CN115316919B - Dual-camera 3D optical fluorescence endoscope camera system, method and electronic device - Google Patents

本申请提供了一种双相机3D光学荧光内窥镜摄像系统、方法及电子设备，涉及内窥镜技术领域，其技术方案要点是：内窥镜模块，包括第一光路以及第二光路，第一光路与第二光路从不同视角接收混合光，混合光包括白光以及荧光；双相机模块，包括分光器、白光相机以及荧光相机，分光器接收第一光路与第二光路的混合光，并将混合光分离形成两路白光、两路荧光，白光相机接收两路白光，荧光相机接收两路荧光；图像处理模块，根据两路白光融合生成3D白光图像和/或根据两路荧光融合生成3D荧光图像和/或根据两路白光以及两路荧光融合生成3D混合图像。本申请提供的双相机3D光学荧光内窥镜摄像系统、方法及电子设备具有装配简单、成像效率高的优点。

This application provides a dual-camera 3D optical fluorescence endoscope camera system, method and electronic equipment, which relate to the technical field of endoscopes. The first optical path and the second optical path receive mixed light from different viewing angles, and the mixed light includes white light and fluorescent light; the dual camera module includes a beam splitter, a white light camera, and a fluorescent camera, and the optical splitter receives the mixed light of the first optical path and the second optical path, and The mixed light is separated to form two channels of white light and two channels of fluorescence, the white light camera receives two channels of white light, and the fluorescence camera receives two channels of fluorescence; the image processing module generates 3D white light images based on the fusion of two channels of white light and/or generates 3D fluorescence images based on the fusion of two channels of fluorescence image and/or generate a 3D hybrid image based on the fusion of two white lights and two fluorescent lights. The dual-camera 3D optical fluorescence endoscope camera system, method and electronic device provided by the present application have the advantages of simple assembly and high imaging efficiency.

双相机3D光学荧光内窥镜摄像系统、方法及电子设备Dual-camera 3D optical fluorescence endoscope camera system, method and electronic device

技术领域technical field

本申请涉及内窥镜技术领域，具体而言，涉及一种双相机3D光学荧光内窥镜摄像系统、方法及电子设备。The present application relates to the technical field of endoscopes, in particular to a dual-camera 3D optical fluorescence endoscope imaging system, method and electronic equipment.

背景技术Background technique

医用内窥镜解决了微创外科手术“看”的障碍，使得微创手术成为可能。作为微创外科手术的重要设备的医用内窥镜是集中了光学、人体工程学、精密机械、现代电子、计算机软件等为一体的用于临床检查、诊断、治疗中为医生提供人体内部解剖结构图像的医用设备。Medical endoscope solves the obstacle of "seeing" in minimally invasive surgery, making minimally invasive surgery possible. As an important equipment for minimally invasive surgery, medical endoscope is a combination of optics, ergonomics, precision machinery, modern electronics, computer software, etc. It is used to provide doctors with the internal anatomical structure of the human body in clinical examination, diagnosis and treatment. Image of medical equipment.

传统内窥镜呈现的影像是2D白光画面，只能展示平面图像，无法呈现物体的自然深度，更无法精确定位肿瘤边界和观察组织血流灌注。医生在操作过程中，只能根据镜体的移动、解剖结构的大小、线条透视、纹理梯度等因素来判断景深。这需要大量练习才能熟练掌握技巧。The images presented by traditional endoscopes are 2D white light images, which can only display flat images, but cannot present the natural depth of objects, let alone accurately locate tumor boundaries and observe tissue blood perfusion. During the operation, the doctor can only judge the depth of field according to factors such as the movement of the lens body, the size of the anatomical structure, the perspective of lines, and the gradient of texture. It takes a lot of practice to become proficient at the technique.

相较于传统2D内窥镜，3D内窥镜通过提供立体图像，强化了术者视野上的空间感知，手术视野更清晰、解剖层次更明显，在一定程度上克服了2D内窥镜的弊端。基于3D内窥镜的三维立体效果，医生学习手术速度更快，学习难度也更低，有利于创新术式推广及大规模应用。Compared with the traditional 2D endoscope, the 3D endoscope provides a stereoscopic image, which strengthens the spatial perception of the operator's field of view, the surgical field of view is clearer, and the anatomical level is more obvious, which overcomes the disadvantages of the 2D endoscope to a certain extent. . Based on the three-dimensional effect of the 3D endoscope, doctors learn surgery faster and with less difficulty, which is conducive to the promotion and large-scale application of innovative surgical methods.

