CN108523819A - Photometric feedback fluorescence navigation endoscope system and laser power automatic adjustment method - Google Patents

Abstract

The invention discloses a fluorescence navigation endoscope system based on photometric feedback and a laser power automatic adjustment method.

Description

Photometric feedback fluorescence navigation endoscope system and laser power automatic adjustment method

technical field

The invention relates to a fluorescence navigation endoscope system, in particular to a fluorescence navigation endoscope system based on photometry feedback and a laser power automatic adjustment method.

Background technique

Nowadays, more and more endoscope systems have the function of fluorescent marking. In order to achieve higher fluorescence excitation efficiency and obtain better imaging effects, lasers are generally used as fluorescence excitation light sources, and in order to ensure the overall imaging effect of the system, endoscopic The excitation light power emitted from the front of the mirror is usually relatively large. However, the output laser power set by most fluorescence endoscope systems is a fixed value. When it is necessary to observe details close to the tissue, the light power received per unit area (i.e. irradiance) will increase due to the smaller illumination area. Can cause burns or other photobiological safety concerns.

Therefore, the prior art still needs to be improved and developed.

Contents of the invention

The purpose of the present invention is to provide a fluorescent navigation endoscope system and laser power automatic adjustment method based on photometric feedback, aiming to solve the problem that the output laser power of the existing endoscope imaging system is a constant value, and it is easy to observe close to the tissue. cause burns or other photobiological safety concerns.

The technical scheme of the present invention is as follows: a method for automatically adjusting the laser power of a fluorescent navigation endoscope based on photometric feedback, which specifically includes the following steps:

Step S1: The laser light emitted by the laser and the guiding light emitted by the guiding light source are transmitted through the same guide beam and coupled into the endoscope;

Step S2: The laser light and guiding light are emitted from the front end of the endoscope and reach the observed tissue, and the excitation light, fluorescence and guiding light reflected by the observed tissue are collected by the endoscope;

Step S3: The excitation light is filtered out by the filter, and the fluorescence and the guide light are focused by the lens, wherein the fluorescence is imaged on the camera through the dichroic beam splitter, and the guide light is reflected by the dichroic beam splitter and incident on the photodetector;

Step S4: The photodetector converts the guiding light signal into an output voltage and outputs it to the light source control module;

Step S5: the light source control module fits the relationship curve between the actual output optical power of the laser and the output voltage of the photodetector;

Step S6: The light source control module automatically obtains the output optical power of the laser according to the relationship curve between the actual output optical power of the laser and the output voltage of the photodetector, and then controls the actual optical power output of the laser.

The method for automatically adjusting the laser power of fluorescence navigation endoscope based on photometric feedback, wherein, specifically, in the step S5, the distance between the front end surface of different endoscopes and the observed tissue is tested, and the photodetector corresponds to Output different output voltages to obtain the relationship between the output voltage of the photodetector and the distance between the front end of the endoscope and the observed tissue; the laser irradiance required for system fluorescence imaging is , under different distances between the front end surface of the endoscope and the observed tissue, the measured irradiance E, by adjusting the output light power of the laser emitted from the front end of the endoscope, the measured value E is equal to , to obtain the relationship between the output optical power of the laser emitted from the front end of the endoscope and the distance; finally obtain the relationship between the output voltage of the photodetector and the output optical power of the laser emitted from the front end of the endoscope, and the light source control module according to the output of the photodetector The relationship between the voltage and the output optical power P of the laser emitted from the front end of the endoscope is fitted to a PV curve, that is, the relationship curve between the actual output optical power of the laser and the output voltage of the photodetector.

