustrate with a few pixels.During this is discussed important zone be with from light gray to Lycoperdon polymorphum Vitt and oppositely move accordingly this a few pixels in every scanning line.The shade of this pixel shows definite or non-deterministic gray value depends on the scanning beam imager.Discuss for this, the illuminator power initial value of establishing scanning line 112a and 112b is made as steady state value 509.

Fig. 7 and Fig. 5 are compared, and light gray zone 504 corresponding pixel 702a, 702b, 702c and 702d determine in scanning for the first time, as 00 zone of the grey level among Fig. 5.Therefore, pixel 702 is expressed as light gray, equates with the actual grey level of corresponding FOV viewpoint.When scanning line 112a passes through successively from left to right from regional 504a to the zone 506 mobile section, the corresponding pixel 704a of right hand edge is illustrated as black.This value of representing them is uncertain.That is, detector has received and has been lower than its sensitivity minimization or MIN signal, thus can not determine zone 506 actual grey level be the detectable dynamic range of ratio sensor more secretly or much dark.Further carry out this process along scanning line, corresponding all pixels of the viewpoint in the zone 506 be can not determine (although through after the process of Fig. 5, the intensity of illumination of the viewpoint of those frames subsequently will weaken, and pixel 704a just can determine subsequently) in present frame.When scanning line 112a passes through from 506 to regional 504b edge, zone, it receives enough light energies once more so that signal drops in the scope of detector, therefore and pixel 702b determines and be shown as light grey shade, and is corresponding with the shade of viewpoint in the regional 504b.Dextrosinistral scanning line 112b subsequently repeats this process, can determine with time domain 504a and the corresponding pixel of 504b, and zone 506 corresponding pixels be can not determine (dead color).

Figure 8 shows that and make some viewpoint assemble technology faster.Technology among Fig. 8 can make that some uncertain (dead color) pixel is determined prior to frame subsequently.Its negative effect is for having produced some other uncertain (light color) pixel again.The detailed features of uncertain pixel in addition, light inessential with the ratio of dead color; These are functions of the specific example of Fig. 8.As Fig. 7, scanning line 112a produced with regional 504a in the light grey pixel 702a that determines accordingly of viewpoint.As preceding, after the edge that passes through from regional 504a to zone 506, pixel value becomes uncertain 704a pixel.Yet, used adaptive illuminator power specifically, with box lunch bundle time recovery degree of certainty in zone 506 still.Become uncertain (dead color) afterwards in one or more pixel values, illuminator power will strengthen up to detected energy and bring up on the detector lower limit, therefore produce the pixel 802a of the medium grey of determining.When scanning line passes through from 506 to 504b edge, zone, pixel 804a afterwards can not determine (light color).This may be because the illuminator power setting be the grade that is suitable for than dark areas 506, and consequently the too much signal than bright area 504b has covered detector.Similar to the mode that scanning pattern is taken place after the edge of regional 504a to 506 passes through, illuminator power reduces, be in once more within the dynamic range of detector up to the energy of reflection, so that the determining of light gray pixel 702b.This process after scanning 112b in repeat.

From seeing inspecting of Fig. 8, the edge that surpasses dynamic range is passed through has produced the uncertain pixel of three parts afterwards.Therefore, in this example, optionally the logic of I picture processor 210 requires uncertain (dead color) pixel of three partial continuous, and perhaps uncertain (light color) pixel is acquired before higher or lower in that intensity of illumination is reset to respectively.Less and/or during when the relative FOV dynamic range of detector dynamic range when the higher-frequency that has relative framing among the FOV, than fine feature, prior to the adjustment of illuminator power and the uncertain pixel collection that relatively large same labelling is set has help.Can reduce like this and quicken to produce in the processing instable tendency.When feature during obviously or when the dynamic range increase of detector, more a spot of uncertain pixel collection may be more suitable.Further improvement and preferred embodiment will be assembled the setting of accelerator gain automatically based on FOV feature observed and/or previous record, for example characteristic surface dimension distribution and surperficial dynamic range.

Illuminator power set-up procedure yardstick is generally a function of detector dynamic range and convergence algorithm.For example, for the little detector of dynamic range, usually preferred its initial illumination device adjusting range is not more than the adjustment of the dynamic range of detector.For the image with marked feature and/or big dynamic range (with respect to the detector dynamic range), possessing variable illuminator controlled step yardstick can be more favourable, assembles in the frame quickening with more step.Can use known multiple searching algorithm.

For the bigger situation of surperficial dynamic range of the relative FOV of detector dynamic range, be dynamically to adjust illuminator power to be positioned at the centre of detector dynamic range to keep scattered signal than advantageous method.When passing through the edge, can improve the vulnerability to jamming that system loses convergence like this.

When selecting that the initial illumination rating of set is made as steady state value, can use initial strength pattern with variable output, for example be presented as the bitmap in the frame buffer.Special when the detector dynamic range is very narrow, can help to accelerate to have usually the scene convergence of big feature like this.This operation as the prestrain searching algorithm comprises the variation of illuminator power.

Figure 9 shows that the method for quicken assembling, it can overcome additionally uncertain (light color) pixel 804a among Fig. 8 and the negative interaction of 804b.Technology among Fig. 9 has been utilized the feature of most images, and the adjacent viewpoint in the described image in the given area trends towards having similar gray value.Especially, the viewpoint on the edge trend towards having to this same edge on the similar gray value of adjacent viewpoint.Then opposite along opposed edges.Therefore, be suitable for the shallow gray value of determining of pixel 702a is used as the rational guess value of the uncertain value of pixel 804b.Similarly, the uncertain value of the alternative pixel 704a of the gray value of pixel 802b, the determined value of pixel 802a substitutes uncertain pixel 704b, and the determined value of pixel 702c substitutes uncertain pixel 804a.This method shown in Figure 9 represents that with arrow it points to from determining that pixel is to they relevant uncertain pixels.This program is carried out behind scanning 112a and 112b, to insert unknown-value and to produce the pseudo-image of assembling so that verification in the process of subsequent frame.Also can carry out a similar program in advance, promptly use the starting point of the illumination mapping of a scanning line as this illumination mapping of follow-up scanning line.All after dates through some scanning lines begin to occur the edge, further make image processor know the probable value of the pixel of the non-scanned in this frame.Rim detection known to the technical staff in technical field of image processing and other are used algorithm and are applicable to this application.

As the feedback of illuminator power or the optional way of the feedforward, as mentioned above, perhaps as the optional enforcement measure of described control, system can cover according to one or more illuminator power and select illuminator power.For the situation of preceding peeping colonoscope, for example, the peripheral bond of the common comparable FOV in center of FOV more distance feature.In this case, beneficially use " center enhancing " to cover to select higher illuminator power near the one or more passages in the zone the FOV center.Similarly, the angle sensitivity of detector or detector optic fibers changes, the distribution of detector or detection fiber, and other effects can be lowered the concentration ratio of some part of FOV.And " gather and strengthen " covers the higher illuminator power of corresponding position employing that is used in acquisition rate reduction among the FOV.

It can be fixed that illuminator power covers, and it is applicable to the variation that for example overcomes acquisition rate or has in the special applications of image property repeatably.Alternatively, illuminator power covers and can be selected by the user, and it is applicable to for example when the surgeon wishes to be thrown light in remote zone immediately.Illuminator power covers also and can select automatically according to application or picture characteristics.The automatic selection of covering of illumination apparatus power can help like this, feeds back (or feedforward) algorithm by reducing or eliminating or based on the needs of pixel to the look-up table of pixel, thereby has reduced the demand for image processing function.

