CN106303279B - Multi-spectrum endoscopic automatic exposure imaging method - Google Patents
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Abstract
The invention discloses a kind of multi-spectrum endoscopic automatic exposure imaging methods.This method is directed to optical operation navigation endoscopic system, in conjunction with the excitation multispectral images information such as fluorogram and white light figure, carries out mutual calibration using the fluorescent image area-of-interest of multiple spectrum, and then carry out automatic exposure adjustment to fluorescent image.The area-of-interest after correction is extracted to the fluorescent image obtained after automatic exposure again, and is merged, comprehensive area-of-interest is obtained.The corresponding image parameter of the non-comprehensive corresponding position extraction of area-of-interest in White-light image again, and then the time for exposure of white light figure is adjusted, reach the image automatic exposure processing based on fluorescence object.The system is suitable in Microendoscopic small space, can obtain good multi-spectrum endoscopic automatic exposure imaging results.
Description
Technical field
The invention belongs to medicine molecular image fields, are related to Computer Image Processing, optical image acquisition etc., especially adopt
Image quality parameter is provided for endoscope auto exposure system with multispectral image information, is provided for endoscope shooting pair
The automatic explosion method of elephant.
Background technique
Optical image technology is a kind of molecular image technology emerging in recent years, has high sensitivity, radiates unionized, behaviour
Make the advantages that easy, is a kind of one kind that can realize the imaging of biological tissue's Internal biological physical process on cellular and molecular level
Technology.In addition, by carrying the methods of fluorescence camera and laser light source on endoscope, optical image technology is just gradually used
Into fields such as clinical operation navigation.By to the operation fluorescence medicament such as target injection indocyanine green, and carried by endoscope
Laser to observation position irradiation and fluorescence camera capture laser irradiation under observe position fluorescence information, add phase
The White-light image information that function captures, endoscope can carry out fluorescent marker to the lesions position in White-light image, thus
Facilitate operative doctor and precise ablation is carried out to lesion.And since endoscope will provide real-time image information for operative doctor,
Therefore it needs to carry out correct exposure variations for the shadow variation inside surgical object.And since endoscope is deeply performed the operation pair
As inside, select suitable, targeted automatic exposure means are particularly important.
Summary of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of imaging methods of multi-spectrum endoscopic automatic exposure, low to solve signal-to-background ratio,
Fluorescent image shooting area-of-interest is improper and time for exposure inappropriate problem of White-light image shooting.
(2) technical solution
To achieve the goals above, multi-spectrum endoscopic automatic exposure imaging method of the present invention the following steps are included:
Step 1: given aperture size (aperture series) F and optimal image quality parameter Vopt, it is interested to set initial fluorescence
Region S；
Step 2: being T with the time for exposure at area-of-interest S0Shoot fluorescent image and white light under different spectral bands
Image, and image quality parameter is extracted respectively；
Step 3: with time for exposure T0Current exposure value EV can be calculated with aperture series Fpre, and calculate target exposure
T between light timeopt；
Step 4: in new time for exposure ToptUnder shoot the fluorogram of each spectral band again, and divide region of interest
Domain；Union merging is made to all area-of-interests, obtains comprehensive area-of-interest Sn；It recalculates each under the area-of-interest
Image quality parameter Vn, fluorogram VnSummation and VoptWhen differing by more than equal to a, step 1 is returned to, with SnAs S, ToptAs T0,
Repeat step 2-3；Until fluorogram VnSummation and VoptDifference is less than a, enters step 5；
Step 5: comprehensive area-of-interest S is divided in White-light imagen, with initial white light time for exposure Tn0Shoot white light
Figure；Wherein, the region that the fluorescence hot spot that uses fluorescent image to obtain delimited is as the synthesis area-of-interest of White-light image；
Step 6: calculating exposure value EVnpreWith target light exposure time Tnopt；
Step 7: calculating current white light figure image quality parameter VntIf since shadow variation issue fails to reach Vopt, then
Return step 4；Otherwise calculating comparison is carried out always, until equipment stops working.