The method for automatically adjusting the laser power of fluorescent navigation endoscope based on photometric feedback, wherein, according to the application of the endoscope, the farthest observation distance is set to be Ncm, and the output voltage of the photodetector corresponds to V _N , at this time , the output optical power of the laser emitted from the front end of the endoscope is the maximum value P _N :

For D<N, at this time, according to the P-V curve, the actual required output optical power P of the laser emitted from the front end of the endoscope can be obtained;

For D>N, the output optical power of the laser emitted from the front end of the endoscope is uniformly P _N ;

Among them, D is the distance between the actual front end surface of the endoscope and the observed tissue, N is the farthest observation distance of the endoscope, V _N is the corresponding output of the photodetector when the farthest observation distance of the endoscope is Ncm Voltage, P _N is the output light power of the laser light emitted from the front end of the endoscope when the farthest observation distance of the endoscope is Ncm, and P is the output light power of the laser light emitted from the front end of the endoscope that is actually required.

The method for automatically adjusting the laser power of fluorescence navigation endoscope based on photometric feedback, preferably, adopts the method of pulse width modulation to realize the adjustment of the actual optical power of the laser, wherein the pulse modulation frequency used is preferably 10 kHz.

The method for automatically adjusting laser power of fluorescence navigation endoscope based on photometric feedback, wherein, in D< When , the pulse width modulation duty cycle of the output optical power of the laser output from the front end of the endoscope actually required is P/ *100%, where P is the output optical power of the laser output from the front end of the endoscope actually required, is the output light power of the laser light emitted from the front end of the endoscope when the farthest viewing distance of the endoscope is Ncm.

In the method for automatically adjusting the laser power of the fluorescent navigation endoscope based on photometric feedback, the actual optical power adjustment of the laser can also be realized in various ways such as amplitude modulation.

A photometric feedback-based fluorescence navigation endoscope system that adopts the photometric feedback-based fluorescence navigation endoscope laser power automatic adjustment method as described in any one of the above, wherein, it includes a laser, a guiding light source, and a light guide, Endoscope, filter, lens, dichroic beam splitter, camera, photodetector, light source control module; wherein, the photosensitive surface of the photodetector is located on the imaging surface of the guiding light;

The laser light emitted by the laser and the guiding light emitted by the guiding light source are transmitted through the same light guide and coupled into the endoscope; the laser light and guiding light are emitted from the front end of the endoscope and reach the tissue under observation, and the excitation light reflected by the tissue under observation , Fluorescence and guiding light are collected by the endoscope, wherein the excitation light is filtered by a filter, and the fluorescent and guiding light are focused by the lens, wherein the fluorescent light is imaged on the camera through the dichroic beam splitter, and the guiding light is dichroic Mirror reflection, incident to the photodetector; the photodetector converts the guiding light signal into an output voltage and outputs it to the light source control module;

The light source control module fits the P-V curve according to the relationship between the output voltage of the photodetector and the output optical power of the laser emitted from the front end of the endoscope; according to the P-V curve, the light source controller automatically obtains the output optical power of the laser, and then controls the output power of the laser. Actual optical power output.

In the fluorescence navigation endoscope system based on photometric feedback, the photodetector preferably adopts a photo avalanche diode.

Beneficial effects of the present invention: the present invention provides a fluorescent navigation endoscope system based on photometric feedback and a method for automatically adjusting laser power, by adding guiding light to the light source, and adding a spectroscope on the imaging optical path, through photoelectric detection The detector detects the intensity of the guiding light entering the imaging optical path, and the distance is obtained through calculation and fed back to the system. The output optical power can be adjusted in real time. While meeting the requirements of fluorescence imaging, it can prevent the tissue from receiving high-power density laser irradiation for a long time, and reduce the impact of the laser on the biological tissue damage.

Description of drawings

Fig. 1 is a schematic structural diagram of a fluorescence navigation endoscope system based on photometric feedback in the present invention.

Fig. 2 is a flow chart of the steps of the method for automatically adjusting the laser power of the fluorescence navigation endoscope based on photometric feedback in the present invention.

Fig. 3 is a schematic diagram of adjusting output optical power through pulse width modulation in the present invention.