Look back detection scotopia point and/or the discussion of viewpoint at a distance among Fig. 2, and in conjunction with the discussion of aforesaid Fig. 9, can find to promote the method for the convergence time of this remote viewpoint.Because pixel on every side may reasonably have approximate gray value, so pass through regional pulse detection on a small quantity by using, system can assemble the setting of reasonably determining initial pixel value for rapid, and passes through interpolation selection pixel value in determined value.After during several frames, system can survey all pixels in the dark space at last, so that FOV half-tone information completely to be provided, and can't know with other mode.In order to prevent over-exposed to laser, rule and pulse method are set will be defined cautiously.

The optional Flame Image Process carried out based on frame of inter frame image processor 216 can be used for making system to learn that the edge follows the tracks of and detecting function, and the frame buffer value can be converted to and be suitable for the value that shows or further handle.Optionally inter frame image processor 216 can comprise, compensates the image automatic aligning of mobile FOV, white balance compensation, gamma is proofreaied and correct (gray scale expansion, compression, or conversion), overall process is proofreaied and correct (overall process expansion, compression, or conversion), pixel interpolation is to the inhibition of invalid pixel value, the reduction of noise, and the data of synthetic frame buffer and detector.

Optionally many functions of inter frame image processor 216 are based on rim detection and tracking technique, and the gradient or the Sobel operator that for example are used for rim detection extract with the local maximum that is used to follow the tracks of/minimum.These or other the technology that is used for rim detection and local maximum/minimum extraction is that the technical staff of image processing field is known.Equally, when optional I picture processor 210 is operated, uncertain value may be stayed in the frame buffer.Optionally inter frame image processor 216 can be by following the tracks of uncertain pixel and alternatively these data being combined " rejecting " these values from output with other FOV information.

When several edges have same motion-vector, optionally inter frame image processor 216 can be inferred the displacement of whole FOV with respect to system, and calculates the deflection that is taken place and carry out the automatic aligning algorithm.

White balance is handled can compensate the difference of source efficiency or power and the difference of detector efficiency.The storage calibration value can make this process very simple and clear.Be the simulated environment illuminating effect, optionally inter frame image processor 216 can be converted into value the effective lighting colour temperature.

Optionally inter frame image processor 216 can use the noise correlation principle to reduce noise with the variation in the difference frame buffer data, the structurally associated of these data and scene and original noise, and use smooth function " cleaning " image.These technology all are known in the prior art field.

Figure 10 is the isometric map of endoscopic system.Control Component 1002, monitor 1004 and optional pump 1006 can be placed in the go-cart 1008.After integrating, these assemblies are called control station 1010 hereinafter.Comprising 1010 can at random separate or make up in interior component items and be provided with to adapt to practical application.Control station 1010 is communicated with handle 1012 by external cable 1014, and this external cable 1014 is connected with control station 1010 through adapter 1016.Adapter 1016 has two part 1016a and 1016b (clearly not illustrating), can connect also and can disconnect.Handle 1012 is connected with endoscope tip 1018, and this endoscope tip can be flexible, also can be inflexible (being often referred to peritoneoscope).End 1019 can be steerable top for example, comprises the equipment that is used for the scanning field of view bundle, collects the light energy of scattering, and the light energy signal separately of this scattering is passed through endoscope 1018, and handle 1012 and external cable 1014 transmit control station 1010.

Handle 1012 can comprise optional controller 1020, and this controller can comprise for example brightness, convergent-divergent, the static photograph, the FOV angle, the top is cleaned, pour into, the lubricant dispensing, and other help the instant input as can be known of user.In addition, when endoscope 1018 was flexibility, handle 1012 can comprise handled control 1022, is used for control terminal 1019 and endoscope's 1018 other part angulations.Handle 1012 also can further comprise service aisle device 1024, puts into this device after various tool can being passed the service aisle of endoscope 1018, and fully 1019 end reveals endways, to carry out various surgical operations, diagnosis, perhaps other tasks.

Optionally pump 1006 can comprise and pours into flexible pipe, and it is connected with handle 1012.Pouring into flexible pipe 1026 can be connected with optional pump 1006 through adapter 1028.Be pressed into endoscope's 1018 optional injection galleries through pouring into the solution that flexible pipe 1026 pumps.Alternatively, optionally pump 1006 can comprise shunting flexible pipe 1030, it is connected in Control Component 1002, and the fluid of shunting flexible pipe 1030 carrying is incorporated in the Control Component 1002 other holding wire subsequently into, and delivers to handle 1012 and send into endoscope 1018 through adapter 1016 and external cable 1014.This optional apparatus arrangement can make user's bar with less external hose and external cable.

As the option or the addition Item of pump 1006, can use suction hose to remove fluid unnecessary in the working space and residue.

Control station 1010 also can comprise additional controller 1032 and/or indicator 1034, is shown in the Control Component 1002.These controllers and indicator can be, for example useful type when the equipment among Figure 10 is assembled or repairs.

Figure 11 is for describing the structure chart that concerns between the different elements in the endoscopic system emphatically.Element cooperation several logics that Control Component 1002 comprises and/or physics can produce image on watch-dog 1004.The form of video processor and controller 1102 can be computer motherboard, can receive control and import and the operator scheme of other elements in the Control Component 1002 is controlled.In addition, video processor and controller 1102 can comprise image processing function.

Real-time processor 1104, it can be presented as, for example is arranged at the PCI plate on video processor and the controller 1102, as selection, can be video processor and controller 1102 with the physical logic device.Real-time processor 1104 and light source assembly 1106, scanning device Control Component 1110, and detector module 1116 combinations.Light source assembly 1106 can separate arrangement alternatively, and it comprises one or more illuminators, and these illuminators produce light energy, are used for the imaging top and restraint scanning.Light source assembly 1106 is through optical fiber 1108 light energy outputs, and it is connected with external cable 1014 through adapter 1016 in turn, and adapter described here has two part 1016a and 1016b.At the light that FOV scanned by way of endoscope 1018, by handle 1012 back, after endoscope tip was collected, each signal that returns was through endoscope 1018, handle 1012 accordingly, with external cable 1014, and get back to controller assemblies 1002 by adapter 1016.

In certain embodiments, each signal that sends back by external equipment is an optical signal.Therefore inverse signal line 1114 can be an optical fiber or a branch of optical fiber that leads to detector module 1116.In detector module 1116, be converted into the signal of telecommunication with the corresponding optical signalling of FOV feature, turn back to real-time processor 1104 handling in real time, and video processor and controller 1102 are provided analysis.Can obtain amplifying with the corresponding signal of telecommunication of optical signal, and before being sent to real-time processor 1104, carry out digitized by detector module 1116.Alternatively, analogue signal can be passed to real-time processor 1104 and also carry out analog digital conversion therein.Detector module 1116 and real-time processor 1104 can be combined into a physical component.

In optional embodiment, the light sample of FOV can be on the top is the signal of telecommunication by one or more visual detectors such as photodiode converts, and like this, inverse signal line 1114 can be presented as electric wire, and detector module 1116 can omit.When carrying out terminal opto-electronic conversion, more favourable way is the detected signal in amplification imaging top, reduces impedance simultaneously, reduces electrical noise, and improves the sensitivity of detector or detector.In addition, be preferably in terminal imaging top 1019 and carry out analog digital conversion, perhaps in handle 1012, carry out alternatively, so that reduce the impedance of longer holding wire, this holding wire passes external cable 1014, and handle 1012 is carrying out also passing endoscope 1018 under the terminal analog-to-digital situation.Like this, holding wire 1114 can comprise digital line and adapter 1016, and this adapter is used for connecting some digital signal at least.