Wherein, the step 2 is further comprising the steps of:
Step 21: calculating area-of-interest S in kth fluorogramkWith regions of non-interestArea ASkWith
Calculate central area weight coefficient R, calculation method are as follows:
Step 22: calculating the absolute center moment values ACM of area-of-interestskWith the absolute center torque of regions of non-interestFormula is as follows:
WhereinRespectively refer to pixel quantity in area-of-interest and regions of non-interest；hiFor pixel
Gray value,WithRespectively refer to the average gray value of pixel in area-of-interest and regions of non-interest, it may be assumed that
Step 23: calculating image quality parameter Vpre, its calculation formula is
Wherein, the step 3, wherein EVpreAnd ToptCalculation equation are as follows:
EVopt=EVpre+log2(Vpre)-log2(Vopt)
Wherein, the step 5 is further comprising the steps of:
Step 51: calculating area-of-interest S in white light figurenAnd regions of non-interestArea ASnWithMeter
Calculate the central area weight coefficient R of white light figuren, and the time for exposure is adjusted by emphasis of non-fluorescence region, calculation method are as follows:
Step 52: calculating the absolute center moment values ACM of area-of-interestsnWith the absolute center torque of regions of non-interestFormula is as follows:
WhereinRespectively refer to pixel quantity in area-of-interest and regions of non-interest；hiFor pixel
Gray value,WithRespectively refer to the average gray value of pixel in area-of-interest and regions of non-interest, it may be assumed that
Step 53: calculating White-light image mass parameter Vnt, its calculation formula is
Vnt=(1-Rn)×ACMsn+Rn×ACM-sn
Wherein, the step 6, wherein EVnpreAnd TnoptCalculation formula is as follows,
Wherein, summation is carried out using the time for exposure of different spectrum fluorescent images, obtains the comprehensive time for exposure, form one
Kind multispectral fluorescence image exposuring time bearing calibration.
Wherein, the region that the fluorescence hot spot that uses fluorescent image to obtain delimited is as the area-of-interest of White-light image.
(3) beneficial effect
Signal-to-background ratio of the present invention in lesion tissue lesions position and non-lesion tissue lesions position (signal is than background signal)
It is higher, the area-of-interest of lesion tissue position can be effectively marked off on each spectrum fluorescent image respectively, then will
Multiple semi-cylindrical hills merge, and obtain comprehensive area-of-interest.
Using the synthesis area-of-interest obtained from fluorescent image as standard, the present invention can be corresponding in White-light image
Image quality parameter required for position is extracted, and then the time for exposure correction amount of camera on endoscope is calculated, reach automatic exposure
The purpose of light.
Detailed description of the invention
Fig. 1 is the flow chart of multi-spectrum endoscopic automatic exposure imaging method according to an embodiment of the invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in further detail.
Multi-spectrum endoscopic automatic exposure imaging method is a kind of based on the progress mutual correction of multispectral fluorescence information, and is drawn
Divide interest region, to be exposed the automatic exposure imaging method of time adjustment to White-light image.Its by fluorescence camera,
Under initial exposure time, fluorescent image under the different spectral bands that spectral is shot, by under its current exposure time
Fluorescence results divide fluorescence area-of-interest.These fluorescence area-of-interests are merged, are averagely commented using center weight
The mode estimated comprehensively considers the image information of fluorescence area and non-fluorescence region, calculates image exposure mass parameter, and then adjust
The fluorescent image time for exposure.After completing fluorescent image automatic exposure, the sense that the image acquired after automatic exposure divides is reused
Interest region carries out center weight in White-light image and averagely assesses as comprehensive area-of-interest, the exposure to White-light image
Time is adjusted, and obtains suitable White-light image.Fluorescent image is merged in a manner of pseudo-colours with White-light image again,
Obtain good multi-spectrum endoscopic image.