Fig. 4 is a schematic diagram of adjusting output optical power through amplitude modulation in the present invention.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of said features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction of two components relation. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. Furthermore, the present disclosure may repeat reference numerals and/or reference letters in different instances, such repetition is for simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, various specific process and material examples are provided herein, but one of ordinary skill in the art may recognize the use of other processes and/or the use of other materials.

As shown in Figure 1, a fluorescent navigation endoscope system based on photometric feedback, including a laser 1, a guiding light source 2, a light guide 3, an endoscope 4, a filter 5, a lens 6, and a dichroic beam splitter 7. A camera 8, a photodetector 9, and a light source control module 10; wherein, the photosensitive surface of the photodetector 9 is located on the imaging surface of the guiding light;

The laser light emitted by the laser 1 and the guiding light emitted by the guiding light source 2 are transmitted through the same light guide 3 and coupled into the endoscope 4; the laser light and the guiding light are emitted from the front end of the endoscope 4 and reach the tissue under observation. The excitation light, fluorescence reflected by the tissue (the laser is reflected by the observed tissue to form excitation light and fluorescence) and guiding light are collected by the endoscope 4, where the exciting light is filtered by the filter 5, and the fluorescent light and guiding light are focused by the lens 6 , wherein the fluorescence is imaged on the camera 8 through the dichroic beam splitter 7, the guiding light is reflected by the dichroic beam splitting mirror 7, and is incident on the photodetector 9; the photodetector 9 converts the guiding light signal into an output voltage and outputs it to the light source control module 10;

Test different distances D (D is the distance between the front end surface of the endoscope 4 and the observed tissue), the photodetector 9 outputs different output voltages V correspondingly, and obtain the relationship between the output voltage V of the photodetector 9 and the distance D; Assuming that the laser irradiance required for the system fluorescence imaging is , at different distances D, the actual measured irradiance E, by adjusting the output optical power P of the laser light emitted from the front end of the endoscope 4 (the output optical power P of the laser light emitted from the front end of the endoscope 4 and the actual output optical power of the laser 1 equal), so that the measured value E is equal to , the relationship between the output light power P of the laser light emitted from the front end of the endoscope 4 and the distance D can be obtained; finally the relationship between the output voltage V of the photodetector 9 and the output light power P of the laser light emitted from the front end of the endoscope 4 ( That is, the output voltage V of the photodetector 9 and the actual output optical power of the laser 1 relationship), the light source control module 10 fits a PV curve according to the relationship between the output voltage V of the photodetector 9 and the output optical power P of the laser light emitted from the front end of the endoscope 4; thus, the output voltage V of the photodetector 9 is The system acts as a distance guide, the output voltage V of the photodetector 9 is input to the light source controller 10, and the light source controller 10 automatically obtains the output optical power of the laser 1 through the PV curve , and then control the actual optical power output of laser 1.

Specifically, the photodetector 9 can be realized by using various light source detection structures. In this embodiment, the photodetector 9 is preferably a photoavalanche diode.

As shown in Figure 2, a method for automatically adjusting the laser power of the fluorescent navigation endoscope system based on photometric feedback as described above, specifically includes the following steps:

Step S1: the laser light emitted by the laser 1 and the guiding light emitted by the guiding light source 2 are transmitted through the same guide beam 3 and coupled into the endoscope 4;

Step S2: The laser light and guiding light exit from the front end of the endoscope 4 and reach the tissue under observation, the excitation light and fluorescence reflected by the tissue under observation (the laser light is reflected by the tissue under observation to form excitation light and fluorescence) and the guiding light are collected by the endoscope 4 collection;

Step S3: The excitation light is filtered by the filter 5, and the fluorescence and guiding light are focused by the lens 6, wherein the fluorescent light is imaged on the camera 8 through the dichroic beam splitter 7, and the guiding light is reflected by the dichroic beam splitting mirror 7 and incident on the photodetector 9;

Step S4: The photodetector 9 converts the guiding light signal into an output voltage and outputs it to the light source control module 10;

Step S5: The light source control module 10 fits the actual output optical power of the laser 1 Relational curve with the output voltage V of photodetector 9;

Step S6: The light source control module 10 according to the actual output optical power of the laser 1 The output optical power of the laser 1 is automatically obtained from the relationship curve with the output voltage V of the photodetector 9 , and then control the actual optical power output of laser 1.