Real-time processor 1104 can randomly be carried out the signal measurement of the level, the corresponding light source assembly output of each viewpoint surface brightness among adjusting and the FOV.

Scanning device Control Component 1110 is controlled to the vertical optical beam scanner of picture.Have the situation of complete orientation sensing at scanning device, but it also can handle the sense line of beacon scanning device position.Therefore scanning device control line 1112 can comprise two-way control line.Scanning device Control Component 1110 can directly provide drive current to scanning device.Alternatively, scanning device Control Component 1110 can provide the operation that is converted into drive current to the sample of signal of ideal scanner driver, and for example carry out on handle 1012 or imaging top 1019 in more terminal zone in this conversion.Like this, as other options, preferably from control station 1010 provide DC or AC power through adapter 1016 to connector assembly.

For determining the position of scanning device, alternatively or dependency, determine that scanning device can be more favourable with respect to the position of the FOV sample signal by inverse signal line 1114 with respect to scanning device control line 1112.Like this, real-time processor 1104 can be used and the corresponding mode driven sweep of the optical signal that receives device Control Component 1110.

Scanning device can be driven by Control Component 1002, or alternatively, system can come drive system with the scanner frequency of reality, generally cries " trundle-tail ".

In addition, control line 1117 can lead to handle 1012, so as through the user to controller 1020 and optionally steering controller 1022 operation and export control signal.When execution is controlled, come from and control controller 1022 and the physical connection of control between the electric wire being better than strictness under the control of control station, control line 1117 can take control signal to the control controlling equipment in addition.The information that control line 1117 can additionally carry indicator or display to handle 1012 to send the user to.

Video processor and controller 1102 have interface 1118, and it can comprise several isolating input/output lines.Video output can arrive monitor 1004.But linkage record device 1102 is to catch video information, record process.In addition, endoscopic imaging system 1001 connectable to network or the Internet 1122 are used for long-range expert's input, and information bank reparation etc. are filed in long-range inspection.Video processor and controller 1102 can randomly combine the data that receive through I/O1118 with view data, and to derive from the information-driven monitor 1004 of the multiple source that comprises imaging top 1019.

Or as the option of monitor 1004, display can be used as the output of one or more remote-control devices, for example the top set display in addition.Like this, background information is for example observed panorama and can be combined with other information in FOV and/or video processor and the controller 1102, shows to produce relevant up and down information.

The control line of pump 1006 can come from handle 1012 and process Control Component 1002.Figure 11 shows that and pour into through pouring into the situation that isocon 1030 arrives Control Component and sends through adapter 1016.

Not shown is extra optionally feature, for example lubricant, normal saline and/or anesthetis pump.

Figure 12 is the profilograph of scan components 1201.This scan components is made up of with the device that is associated the outer housing 1202 of encapsulation and support scanning device 108.Optical fiber 1204 can be for example single-mode fiber, is fixed on the outer housing 1202 for scan components supply light and by becket 1206.The end of optical fiber 1204 can produce the angle of divergence of precognition to make incipient beam of light 1208 through polishing.Initial bundle 1208 by the shaping of beam-shaping eyeglass after, produce shape and be suitable for the light beam that in the other parts of system, transmits.As can be known, this beam-shaping eyeglass 1210 all or part of can be moved or shape-variable is dispersed the position of mid portion and the angle of mid portion with the control light beam.After shaping, the light beam 1211 of shaping sends by the intermediary aperture at MEMS scanning device 108, and the front portion from first reflective surface reflects back to scanning device from scan components output, is scanning light beam 110 then.

Option or addition Item as beam shaping eyeglass 1210 can use reflectible beam shaping optical element, and it can randomly make up with scanning mirror 108.This device is 09/400 at the number of patent application of the U.S., 350, be entitled as in " optical scanning system that band is revised " explanation is arranged, the applying date is JIUYUE 11 in 2000, belong to co-inventor's Clarens (Clarence T), Tag woods (Tegreene) and Dai Weidigengxici (David Dickensheets) are with for referencial use.

In some embodiment of Figure 12, be fixed with dome 1212 at outer housing 1202 ends.Dome 1212 provides many functions.The inside of this dome 1212 comprises first reflecting surface, is shown the whole inside of dome here.Alternatively, first reflecting surface can be suspended between dome and the scanning device, and perhaps first reflecting surface can be a special shape of dome, for example has the terminal outstanding pillar of reflection.This shows that the surface, inside of dome provides first reflecting surface.In addition, the inside of dome and/or outside can possess the optics weight, thereby can work as light beam and can further carry out shaping to light beam by it when inner, form scanning beam 110.In addition, dome 1212 can be outer housing 1202 vacuum seal is provided, and has therefore protected inner optical element to avoid contacting external environment condition.

Control and/or power line 1214 are by becket 1206.Lead 1214 is connected to scanning device 108, and the driving signal is provided, and randomly, also provides position feedback.Reflector position can determine that described pressure drag component can be consulted one or above MEMS scanning device patent description content with adulterated pressure drag component.Electric lead 1214 can comprise that also control is connected with feedback, in order to the focus characteristics of control beam shaping eyeglass 1210.

Alternatively, reflector position can be determined with optical mode.Sensing element 1216 can be used for for example detecting the end of one or more scannings, and synchronizing information is provided like this.Sensing element 1216 can be for example photodiode, and it transmits signal for control station 1010, and when scanning light beam 110 shines thereon, especially also can transmit signals to scanning device Control Component 1110.Alternatively, sensing element 1216 can be the known optical element of reflectance, and it transmits the optical signal of recalling against beam path and by optical fiber 1204.Like this, spectroscope, moment adapter, the element that perhaps is equal to can be combined in the light source assembly 1106, the signal that returns with seizure is so that detect and be sent to other control element, for example real-time processor 1104.

Registration slot 1216 can be formed in the outer housing 1202 to help with scan components 1201 and scanning top 1019 registrations.

The cross-sectional view on Figure 13 scanning endoscope tip imaging top 1019.Scan components 1201 by detector element 1302 around, detector element 1302 successively by shell 1304 around.Detector element 1302 can be for example multimode fibre, and it can transmit reflected signal and get back to terminal 1018 and arrive on the detector module 1116 in the controller 1002.Can there be gap 1306 in 1302 of detector element.

As substituting of fiber optic devices, detector element 1302 can comprise for example photodiode of optical-electrical converter.Shell 1304 can be elastic in resilient endoscope, and can be inflexible in rigidity peritoneoscope or the rigid mount that is equal to.As option, shell 1304 can be inserted in another housing as the device veil of reality.

Figure 14 is for having the profilograph on interior vault surface of the scanning end assembly of difference reflection among certain embodiment to two polarizations of light.Inner surface 1212a can comprise two-layer, quarter-wave rotator 1402 and reflection polarizer 1404.Reflection polarizer generally includes the conductor with the long spaced and parallel of wavelet, and its light that allows the polarization direction to be parallel to their directions passes through, and the polarization direction is reflected perpendicular to the composition of their directions simultaneously.It is 6,449,092 that the example of this polarizer is disclosed in U.S. Patent number, is entitled as in the patent of " reflection polarizer with the extendible red band edge that reduces axial chromatic aberration ", can be for referencial use.

When the incident bundle with particular polarization 1,406 1211 through shaping, during by quarter-wave plate 1402, its polarization state has been rotated 45 °.In a preferred embodiment, it rotates to vertical with the propagation axis of reflection polarizer 1404.Therefore, through after the quarter-wave plate, reflected beams is 1408, and its polarization state is rotated 45 ° of formation polarizations 1410 again, and perpendicular to incident polarization 1406.The bundle 1408 that is reflected is subsequently by becoming scanning light beam 110 after scanning device 108 (not shown) reflection.