相较于传统白光内窥镜，荧光内窥镜技术则具备宽光谱成像优势，可提升病灶和病变前区域的可视性，主要用于观察靠真实影像无法有效捕捉的病灶或病变前部位。在普外科、肝胆科、妇科等临床科室中，荧光内窥镜技术可有效克服白光内窥镜下观察、手术操作的局限性，强化手术视野及图像清晰度，便于实时观察和有效诊疗，因此荧光内窥镜在该部分科室中的临床应用价值及优势更为显著。Compared with traditional white-light endoscopy, fluorescence endoscopy technology has the advantage of wide-spectrum imaging, which can improve the visibility of lesions and pre-lesional areas, and is mainly used to observe lesions or pre-lesional areas that cannot be effectively captured by real images. In clinical departments such as general surgery, hepatobiliary, and gynecology, fluorescence endoscopy technology can effectively overcome the limitations of white light endoscope observation and surgical operation, strengthen the surgical field of view and image clarity, and facilitate real-time observation and effective diagnosis and treatment. The clinical application value and advantages of fluorescence endoscopy in this part of the department are more significant.

现有的3D内窥镜主要分为两种：1、3D电子内窥镜；2、3D光学内窥镜。Existing 3D endoscopes are mainly divided into two types: 1. 3D electronic endoscopes; 2. 3D optical endoscopes.

3D电子内窥镜的图像传感器设置于物镜后，与物镜一起安装在镜管之中。受限于镜管体积影响，3D电子内窥镜所用图像传感器的尺寸较小，导致3D电子内窥镜普遍分辨率较差。除了影响图像传感器，受限于镜管体积影响，3D电子内窥镜也很难实现光学变焦和荧光功能，降低了3D电子内窥镜的使用价值。The image sensor of the 3D electronic endoscope is arranged behind the objective lens, and is installed in the mirror tube together with the objective lens. Limited by the volume of the mirror tube, the size of the image sensor used in the 3D electronic endoscope is small, resulting in generally poor resolution of the 3D electronic endoscope. In addition to affecting the image sensor, limited by the volume of the mirror tube, it is also difficult for 3D electronic endoscopes to achieve optical zoom and fluorescence functions, which reduces the use value of 3D electronic endoscopes.

3D光学内窥镜的图像传感器不在镜管之中，体积限制较少，因此3D光学内窥镜可以实现较高的分辨率，也可以实现光学变焦。但目前常见方式是通过两个图像传感器分别采集左右光路的图像，再通过图像处理系统将左右图像合成传输，之后利用3D显示器输出3D图像。这种方式主要有两个弊端：1、两个图像传感器装配要求高，要求上下前后左右各个方向上严格对齐；2、由于左右两幅图像采集时间并不严格一致，在后续图像处理过程中，要对图像时序进行处理，系统资源要求高。The image sensor of the 3D optical endoscope is not in the mirror tube, and the volume limit is less, so the 3D optical endoscope can achieve higher resolution and optical zoom. However, the current common way is to collect images of the left and right optical paths respectively through two image sensors, and then synthesize and transmit the left and right images through an image processing system, and then use a 3D display to output a 3D image. This method has two main disadvantages: 1. The assembly requirements of the two image sensors are high, and strict alignment is required in all directions; 2. Since the acquisition time of the left and right images is not strictly consistent, in the subsequent image processing process, To process the image timing, the system resource requirements are high.

因此，现有3D内窥镜技术还有待于改进和发展。Therefore, the existing 3D endoscope technology still needs to be improved and developed.

发明内容Contents of the invention

本申请的目的在于提供能够至少解决上述其中一个问题的一种双相机3D光学荧光内窥镜摄像系统、方法及电子设备，具有装配简单、成像效率高的优点。The purpose of the present application is to provide a dual-camera 3D optical fluorescence endoscopic imaging system, method and electronic equipment that can solve at least one of the above problems, and has the advantages of simple assembly and high imaging efficiency.