Specific step is as follows for the automatic exposure imaging method:
Step 1: having determined that aperture size (aperture series) F and optimal image quality parameter VoptIn the case where, in setting
The center rectangular section (length and width and visual field ratio are 1:2) of sight glass visual field is initial fluorescence area-of-interest S.If it is
Occur in the case where needing to carry out exposure adjustment in real time when shadow variation in shooting process, then initial fluorescence area-of-interest is
The synthesis area-of-interest divided before.
Step 2: being T with the time for exposure at area-of-interest S0Shoot fluorescent image and white light under different spectral bands
Image, and image quality parameter is extracted respectively.I.e. if it is desired to 4 images of shooting, the figure of 1 spectral band of every image recording
Picture, the image of 4 image recordings, 4 spectral bands, the time for exposure of every image is all T0。
The step 2 further includes steps of
Step 21, area-of-interest S in kth fluorogram is calculatedkWith regions of non-interestArea ASkWith
Calculate central area weight coefficient R, calculation method are as follows:
Step 22, the absolute center moment values ACM of area-of-interest is calculatedskWith the absolute center torque of regions of non-interestFormula is as follows:
WhereinRespectively refer to pixel quantity in area-of-interest and regions of non-interest.hiFor pixel
Gray value,WithRespectively refer to the average gray value of pixel in area-of-interest and regions of non-interest, it may be assumed that
Step 23, image quality parameter V is calculatedpre, its calculation formula is
Step 3: with time for exposure T0Current exposure value EV can be calculated with aperture series Fpre, and calculate target exposure
T between light timeopt, each image of 4 images have a new Topt, wherein EVpreAnd ToptCalculation equation are as follows:
EVopt=EVpre+log2(Vpre)-log2(Vopt)
Step 4: in respectively new time for exposure ToptUnder shoot the fluorogram of each spectral band again, and divide sense it is emerging
Interesting region.Union merging is made to all area-of-interests, obtains comprehensive area-of-interest Sn.It recalculates under the area-of-interest
Each image quality parameter VnIf the reasons such as each fluorogram difference cause each fluorogram V since shadow changesnSummation and Vopt
When differing by more than equal to a, step 1 is returned to, with SnAs S, ToptAs T0, repeat step 2-3.Until fluorogram VnSummation with
VoptDifference is less than a, enters step 5.
Step 5: comprehensive area-of-interest S is divided in White-light imagen, with initial white light time for exposure Tn0Shoot white light
Figure.
The step 5 is further comprising the steps of:
Step 51: calculating area-of-interest S in white light figurenAnd regions of non-interestArea ASnWithIt calculates
The central area weight coefficient R of white light figuren, and the time for exposure is adjusted by emphasis of non-fluorescence region, calculation method are as follows:
Step 52: calculating the absolute center moment values ACM of area-of-interestsnWith the absolute center torque of regions of non-interestFormula is as follows:
WhereinRespectively refer to pixel quantity in area-of-interest and regions of non-interest；hiFor pixel
Gray value,WithRespectively refer to the average gray value of pixel in area-of-interest and regions of non-interest, it may be assumed that
Step 53: calculating White-light image mass parameter Vnt, its calculation formula is
Vnt=(1-Rn)×ACMsn+Rn×ACM-sn
Step 6: calculating exposure value EVnpreAnd target light exposure time Tnopt, calculation formula is as follows
EVnopt=EVnpre+log2(Vnt)-log2(Vopt)
Step 7: calculating current white light figure image quality parameter VntIf since shadow variation issue fails to reach Vopt, then
Return step 4.If i.e. shadow variation issue fails to reach Vopt, the synthesis area-of-interest S that will obtainnBring the first of step 4 into
Initial value re-starts calculating.Otherwise calculating comparison is carried out always, until equipment stops working.