Reflection polarizer 1404 can only cover the part of dome 1212 inside, with consistent from the incident illumination of bundle 1211.Alternatively, the whole inside of dome all can be covered by reflection polarizer 1404.Run into the situation of reflection polarizer 1404 once more at scanning beam 110, its for the third time by quarter-wave plate 1402 time earlier with 45 ° of self polarization rotations.Specifically, the polarization of scanning beam 110 rotates to the propagation axis that is parallel to reflection polarizer 1404, therefore can pass through dome 1212.

As mentioned above, this reflection polarizer replaces with all available translucent reflecting mirror of other structures relevant with polarization.

Figure 15 is the isometric map of scan components 1201, illustrated in be fixed with dome 1212 for the tip of jacket tube 1202.Scan components 1201 also comprises registration slot 1216, is formed at outer housing 1202 inner ends, and optical fiber 1204 and electric lead 1214 are joined in the inner end of scan components 1201 simultaneously.Scan components 1201 can have for example about 2.5mm or littler external diameter, and has about 20mm or littler length.

Figure 16 is the isometric map of the optical element on terminal imaging top 1019, can make the reader have an X-rayed the corresponding layout of the scan components feature shown in Figure 12 better, and photodetector 1302 is specially optical fiber.Joint element 1602 can be used for improving the mechanical strength of detector optic fibers and/or the effective numerical aperture of improving optical fiber 1302, and provides scattering or the more effective gathering of reflected light.Therein among the embodiment that the high index heart yearn of detector optic fibers is softer, element 1602 can use transparent material for example plastics or glass to control described heart yearn in position.In another embodiment, it is comparatively favourable that use can improve the numerical aperture N.A. of detection fiber 1302.This N.A. strengthens extraneous light that element helps assembling big FOV for example from 120 ° to 140 ° FOV.For this application, multiple material known to the skilled all can be used, polytetrafluoroethylene (PTFE) for example, and perhaps other has the material of similar optical characteristics.

In certain embodiments, joint element 1602 can comprise that to scanning light beam 110 are the cross-polarized polarizer (not shown).This polarizer can help to suppress the direct reflection in the visual field, has therefore reduced the flicker that influences picture quality.

In this embodiment, all component by 1304 on shell around.

Figure 17 for Figure 12-16 in the similar optical track line chart of terminal Optical devices described.Input bundle 1208 is shaped to pass the aperture in the MEMS scanning device 108 (this place is illustrated as a plurality of discrete locations) by spherical lens 1210, and it is from the inner surface 1212a reflected back reflecting mirror 108 of dome 1212 afterwards.A plurality of positions of scanning beam 110 are shown bundle 110a to 110g.When scanning beam passed dome 1212, simultaneously by inner surface 1212a and outer surface 1212b shaping, the beam shape that produces was shown scanning beam position 110a to 110g.

Figure 18 is the top layout, comprises service aisle and the detection fiber that is arranged in scan components and the service aisle peripheral clearance.What shell 1304 surrounded is scan components 1201 and service aisle 1802.Service aisle 1802 is applicable to the transmission Surigical tool, diagnostic tool, or fluid is as being used for expansible air, and the normal saline of flushing usefulness perhaps is used to the actuation fluid of removing and handling.In other embodiments, passage 1802 or one or more detection fiber 1302 can be replaced by lubricant delivery path or drug channel.The top layout of Figure 18 is applicable to rigidity peritoneoscope and resilient endoscope.

Characteristic importantly of the present invention is and the detecting element that is centered around around the top can be distributed in free space, and need not consider to keep with respect to image really butt to.

Figure 19 is the isometric map of the end of band lubricant transmission.The top of shell 1304 is coated by end cap 1902, and this end cap comprises whole optical junction sheet 1602 and scan components dome 1212.Shown in return after the whole optical junction sheet part that optical fiber 1306 is positioned at end cap 1902.The corner 1903 of end cap 1902 for fillet to loosen the body tissue that endoscope is passed, simultaneously damage is minimized.End cap 1902 comprises that further at least one lubricant transmits mouthfuls 1906, and the transmission that mouthful can be lubricated agent by this transmissions is further to loosen the bodily tissue that passed and/or the passage of body cavity.Lubricant can intermittently or transmit mouth 1906 from lubricant continuously and send.Because a large amount of patients damage is to force endoscope crooked in the GI system because endoscopic procedure relates to, so this lubricant transfer system can lower patient's damage and discomfort.In one embodiment, lubricant can need and get, and way is that the piston on clinician's driving handle send down and send lubricant transfer port 1906 to lubricant from lubricant tube.In this embodiment, lubricant can be stored in the syringe.In another embodiment, the clinician can use pump, so that lubricant is pumped from the lubricant transfer port.In yet another embodiment, lubricant can be sent automatically.

Many kinds of lubricants all can use.Use soluble oil such as K-Y slurry comparatively favourable in some applications.

Figure 20 shows that the endoscope tip layout has three-dimensional or stereoscopic imaging capability.Scan components 1201a and 1201b are arranged in vertical distant view position so that produce parallax between their visual fields separately.In the embodiment of Figure 20, they are spaced apart on a horizontal string that is defined as visual field " horizon ".As needs transformation angle at random.Shown in service aisle 1802 between the scan components or under.If the space allows, detection fiber 1302 can center on other arrangement of parts.In certain embodiments, can preferably in the gap, insert detection fiber as much as possible and pass terminal signal intensity maximization returning.Shown in lubricant mouth 1906 surround into picture 1019 outer rings, top and arrange.

In operation, can simultaneously or alternately scan their visual fields separately from the bundle of scan components 1201a and 1201b, described visual field can be overlapping fully.If scanning simultaneously, this bundle codified is so that separate the signal that returns.For example, the wavelength between two assemblies may depart from mutually on a little ground, needs to use optical device that signal is separated.In another embodiment, this bundle can periodically be encoded so that the separation signal of electricity field.

Can use top, for example,, provide zoom capabilities, higher resolution is provided, perhaps scan the light of different wave length in other things in order to enlarge complex visual field with a plurality of scan components.In the situation of creating the complex visual field that enlarges, can tile or be overlapping slightly to generate entire image in the visual field of each scan components, and its size is greater than any image that is generated by the individual scanning assembly.The detailed description of relevant image tiling can be with reference to one or above general specified United States Patent (USP).

For the situation that zoom capabilities is provided with a plurality of scan components, such system can be continuous, turns round automatically or optionally.In an example of this system, configurable first scan components is with SVGA addressability that 140 OV that can pass through band coupling resolution are provided-promptly, be provided with outstanding viewpoint yardstick with abundant coupling in the pixel pitch of some working range or the scope of working range.Configurable second scan components can pass through the SVGA addressability that has 70 OV that mate resolution in one or more working ranges to provide.Like this, second scan components can be set, the working range that is equal to the scanning of the viewpoint yardstick of the half and the first viewpoint yardstick radius.Alternatively, configurable second scan components is to double the working range of first scan components, the viewpoint that scanning is equal to.Those of skill in the art can know other combinations.

For using a plurality of scan components, various modes can be arranged so that the more embodiment of high-res to be provided.In first kind of pattern, a plurality of scan components can fully scan the visual field that is equal to, but mode is the viewpoint scanning that scan components carries out according to other scan components, the viewpoint that scanning intersects or interlocks.In another pattern, configurable a plurality of scan components, such scan components scan the less zone of may sampling of the FOV of another scan components.For resonance MEMS scanning device, for example, scanning device has the highest angular velocity at the FOV center, and this situation can cause near the viewpoint dispersion mutually FOV center.Preferably be useful on the scan components at FOV center of another scan components of scanning for specific application, can provide better sampling in this zone like this.