Specifically, in the step S5, different distances D are tested (D is the distance between the front end surface of the endoscope 4 and the observed tissue), and the photodetector 9 outputs different output voltages V correspondingly, thereby obtaining the photodetector 9 The relationship between the output voltage V and the distance D; suppose the laser irradiance required for the system fluorescence imaging is , at different distances D, the actual measured irradiance E, by adjusting the output optical power P of the laser light emitted from the front end of the endoscope 4 (the output optical power P of the laser light emitted from the front end of the endoscope 4 and the actual output optical power of the laser 1 equal), so that the measured value E is equal to , the relationship between the output light power P of the laser light emitted from the front end of the endoscope 4 and the distance D can be obtained; finally the relationship between the output voltage V of the photodetector 9 and the output light power P of the laser light emitted from the front end of the endoscope 4 ( That is, the output voltage V of the photodetector 9 and the actual output optical power of the laser 1 relationship), the light source control module 10 fits the PV curve according to the relationship between the output voltage V of the photodetector 9 and the output optical power P of the laser light emitted from the front end of the endoscope 4 .

Furthermore, the closer the distance between the front end surface of the endoscope 4 and the observed tissue, the smaller the illuminated area, the greater the irradiance of the guiding light radiation, and thus the stronger the signal entering the photodetector 9 . Therefore, by testing the corresponding output voltage V of the photodetector 9 under different distances D, the relationship between the output voltage V of the photodetector 9 and the distance D can be obtained, as shown in Table 1 below.

Table 1 The relationship between the output voltage V of the photodetector 9 and the distance D

Assuming that the laser irradiance required for the system fluorescence imaging is , at different distances D, the actual measured irradiance E, by adjusting the output optical power P of the laser light emitted from the front end of the endoscope 4 (the output optical power P of the laser light emitted from the front end of the endoscope 4 and the actual output optical power of the laser 1 equal), so that the measured value E is equal to , the relationship between the output optical power P of the laser light emitted from the front end of the endoscope 4 and the distance D can be obtained, as shown in Table 2 below.

Table 2 Relationship between the output optical power P and the distance D of the laser light emitted from the front end of the endoscope 4

In combination with Table 1 & Table 2, the relationship between the output voltage V of the photodetector 9 and the output optical power P of the laser light emitted from the front end of the endoscope 4 is finally obtained (that is, the output voltage V of the photodetector 9 and the actual output optical power of the laser 1 relationship), as shown in Table 3 below, the light source control module 10 fits the PV curve according to the relationship between the output voltage V of the photodetector 9 and the output optical power P of the laser light emitted from the front end of the endoscope 4 .

Table 3 The relationship between the output voltage V of the photodetector 9 and the output optical power P of the laser light emitted from the front end of the endoscope 4

In this way, the output voltage V of the photodetector 9 plays a distance guiding role in the system, and the output voltage V of the photodetector 9 is input to the light source controller 10, and the light source controller 10 automatically obtains the actual output of the laser 1 through the PV curve. Optical power , and then control the actual optical power output of laser 1.

Preferably, according to the application of the endoscope, the farthest observation distance is set to Ncm (in this embodiment, the N=12cm), and the output voltage of the photodetector corresponds to V _N , at this time, the front end of the endoscope emits The output optical power of the laser is the maximum value P _N :

For D<N, at this time, according to the P-V curve, the actual required output optical power P of the laser emitted from the front end of the endoscope can be obtained;

For D>N, the output optical power of the laser emitted from the front end of the endoscope is uniformly P _N ;

Wherein, D is the distance between the front end surface of the actual endoscope 4 and the observed tissue, N is the farthest observation distance of the endoscope 4, V _N is the photodetector when the farthest observation distance of the endoscope 4 is Ncm 9 corresponding output voltage, P _N is the output light power of the laser light emitted from the front end of the endoscope 4 when the farthest observation distance of the endoscope 4 is Ncm, and P is the output light of the laser light emitted from the front end of the endoscope 4 actually required power.