Wherein, summation, i.e. 4 target light exposure value T are carried out using the time for exposure of 4 different spectrum fluorescent imagesoptIt is added
The comprehensive time for exposure is obtained, a kind of multispectral fluorescence image exposuring time bearing calibration is formed.
Wherein, the region that the fluorescence hot spot that uses fluorescent image to obtain delimited is as the area-of-interest of White-light image.
Automatic explosion method proposed by the invention, the characteristics of multispectral fluorescence image high signal-to-background ratio is utilized, in fluorescence
Area-of-interest is chosen in image, provides the foundation of region division for the calculating of center region weight coefficient.
The present invention carries out automatic exposure for fluorogram and white light figure respectively.And fluorogram is using fluorescence area as emphasis tune
Whole fluorogram time for exposure, white light figure adjust the white light exposure map time by emphasis of non-fluorescence region.Make fluorogram and white light
The image of the multi-spectrum endoscopic acquisition of figure fusion can take into account foreground image content (i.e. fluorescence signal) and background image content
(i.e. the environmental information of White-light image offer).
Multispectral fluorescence image proposed by the invention voluntarily confirms area-of-interest position and size in fluorogram
In, it is verified mutually using multispectral section of fluorogram.And then the fluorescence time for exposure is adjusted, it is provided more for the division of area-of-interest
For the result of guarantee.
The present invention uses multi-spectrum endoscopic automatic exposure imaging method, using mutual between multispectral fluorescence image
Verifying is able to the division of adjustment area-of-interest.And White-light image is exposed using the area-of-interest that multispectral image obtains
Light adjustment balances the picture quality tradeoff coefficient between foreground image and background image using central area weight, using exhausted
Measurement foundation of the centering force square as picture quality has obtained a kind of multi-spectrum endoscopic automatic exposure imaging method.Difference
In traditional automatic explosion method, there is apparent advantage when selecting the area-of-interest of image quality information.Due to passing through
Fluorescence information after optical filter in the signal-to-background ratio of lesion tissue lesions position and non-lesion tissue lesions position, (believe than background by signal
Number) higher, this method can effectively mark off the region of interest of lesion tissue position on each spectrum fluorescent image respectively
Then domain merges multiple semi-cylindrical hills, obtain comprehensive area-of-interest.It is interested with the synthesis obtained from fluorescent image
Region is standard, image quality parameter required for this method can be extracted in the corresponding position in White-light image.And then it calculates
The time for exposure correction amount of camera, achievees the purpose that automatic exposure on endoscope.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in protection of the invention
Within the scope of.
Claims (2)
1. a kind of multi-spectrum endoscopic automatic exposure imaging method, which comprises the following steps:
Step 1: giving iris setting series F and optimal image quality parameter Vopt, set the center rectangular section in the endoscopic imaging visual field
For initial fluorescence area-of-interest S；
Step 2: being T with the time for exposure at area-of-interest S0Fluorescent image and White-light image under different spectral bands are shot,
And the image quality parameter of fluorogram is extracted respectively, wherein the time for exposure of every image is all T0；Extract the image of fluorogram
The step of mass parameter are as follows:
Step 21: calculating area-of-interest S in kth fluorogramkWith regions of non-interestArea ASkWithIt calculates
Central area weight coefficient R, calculation method are as follows:
Step 22: calculating the absolute center moment values ACM of area-of-interestskWith the absolute center torque of regions of non-interestFormula is as follows:
WhereinRespectively refer to pixel quantity in area-of-interest and regions of non-interest；hiFor the gray scale of pixel
Value,WithRespectively refer to the average gray value of pixel in area-of-interest and regions of non-interest, it may be assumed that
Step 23: the image quality parameter of fluorogram is calculated, its calculation formula is
Step 3: with time for exposure T0Current exposure value EV can be calculated with aperture series Fpre, and calculate the target light exposure time
Topt；Wherein EVpreAnd ToptCalculation equation are as follows:
EVopt=EVpre+log2(Vpre)-log2(Vopt)
Every image has a new Topt；
Step 4: in new time for exposure ToptUnder shoot the fluorogram of each spectral band again, and when by its current exposure
Between under fluorescence results divide fluorescence area-of-interest；Union merging is made to all area-of-interests, obtains comprehensive region of interest
Domain Sn；Recalculate each image quality parameter V under the area-of-interestn, fluorogram VnSummation and VoptIt differs by more than and is equal to threshold
When value a, step 1 is returned to, with SnAs S, ToptAs T0, repeat step 2-4；Until fluorogram VnSummation and VoptDifference is less than
Threshold value a, enters step 5；
Step 5: comprehensive area-of-interest S is divided in White-light imagen, with initial white light time for exposure Tn0Shoot white light figure；Its
In, it the use of the synthesis area-of-interest obtained on fluorescent image is that standard obtains the synthesis area-of-interest of White-light image；Also wrap
Include following steps:
Step 51: calculating area-of-interest S in white light figurenAnd regions of non-interestArea ASnWithCalculate white light
The central area weight coefficient R of figuren, and the time for exposure is adjusted by emphasis of non-fluorescence region, calculation method are as follows:
Step 52: calculating the absolute center moment values ACM of area-of-interestsnWith the absolute center torque of regions of non-interestFormula is as follows:
WhereinRespectively refer to pixel quantity in area-of-interest and regions of non-interest；hiFor the gray scale of pixel
Value,WithRespectively refer to the average gray value of pixel in area-of-interest and regions of non-interest, it may be assumed that
Step 53: calculating White-light image mass parameter Vnt, its calculation formula is
Vnt=(1-Rn)×ACMsn+Rn×ACM-sn；
Step 6: calculating exposure value EVnpreWith target light exposure time Tnopt, calculation formula is as follows,
EVnopt=EVnpre+log2(Vnt)-log2(Vopt)
Step 7: calculating current white light figure image quality parameter VntIf since shadow variation issue fails to reach Vopt, will obtain
Synthesis area-of-interest SnIt brings step 4 into, re-starts calculating, otherwise carry out calculating comparison always, until equipment stops work
Make.
2. multi-spectrum endoscopic automatic exposure imaging method according to claim 1, which is characterized in that use different spectrum
The time for exposure of fluorescent image carries out summation, obtains the comprehensive time for exposure, forms a kind of multispectral fluorescence image exposuring time
Bearing calibration.
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| CN108478174B (en) * | 2018-03-20 | 2023-07-25 | 广东欧谱曼迪科技有限公司 | Exposure feedback-based dual-camera system and its intraoperative fluorescence navigation adjustment method |
| CN112544069B (en) * | 2018-04-17 | 2022-11-01 | 思拓凡瑞典有限公司 | Shooting system, shooting method and program |
| CN111861049A (en) * | 2019-04-25 | 2020-10-30 | 天津御锦人工智能医疗科技有限公司 | Enteroscopy quality standard and scoring system based on image recognition |
| CN114302035B (en) * | 2021-12-13 | 2024-06-28 | 杭州海康慧影科技有限公司 | Image processing method and device, electronic equipment and endoscope system |
| CN114666511B (en) * | 2022-03-18 | 2023-11-14 | 优尼科(青岛)微电子有限公司 | Method and device for automatically obtaining optimal exposure value on tunable spectrum camera |
| CN115719415B (en) * | 2022-03-28 | 2023-11-10 | 南京诺源医疗器械有限公司 | Visual field adjustable double-video fusion imaging method and system |
| CN117061841B (en) * | 2023-06-12 | 2024-06-25 | 深圳市博盛医疗科技有限公司 | Dual-wafer endoscope imaging method and imaging device |
| CN117204796B (en) * | 2023-11-09 | 2024-02-13 | 哈尔滨海鸿基业科技发展有限公司 | Multispectral imaging method and device of abdominal cavity endoscope |
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