In another embodiment, one or more scan components can be configured, thereby compares with the scan components that imaging in visible wavelengths is used, and can provide HYPERSPECTRAL IMAGERY at random at different frame frequencies or at different FOV.For example, for obtaining similar resolution, infrared wavelength needs bigger reflecting mirror, but also can allow the mirror distortion higher than visible wavelength degree.The infrared scan assembly can be equipped with than visual scan components reflecting mirror bigger, that have the higher dynamic deformation of degree.Similarly, the UV scanning assembly can be equipped with than visual scan components mirror littler, that have less dynamic deformation.In another program, certain reflection or transmission material may not have the attribute that is adapted to the ultraphotic spectrum wavelength.Employing is more suitable for can being used in other scan components of the material of ultraphotic spectrum wavelength.For example, the UV scanning assembly can be equipped with fluorite lens and the optimized reflector of UV and/or the polarizer.The infrared scan assembly can be equipped with lens, reflector, and/or the optimized polarizer of long wavelength.

Figure 21 is used for the structure chart compound and controller that separates two synchronous scanning light beams.For example, light beam can be by the scanner component scanning of arranging as the tip design of Figure 20.The embodiment of Figure 21 uses synchronous lighting and detects to separate the signal from a plurality of scanner components 1201, and that show here is two specific scanner component 1201a and 1201b.Intervalometer-controller 2102 be controlled at illuminator channel on the light source assembly 1106 and the detector channel on detector module 1116 synchronously.This functional meaning and alternative synchronization implementation example are presented among Figure 22.

The embodiment relevant with Figure 21 can synchronous paired illuminator and the rhythm of detector.Testing circuit is tuned to the pulse frequency of adaptating lighting device, thereby refusal is by the light of the illuminator generation of non-matching.

Intervalometer-controller 2102 can comprise a plurality of RF source 2106a, 2106b etc.Selectively, it can produce or use one to be used for independent RF signal 2106a synchronously, the RF signal of 2106b etc. thereafter.

Light source assembly 1106 comprises a plurality of respectively by illuminator driving signal 2103a, the illuminator 104a that 2103b etc. drive, 104b etc.Illuminator 104a, 104b etc. can be by external modulator 2104a, and 2104b etc. modulate, and perhaps can select to carry out inner modulation.In many application, illuminator 104 can comprise a plurality of independent light sources, thereby they are by the synthetic illumination of compound formation, and for example red, blue and green (RGB) laser instrument, its rgb light be by compound, thereby forms substantial white light.

RF source 2106a and 2106b control external modulator 2104a and 2104b respectively, go to modulate the light that is produced by illuminator 104a and 104b respectively, respectively to channel A and B.Synthetic illumination channel A and B are delivered to the imaging point respectively by optical fiber 1204a and 1204b, enter scan components A 1201a and scan components B 1201b respectively.Scan components 1201a and 1201b produce scanning light beam 110a and 110b respectively, and mode following the instructions is separately modulated.

Scattered light signal 114 is collected by light collector 1302.At light collector 1302 is under the situation of non-imaging, they can not the space ground identification come difference between the scattering of the scanning viewpoint that self-channel A and B produce.Yet scattered light signal 114 comprises multiple modulation signal (being two kinds) in example, and each comprises many wavelength (being three) potentially in example.Synthetic signal can separate according to their modulating characteristic, and wavelength can separate according to they difference reflections for dielectric mirror, wave filter, refraction etc. simultaneously.Light collector 1302 is sent to detector module 1116 with synthetic scattered light signal, and according to Figure 10 and 11, this detector module 1116 for example can be placed in the control station that is away from the imaging point.

In detector module 1116, scattered light signal is separated into its wavelength components, for example RGB.Composite signal 2121 is separated into by dielectric mirror 2122, for example can comprise the first wavelength signals 2124a of blue light and comprise the remaining composite signal 2126 of all wavelength that present except the first wavelength signals 2124a that is separated in fact.Similarly, second wavelength, for example green, can be separated into the second wavelength signals 2124b and remaining composite signal 2124c by dielectric mirror 2128.For current example, have only three kinds of wavelength to be presented in scattered signal 114 and the composite signal 2121, therefore remaining composite signal 2124c in fact only comprises HONGGUANG.

Rgb light signal 2124c, 2124b is sent to relevant photodetector and amplifier circuit 116c, 116b and 116a respectively with 2124a.In detector/amplifier (being denoted as detector/preamplifier here respectively), optical signal is converted into the corresponding signal of telecommunication, and it has the characteristic that is suitable for further processing.

Channel A links to each other with each detection (wavelength) channel with the B demodulator.Channel A demodulator 2136, thus 2142 and 2148 be input to illumination channel A, be the signal of feature by RF source A2106a and manipulator A2104a with frequency or spectrum by tuning demodulation.Channel B demodulator 2138, thus 2144 and 2150 be input to illumination channel B by RF source B 2106b and manipulator B 2104b by tuning demodulation, by the signal of frequency spectrum or spectral characterization.Like this, restituted signal 2137,2143 with 2149 corresponding to the related rgb video signal of scan components A 1201a, and restituted signal 2139,2145 with 2151 corresponding to the rgb video signal related with scan components B.

A kind of method that detector is tuned to an impulse modulation frequency is to use lock-in amplifier, and it is at one or more specific frequency amplifying signal.Lock-in amplifier can comprise circuit, thus with detected modulation signal be transformed into base band or, selectively, modulation signal can be delivered to controller.Controller becomes image with conversion of signals and carries out and use required appropriate function.

In certain embodiments, channel A shows as " left eye " perspective view on FOV, and channel B shows as " right eye " perspective view on FOV.When scan components 1201a and 1201b arrange according to the point design of Figure 20, an embodiment who comes to this.

For being suitable for using, the device of Figure 21 can be rearranged, in conjunction with, separate, replace etc.

Scanning light beam imager near the SVGA resolution can have the data transfer rate that belongs to 20MHz one class.The method that a kind of operation has the synchronizing indicator of scanning light beam imager is that light beam is in than on the high frequency of data transfer rate.For example, light beam can be modulated onto on 20 to 200 times the speed of data transfer rate, causes the pulsation rate of 400MHz to 4GHz.Yet high like this pulsation rate is a challenge for detector, causes very big photo emissions noise and the difficulty on the actual design through regular meeting.In certain embodiments, pulsation rate can operate on the data transfer rate of little multiple, for example is in 1 to 10 times data transfer rate, 20 to 200MHz the pulsation rate that causes being more convenient for operating.

The pulse frequency running that the equipment of Figure 21 can preset.Comparatively ideally, especially in low frequency times embodiment, equate, should keep the constant phase relation between the modulation of pixel clock and lock-out pulse in order to ensure the quantity in impulse modulation cycle.Yet the resonance scanning technology does not have constant rotary speed.

For the resonance scanning system, the constant frequency impulse modulation can be used at interval together with constant pixel clock rate and variable pixel.In this mode, comparatively ideally, Flame Image Process is inserted between the actual samples position, thereby produced constant pitch output.In the case, the addressable limit value is set at the maximum speed point when light beam passes through the center of FOV in the scanning.Move the slower more peripheral zone of respectively scanning the end points place by excessively sampling (over-sampled) at scanning light beam.Usually, at appropriate location application two-dimensional linear interpolation, be found and can produce the excellent images quality and have the processing demands of appropriateness relatively.The U.S. Provisional Patent Application that on May 17th, 2002 submitted to, application number is 60/381,569, name is called IMAGEQUALITY CONSIDERATIONS IN BISINUSOIDALLY SCANNED RETINALSCANNING DISPLAY SYSTEMS, as common appointment and in view of the above with reference to quoting, instructed the method for inserting pixel value, especially in regard to two sine sweeps (bi-sinusoidal scanning).