Specifically, this technical solution adopts the method of pulse width modulation to realize the adjustment of the actual optical power of the laser 1. In order not to affect the imaging of the camera system, the pulse modulation frequency is 10 kHz (other frequency values can also be selected). in D< , the pulse width modulation duty cycle of the output optical power of the laser output power emitted by the endoscope 4 front end actually required is P/ *100%, where P is the actual output power of the laser output from the front end of the endoscope, is the output optical power of the laser light emitted from the front end of the endoscope when the farthest viewing distance of the endoscope is Ncm (in this embodiment, N is preferably 12cm), see FIG. 3 .

Specifically, this technical solution adopts amplitude modulation instead of pulse width modulation to realize the adjustment of the actual optical power of the laser 1 , as shown in FIG. 4 .

In addition to using pulse width modulation and amplitude modulation to adjust the actual optical power of the laser 1 in this technical solution, other modulation methods can also be used to adjust the actual optical power of the laser 1 .

This technical solution adds guide light to the light source, and adds a spectroscope to the imaging optical path, detects the intensity of the guiding light entering the imaging optical path through a photodetector, obtains the distance through calculation and feeds it back to the system, and can adjust the output optical power in real time. While satisfying the requirements of fluorescence imaging, it can prevent the tissue from being irradiated with high-power density laser for a long time and reduce the damage of laser to biological tissue; As a result, the optical power per unit area, that is, the irradiance, usually increases in a quadratic relationship, but it does not require too much irradiance for fluorescence imaging. Therefore, after the distance is close, the optical power has a margin for reduction.

In the description of this specification, reference to the terms "one embodiment", "certain embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. Specific features, structures, materials, or characteristics described in the preceding embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

It should be understood that the application of the present invention is not limited to the above examples, and those skilled in the art can make improvements or transformations according to the above descriptions, and all these improvements and transformations should belong to the protection scope of the appended claims of the present invention.

Claims (9)

1. a kind of based on the fluorescence navigation endoscope laser power automatic adjusting method for surveying light feedback, which is characterized in that specific packet Include following steps：

Step S1：Laser that laser is sent out and instruct what light source sent out light is instructed to transmit and be coupled to by same root light guide bundles In endoscope；

Step S2：It laser and instructs light be emitted from endoscope distal end and reaches observed tissue, the excitation of observed Tissue reflectance Light, fluorescence and light is instructed to be collected by endoscope；

Step S3：Exciting light is filtered out by filter plate, fluorescence and instructs light by lens focus, wherein fluorescence is through dichroic point Light microscopic images in camera, and light is instructed to be reflected by dichroic beamsplitter, is incident on photodetector；

Step S4：Photodetector is output to light source control module instructing optical signal to be converted into output voltage；

Step S5：Light source control module fits the pass of the reality output luminous power of laser and the output voltage of photodetector It is curve；

Step S6：Light source control module is according to the relationship of the reality output luminous power of laser and the output voltage of photodetector Curve automatically obtains the Output optical power of answering of laser, then controls the practical luminous power output of laser.

The endoscope laser power automatic adjusting method 2. the fluorescence according to claim 1 based on survey light feedback navigates, It is characterized in that, specifically, in the step S5, tests the distance between different endoscope distal end faces and observed tissue, photoelectricity Detector, which corresponds to, exports different output voltage, obtain photodetector output voltage and endoscope distal end face with observed group The relationship the distance between knitted；If the required laser emission illumination of system fluorescence imaging is, in different endoscope distal end faces Under the distance between observed tissue, radiant illumination E is surveyed, by adjusting the output light work(of the laser of endoscope distal end outgoing Rate so that measured value E is equal to, obtain the relationship of the Output optical power and distance of the laser of endoscope distal end outgoing；Final The relationship of the Output optical power for the laser being emitted to the output voltage and endoscope distal end of photodetector, light source control module root The relationship of the Output optical power P for the laser being emitted according to the output voltage and endoscope distal end of photodetector fits P-V curves, That is the relation curve of the output voltage of the reality output luminous power and photodetector of laser.