Alternatively, constant pixel pitch can be kept by changing pixel clock and lock-out pulse modulating frequency.It is 10/118,861 that the method and apparatus of change by the pixel clock of FOV is described in application number, and name is called in the U.S. Patent application of ELECTRONICALLY SCANNED BEAM DISPLAY, as common appointment and in view of the above with reference to quoting.

Shown in Figure 22 is the ideal diagram of a pair of composite light beam waveform.Linear visual field 111a and 111b represent the scanning pattern of scanning channel A and B respectively.FOV 111a comprise by shown in the light district 502a and the gray area 506a that arrange.FOV 111b comprise by shown in two light district 502b and the 502b ' that arrange round gray area 506b.Notice that FOV 111a and 111b can be, and in the middle of this example be, arrange according to feature at least, completely different each other.

Waveform 2202a represents the modulation pattern of channel A illuminator, and as shown in the figure, AFOV aims at channel.The high part of waveform is represented illuminator at " opening " state, and low simultaneously part is represented " pass " state.Notice that if in conjunction with the illuminator algorithm for power modulation of Fig. 2 to 6, the illumination modulation waveform may be than shown more complicated among Figure 22.Yet, to separate with signal for the signal of channel is compound, it is identical that principle remains.

Similarly, waveform 2202b represents the modulation pattern of channel B illuminator, as shown in the figure, aims at channel B FOV.Notice that channel A is modulated to different instantaneous frequencys with the B illuminator, so that difference and separating.According to diagram, channel A and B all be shown as shown in the interval on be modulated at constant frequency.In some applications, may need to guarantee that channel is modulated to each other non-integral multiple.

The Utopian hybrid response that waveform 2204 expression detectors receive.Waveform 2206a and 2206b represent the channel special component of waveform 2204, that is to say, thereby they can measure and add generation waveform 2204 from waveform 2204.Waveform 2206a represents the modulated response of channel A, and waveform 2206b represents the modulated response of channel B.Can notice that light district 502 produces the response of two units in height, gray area 506 produces the response of a unit in height, and " pass " cycle of waveform 2202a and 2202b causes null response.

Waveform 2208a and 2208b represent the compound baseband response of channel A and B respectively.Can see that lighted region 502 is set up high state, and gray area 506 is set up low state.Notice that in order to produce these baseband waveforms, for convenience, we adopt the convention of " pass " part of modulation period being arranged to be equal to the response of " opening " part subsequently.Waveform 2208a and 2208b can distinguish, and in turn, explain or be shown as linear image 2209a and 2209b.A channel images 2209a has lighted region 2210a and dark area 2212a, and B channel images 2209b has two lighted region 2210b and 2210b ' round dark area 2212b.Therefore can see, the signal of Figure 22 is compound/and the signal separation scheme causes a plurality of images to be caught simultaneously and decoded rightly.

Figure 23 is the isometric view of detection components 1116.In detection components 1116, scattered light signal is separated into its wavelength components, for example RGB.Use for some, for example those use the application of fluorescence or other color conversion image techniques, need with its detect launch from illuminator other or alternative wavelength.

Optics base 2302 is a kind of mechanical components, and on this mechanical component, optical module is installed and calibration.In addition, this optics base provide mechanical strength and, optionally, heat sink soaking.As shown in Figure 23, enter detection fiber and stop at optical fiber base 2304 places, further optical transmission is undertaken by Free Space Optics.Condenser lens 2306 is with beam-shaping, and condenser lens 2306 appears on the optical fiber base.Reflecting mirror 2122 can be a dielectric mirror, blue light beam 2124a is separated, and it is pointed to the blue light checkout gear.Remaining composite signal 2126 comprises green and HONGGUANG, is separated by dielectric mirror 2128.Dielectric mirror 2128 points to the green glow checkout gear with green glow 2124b, stays HONGGUANG 2124c by the HONGGUANG checkout gear.

Bluish-green and HONGGUANG checkout gear comprises it being respectively blue, green or red light filter 2308,2310 or 2312, and photomultiplier tube (PMT) 116.Filter is used for further detector and any cross-talk being isolated, and cross-talk can show as the light of the wavelength of not expecting.For an embodiment, HAMMAMATSU model R1527 PMT finds satisfied result can be provided.This pipe has near 10,000,000 internal gain, 2.2 nanoseconds response time, 8 * 24 millimeters side-looking effective area and 0.1 quantum efficiency.Other commercial PMT also can be satisfactory.

For the PMT embodiment of this equipment, the amplification in two stages, each stage all provides the gain near 15dB, and overall gain is raised to signal and is suitable for analog-to-digital rank at 30dB.The amount of gain of interchannel has slightly difference (gain of scope from the gain of HONGGUANG channel 30.6dB to blue light channel 31.2dB), but can not allow the people feel especially severe, because processing subsequently can be kept white balance.

In another embodiment, avalanche photo diode (APD) is used to replace PMT.Used APD comprises thermoelectricity (TE) cooler, TE cooler controller and transmission resistance amplifier.Output signal is transferred the 5X gain of using the standard low noise amplifier by another.

Except PMT and APD, other photodetectors also can be used.

Figure 24 is light source assembly or has the isometric view of the illuminator 104 of three generating lasers that the RGB illumination is provided.Blue, green and red laser 2404a, 2404b and 2404c by essentially identical optics illumination, are synthesized up to them respectively.In one embodiment, blue laser 2404a is B﹠amp; W TEK 10mW diode pumping solid laser (DPSS) is launched in the laser of 473 nanometers (nm); Green laser 2404b is B﹠amp; W TEK 15mW DPSS launches the laser in 532nm; And red laser 2404c is that HITACHI 35mW circular laser diode is launched the laser in 635nm.For the application of software realization white balance, there is no need to make output (or the apparent energy when the non-unanimity of the detector) unanimity of interchannel.

Blue, green and red laser 2404a, the light beam of 2404b and 2404c respectively by acoustooptical modulator (AOM) 2408a, before 2408b and the 2408c by condenser lens 2406a, 2406b and 2406c.Condenser lens is set to light beam is focused on the crystalline center of AOM.Passing through AOM2408a, after 2408b and the 2408c, blue, green and red beam passes through light beam resistance body 2410a respectively, and 2410b and 2410c are then by collimating lens 2412a, 2412b and 2412c.The light beam resistance body is a vertical clearance gap, and it stops all ripples from the AOM appearance except that the first rank diffraction harmonic wave.Parallel-plate optics (PPO) equipment 2414a, 2414b is used for by vertical and edgewise displacement alignment with 2414c.Dielectric mirror 2416a and 2416c turn to beam synthesis 2418 with blueness and red beam respectively, and in its inside, green glow is directly to introduce.In one embodiment, beam synthesis 2418 is X-cube x-cube.Dielectric mirror 2420 is with synthetic light beam, and it shows now and turns white, and redirects to point to microscopical object lens 2422, and microscopical object lens focus on light beam on the lighting fiber nuclear of being supported by CF optical fiber base 2424.Three micrometers 2426 are used for optical fiber is checked collimated light beam.In one embodiment, microscopical object lens 2422 are 20X object lens of a chromatic dispersion control.The lighting fiber (not shown) is into the single mode glass fibers of dihedral end, has 3.5 microns nuclear and 125 microns coating.

Although the illumination device component of Figure 24 104 is made of non-customized parts, it also may be appropriate adopting the equivalent arrangements of customization or non-customized parts.In certain embodiments, more satisfactory is to set up complete fiber coupling system.Under this and other situation, for example can adopt the coupling that fades to carry out light beam effectively and synthesize.

The example of an optional direct synthetic illuminator 104 is presented among Figure 25.Figure 25 is tight type illuminator or the light source assembly 104 with three emitters.The emitter of Figure 25 can be laser diode or light emitting diode, can directly modulate as required.For example, when embodiment adopts when illuminator and detector put into handle 1012, this may advantageous particularly.Emitter 2404a, 2404b and 2404c for example, can be the LED of RGB laser instrument or edge-lit, by base 2502a, 2502b and 2505c support respectively.Base 2502 can comprise the structure that is used to aim at illuminator.By emitter 2404a, the light beam of 2404b and 2404c output is synthesized by X-cube x-cube 2504 and synthesizes light beam 106 along common axle output.X-cube x-cube 2504 can be commercial birefringence equipment.Output beam 106 descends along bucket 2506 is installed, and by output optical frames 1106, is depicted as pairing lens (doublet) here, aims at or focuses on.Alternatively, output optical frames 1106 can comprise a single-lens and/or diaphragm (not shown).Spacer 2508a and 2508b change three illuminator 2404a, the optical path length between 2404b and 2404c and the output optical frames 1106, thereby compensate for chromatic aberration.

Figure 26 a and 26b comprise the block diagram of scanning endoscope or laparoscopically optional embodiment.Proximal body 1012 can comprise a Handheld Division and/or an isolating control station, is connected on the point 1018.Proximal body 1012 is removable connections with point 1018, thus realize the convertibility of point and realize point can any disposable use.Controller 1002 can separate with proximal body 1012 combinations or from proximal body 1012, is operably connected on one or more illuminator and detector in the proximal body 1012.Interface 1118 provide and external data source and receptor between communication, display for example, actuator, long-range specialist system etc.

In certain embodiments, illuminator can comprise isolating indigo plant, green and red laser 2404a, 2404b and 2404c respectively.The output of generating laser synthesizes single optical signal in beam synthesis 2418.Light beam blender 2418 can be connected on the illuminator optical fiber 1204 then, and illumination energy sends to point.

At the end 1019 of point 1018, light penetrates from lighting fiber 1204, and scanning is by visual field 111.In this certain embodiments shown in chart herein, output beam 106a is redirected to the direction of scanning mirror 108 by deviation mirror 1212a, and described deviation mirror 1212a for example can be metal or dielectric mirror.By protective clear layer 1212, scanning light beam 110 emissions are to visual field 111 directions.

Partial reflection or scattered light 114 return by protective clear layer 1212, collect by returning optical fiber 1302.In illustrated specific embodiment, isolating detection fiber 1302a, 1302b and 1302c are respectively applied for and collect and return indigo plant, green and danger signal.At blue, the green and fine 1302a of HONGGUANG, 1302b and 1302c go up and place filter 2308,2310 and 2312 by respectively, and optical signal can obtain separating.Optional optical coupling element 1602a, 1602b and 1602c can be used to increase the light collection efficiency of detection fiber, thereby strengthen optical signal intensity or make it pass through the visual field more equably.

Blue, green and red detection fiber 1302a, 1302b and 1302c are transferred to luminous energy point respectively and it are transferred to indigo plant, green and red detector 116a, 116b and 116c in the proximal body 1012.Detector 116 becomes the signal of telecommunication with the transform light energy that receives, so that handle and be decoded into image by controller 1002.

The alternative form of the optical fiber of installing as point, this optical fiber can more directly be connected with the detector of all detector optic fibers that have the luminous energy that receives that delivers all wavelengths.So arrange, though may cause need be bigger the collection optical dimensions or the signal intensity of reduction, help the isolation detector channel and reduce optic cross-talk.

Compare with the scanning device such as the constant rotary speed of rotating polygon, high speed MEMS reflecting mirror and other resonance polarizers can be portrayed its feature by the sine sweep rate.For energy requirement and the size restrictions that is reduced in the imaging point, some embodiment can allow the resonance scanning of two scan axises.Double resonance or two sine sweep pattern have been shown among Figure 27 as desired result.In some instances, scan pattern is along the path of Li Saru (Lissajous) pattern characteristic and go.Shown in straight line matrix 2702 covered by double resonance scanning pattern 2704.In this example, ideal pixel location is represented in the cross point between the vertical and horizontal line of straight line matrix, and the Actual path that double resonance scanning pattern 2704 expression scanning viewpoints are brought.See that as us actual scanning pattern is not very accurately to aim at all straight line pixel locations.Therefore these values can be passed through interpolation (interpolating) mensuration.

Select the method for dual resonance frequency and realize that the optimized method of picture quality has similar discussion in a U.S. Patent application, the exercise question of this application is " Consideration of relevant picture quality in the retina scanning display system of two sine sweeps ", the inventor is Margarita Blang (Margaret Brown), mark's freeman (Marc Freeman) and John R Lewis (John R.Lewis), application number is 10/441,916, the applying date is on May 19th, 2003, general here the appointment and the reference introducing.This patent application except that other guide, has been instructed the method for interpolation pixel value, especially in regard to two sine sweeps.

For the resonance scanning system, constant frequency pulse modulation can be used constant pixel clock rate and variable pixel interval.For this pattern, comparatively it is desirable to, application image is handled, and carries out interpolation between the actual samples position, thereby produces the output of constant distance.In this example, the flank speed point place when the addressable boundary is set at center by FOV of light beam in the scanning.Moving the slower more peripheral zone of respectively scanning the end at scanning light beam is over-sampling (over-sampled).Usually, have now found that the linear interpolation of using two dimension can produce the preferable image quality and have existing to moderate processing demands.

In addition, can keep constant pixel at interval by changing pixel clock and lock-out pulse modulating frequency.The method and apparatus that changes the pixel clock that passes through FOV is at U.S. Patent application 10/118, explanation is arranged in 861, the exercise question of this application is ELECTRONICALLY SCANNED BEAMDISPLAY, the inventor is: Gregory Scott Bu Laite (Gregory Scott Bright), Scott W (Scott W.Straka), (Philips C cloth Rec) Philip C.Black, James G mole (James G.Moore); John R Lewis (John R.Lewis), Ha Kanyouli (Hakan Urey), Clarens T Tag woods (Clarence T.Tegreene), the applying date is JIUYUE in 2002 4 days, general here specify and with reference to introducing.

By using clock distributor (frequency ratio was greater than 1: 1) or second clock, people can use device disclosed herein, and similarly control impuls modulating frequency and pixel clock are synchronous.This can be used in combination with the device of Figure 21, thereby produces the separable light modulation of illuminator A 104a and illuminator B 104b use respectively.

The general introduction of front of the present invention, brief description of drawings and detailed explanation are described embodiments of the invention, and purpose is to be convenient to help the reader understanding.Structure, method and equivalent that other can also be arranged within the scope of the invention.Similarly, scope of the present invention described here should only be limited by claim.

Claims (33)

1, a kind of scanning light beam imager comprises:

Illuminator can produce polarized light;

Lighting fiber has near-end and far-end, and near-end is aimed at receiving the light from described illuminator, and described lighting fiber can transfer to far-end from its near-end with light;

Scanning device can draw the photoconduction from the far-end of described lighting fiber and cross the visual field;

The polarizer, it is for the light cross-polarization from described illuminator;

At least one detection fiber separated with described lighting fiber, and described at least one detection fiber has far-end and near-end, and the far-end of this described at least one detection fiber is in the position that receives to the small part guide lights by the described polarizer from the visual field; At least one photodetector is positioned at the position that receives light from the near-end of described at least one detection fiber; With

The beam-shaping optical element, it is between the far-end and described scanning device of described lighting fiber, and the characteristic of described beam-shaping optical element is adjustable, thereby changes the shape of scanning light beam.