The endoscope laser power automatic adjusting method 3. the fluorescence according to claim 2 based on survey light feedback navigates, It is characterized in that, according to endoscopic applications, sets its farthest viewing distance as N cm, the output voltage of photodetector corresponds to V_N, at this point, the Output optical power of the laser of endoscope distal end outgoing is maximum value P_N：

For D<N, at this point, according to P-V curves, the output light work(of the laser for the endoscope distal end outgoing that can be actually needed Rate P；

For D>When N, the Output optical power of the laser of endoscope distal end outgoing is unified for P_N；

Wherein, D is the distance between practical endoscope distal end face and observed tissue, and N is the farthest viewing distance of endoscope, V_N Photodetector corresponding output voltage when for the farthest viewing distance of endoscope being N cm, P_NFor endoscope it is farthest observation away from From for N cm when endoscope distal end outgoing laser Output optical power, P be actual needs endoscope distal end be emitted laser Output optical power.

The endoscope laser power automatic adjusting method 4. the fluorescence according to claim 1 based on survey light feedback navigates, It is characterized in that, the adjustment of the practical luminous power of laser is realized using the method for pulse width modulation.

The endoscope laser power automatic adjusting method 5. the fluorescence according to claim 4 based on survey light feedback navigates, It is characterized in that, the pulse modulation frequency used is 10kHz.

The endoscope laser power automatic adjusting method 6. the fluorescence according to claim 5 based on survey light feedback navigates, It is characterized in that, in D<When, the pulse width modulation of the Output optical power of the laser of the endoscope distal end outgoing of actual needs accounts for Sky is than being P/* 100%, wherein P is the Output optical power of the laser of the endoscope distal end outgoing of actual needs,It is peeped to be interior The Output optical power of the laser of endoscope distal end outgoing when the farthest viewing distance of mirror is Ncm.

The endoscope laser power automatic adjusting method 7. the fluorescence according to claim 1 based on survey light feedback navigates, It is characterized in that, the adjustment for the practical luminous power for realizing laser is modulated using amplitude.

8. a kind of use navigates endoscope laser power certainly such as claim 1-7 any one of them based on the fluorescence for surveying light feedback The fluorescence navigation endoscopic system based on survey light feedback of dynamic method of adjustment, which is characterized in that including laser, light source is instructed, Light guide bundles, endoscope, filter plate, lens, dichroic beamsplitter, camera, photodetector, light source control module；Wherein, photoelectricity The photosurface of detector is located at the imaging surface for instructing light；

Laser that the laser is sent out and instruct that light source sends out instruct light to be transmitted by same root light guide bundles and be coupled in In sight glass；It laser and instructs light be emitted from endoscope distal end and reaches observed tissue, it is the exciting light of observed Tissue reflectance, glimmering Light and light is instructed to be collected by endoscope, wherein exciting light is filtered out by filter plate, fluorescence and instructs light by lens focus, wherein Fluorescence images in camera through dichroic beamsplitter, and light is instructed to be reflected by dichroic beamsplitter, is incident on photodetector；Photoelectricity Detector will instruct optical signal to be converted into output voltage and be output to light source control module；

The Output optical power for the laser that light source control module is emitted according to the output voltage and endoscope distal end of photodetector Relationship fits P-V curves；According to P-V curves, light source controller automatically obtains the Output optical power of answering of laser, then controls The practical luminous power of laser exports.

9. according to claim 8 based on the fluorescence navigation endoscopic system for surveying light feedback, which is characterized in that the photoelectricity Detector uses photoelectricity avalanche diode.