2, scanning light beam imager as claimed in claim 1, wherein, the adjustable characteristic of described beam-shaping optical element comprises the variable position of described beam-shaping optical element.

3, scanning light beam imager as claimed in claim 1, wherein, the adjustable characteristic of described beam-shaping optical element comprises the variable shape of described beam-shaping optical element.

4, scanning light beam imager as claimed in claim 1 also comprises:

At least one light is collected optical element, and it is positioned to collect from the light of visual field and coupling light in the described at least one detection fiber of will collecting.

5, scanning light beam imager as claimed in claim 4, wherein, described at least one light is collected the plastic material that optical element comprises substantially transparent.

6, scanning light beam imager as claimed in claim 1, wherein,

Described at least one detection fiber comprise many detection fiber and

Described at least one photodetector comprises a plurality of photodetectors.

7, scanning light beam imager as claimed in claim 6 also comprises:

With the coupled a plurality of filters of described many detection fiber, wherein, each described a plurality of filter has stoped the optical transmission of specific wavelength to each described a plurality of photodetector basically.

8, scanning light beam imager as claimed in claim 1, wherein, described at least one photodetector comprises a plurality of photodetectors, and wherein said scanning light beam imager also comprises:

At least one wavelength separator is used to remove by the part of the light of described at least one detection fiber load and the light that will remove and partly guides to described a plurality of photodetectors one of them.

9, scanning light beam imager as claimed in claim 8, wherein, described wavelength separator comprises dielectric mirror.

10, scanning light beam imager as claimed in claim 8, wherein, described at least one wavelength separator is between the near-end of described at least one detection fiber and described a plurality of photodetector between one of them.

11, scanning light beam imager as claimed in claim 1, wherein, described scanning device comprises the mechanism of the far-end of removable described lighting fiber.

12, scanning light beam imager as claimed in claim 1, wherein, described scanning device comprises flexible mirror, the light and the may command that are aligned to receive from described lighting fiber far-end reflect this light.

13, as the scanning light beam imager of claim 12, wherein, described scanning device comprises the MEMS scanning device.

14, a kind of scanning light beam endoscope comprises:

Optical transmitting set can produce polarized light;

Optical fiber is controlled coupling with described optical transmitting set, is used for transmitting light from near-end to remote location;

Scanning device, its location is to receive the light beam from the far-end of described optical fiber, and described scanning device is controlled coupling and is passed through the visual field to scan this light beam;

The polarizer, it is for being positioned to receive the light from described visual field from the light cross-polarization of described emitter and its;

At least one photodetector, it is positioned to receive the light from the visual field by the described polarizer; With

The beam-shaping optical element, it is between the far-end and described scanning device of described optical fiber, and the characteristic of described beam-shaping optical element is adjustable, thereby changes the shape of scanning light beam.

15, as the scanning light beam endoscope of claim 14, wherein,

Described at least one photodetector comprises a plurality of photodetectors.

16, as the scanning light beam endoscope of claim 15, also comprise:

A plurality of optical filters, one in each optical filter and the described a plurality of photodetector is carried out optical coupled, with the propagation of basic prevention from the light of one or more wavelength of visual field.

17, as the scanning light beam endoscope of claim 14, wherein,

Described at least one photodetector comprises the photodiode of installing near described optical fiber far-end, and described photodiode is regulated the signal of telecommunication that the incident light from the visual field is thereon responded.

18, as the scanning light beam endoscope of claim 17, also comprise:

Near the analog-digital converter of installing described photodiode, described analog-digital converter is controlled coupling and is converted to digital electric signal with the analog electrical signal that described photodiode is produced, and is used to be transferred to the near-end near described optical fiber.

19, a kind of scanning light beam endoscope comprises:

Illuminator is exported the light of a plurality of wavelength;

Lighting fiber with described illuminator coupling, has near-end and far-end;

The scanning device of resonance on two axles receives from the light of the far-end of described lighting fiber and makes this photoscanning cross the visual field;

Detector receives the light by the visual field scattering; With

The beam-shaping optical element, it is between the far-end and described scanning device of described lighting fiber, and the characteristic of described beam-shaping optical element is adjustable, thereby changes the shape of scanning light beam.

20, as the scanning light beam endoscope of claim 19, wherein, described only broadband light with a plurality of wavelength.

21, as the scanning light beam endoscope of claim 19, wherein, described light with a plurality of wavelength is made up of multiple isolating narrowband color.

22, as the scanning light beam endoscope of claim 21, wherein, there are three kinds of isolating narrowband color corresponding to red, green and blue.

23, as the scanning light beam endoscope of claim 21, wherein, at least one in this isolating narrowband color is in the electromagnetic spectrum zone that is not easy to be discerned by naked eyes.

24, a kind of scanning endoscope tip comprises:

Lighting fiber is used to receive the illumination light from the separable body of near-end, and illumination light is conducted to tip far away;

Scanning device, in described tip far away at least two axially on resonant drive, it is positioned to receive from the illumination light of the far-end of described lighting fiber and to make this illumination light scanning cross the visual field;

One or more detection fiber places in the described tip far away and conducts to near-end to receive from the light of visual field and the light that will receive, and is used to transfer to the separable body of near-end; With

The beam-shaping optical element, it is between the far-end and described scanning device of described lighting fiber, and the characteristic of described beam-shaping optical element is adjustable, thereby changes the shape of scanning light beam.

25, as the scanning endoscope tip of claim 24, also comprise:

Oversheath also carries described optical fiber therein from the proximal extension to the remote location.

26, as the scanning endoscope tip of claim 25, also comprise:

Many electric leads load in the described oversheath, have the signal of telecommunication that is used to receive from the separable body of near-end, and conduct this signal of telecommunication to described scanning device.

27, as the scanning endoscope tip of claim 26, wherein, described electric lead also signal is conducted to described near-end more than one from described far-end so that conduct to the separable body of near-end.

28, as the scanning endoscope tip of claim 24, also comprise:

Most advanced and sophisticated adapter is attached at the described near-end of described optical fiber, and described most advanced and sophisticated adapter detachably is coupled to the body adapter that is positioned on the separable body.

29, a kind of scanning light beam imager comprises:

A plurality of optical beam scanners are used for scanning light beam and cross the visual field; With

One or more non-imaging detector elements, it is positioned to receive the light from the visual field;

The beam-shaping optical element, it is between described scanning device and non-imaging detector element, and the characteristic of described beam-shaping optical element is adjustable, thereby changes the shape of scanning light beam.

30, as the scanning light beam imager of claim 29, also comprise:

Isolating light source is with each described a plurality of optical beam scanner coupling; With

One or more demultiplexers, with described one or more non-imaging detector elements couplings, be used for corresponding to the signal of the described light that receives that respectively these a plurality of optical beam scanners are corresponding between distinguish.

31, as the scanning light beam imager of claim 30, wherein,

Each described isolating light source output synthetic light on characteristic frequency; And

Wherein said one or more demultiplexer is by the frequency modulation(PFM) separation signal.

32, as the scanning light beam imager of claim 30, wherein,

Each described isolating light source is exported the light of one or more characteristic wavelengths, and

Wherein said more than one demultiplexer is by the wavelength separated signal.

33,, two optical beam scanners are arranged wherein as the scanning light beam imager of claim 30; And

The visual field of each optical beam scanner is basic identical;

Thereby described scanning light beam imager produces stereo-picture.

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