第一方面，本申请提供了一种双相机3D光学荧光内窥镜摄像系统，技术方案如下：In the first aspect, the present application provides a dual-camera 3D optical fluorescence endoscope camera system, the technical solution is as follows:

包括：include:

内窥镜模块，包括第一光路以及与所述第一光路结构相同且并列设置的第二光路，所述第一光路与所述第二光路用于从不同视角接收混合光，所述混合光包括白光以及荧光；The endoscope module includes a first optical path and a second optical path which has the same structure as the first optical path and is arranged side by side. The first optical path and the second optical path are used to receive mixed light from different viewing angles, and the mixed light Including white light and fluorescence;

双相机模块，包括分光器、白光相机以及荧光相机，所述分光器同时接收来自所述第一光路与所述第二光路的所述混合光，并将所述混合光分离以用于在一个方向形成两路白光，在另一个方向形成两路荧光，所述白光相机接收分离后的两路白光，所述荧光相机接收分离后的两路荧光；A dual-camera module, including a beam splitter, a white light camera, and a fluorescence camera, the beam splitter simultaneously receives the mixed light from the first light path and the second light path, and separates the mixed light for use in one Two paths of white light are formed in one direction, and two paths of fluorescence are formed in another direction, the white light camera receives the separated two paths of white light, and the fluorescence camera receives the separated two paths of fluorescence;

图像处理模块，根据所述白光相机中的两路白光融合生成3D白光图像和/或根据所述荧光相机中的两路荧光融合生成3D荧光图像和/或根据所述白光相机中的两路白光以及所述荧光相机中的两路荧光融合生成3D混合图像。The image processing module generates a 3D white light image according to the two-way white light fusion in the white light camera and/or generates a 3D fluorescence image according to the two-way fluorescence fusion in the fluorescence camera and/or generates a 3D fluorescent image according to the two-way white light in the white light camera And the two-way fluorescence fusion in the fluorescence camera generates a 3D hybrid image.

通过设置结构相同且并列设置的第一光路以及第二光路来从不同的视角接收包含有白光和荧光的混合光，即，接收了具有水平视差的两路混合光，且两路混合光均包含了白光和荧光，然后两路混合光照射向分光器，分光器对两路混合光进行分离，具体来说，分光器对白光和荧光进行分离，将两路混合光分离成为两路白光以及两路荧光，并且，两路白光射向一个方向，两路荧光射向另一个方向，其中，两路白光与两路混合光一样具有水平视差，两路荧光也与两路混合光一样具有水平视差，两路白光照射至白光相机，两路荧光照射向荧光相机，然后白光相机与荧光相机将光信号转换成电信号以后传输给图像处理模块，图像处理模块则根据两路白光融合生成3D白光图像和/或根据两路荧光融合生成3D荧光图像和/或根据两路白光以及两路荧光融合生成3D混合图像，因此具有装配简单、成像效率高的有益效果。By setting the first optical path and the second optical path with the same structure and arranged side by side to receive the mixed light containing white light and fluorescent light from different viewing angles, that is, two paths of mixed light with horizontal parallax are received, and both paths of mixed light contain white light and fluorescent light, and then the two-way mixed light is irradiated to the beam splitter, and the beam splitter separates the two-way mixed light. There are two paths of fluorescent light, and two paths of white light shoot in one direction, and two paths of fluorescent light shoot in another direction, wherein, the two paths of white light have the same horizontal parallax as the two paths of mixed light, and the two paths of fluorescent light have the same horizontal parallax as the two paths of mixed light , two channels of white light are irradiated to the white light camera, two channels of fluorescent light are irradiated to the fluorescent camera, and then the white light camera and the fluorescent camera convert the optical signal into an electrical signal and then transmit it to the image processing module, and the image processing module generates a 3D white light image based on the fusion of the two channels of white light And/or generate a 3D fluorescence image based on the fusion of two fluorescence channels and/or generate a 3D hybrid image based on the fusion of two channels of white light and two fluorescence channels, thus having the beneficial effects of simple assembly and high imaging efficiency.

进一步地，在本申请中，所述分光器与所述白光相机和/或所述荧光相机之间设置有调焦环。Further, in the present application, a focus ring is provided between the beam splitter and the white light camera and/or the fluorescence camera.

当白光和荧光没有共焦面的时候，通过调焦环可以调节白光或荧光的成像面的位置，最终使白光可以在白光相机上清晰成像，使荧光可以在荧光相机上清晰成像。When there is no confocal plane between white light and fluorescence, the position of the imaging plane of white light or fluorescence can be adjusted through the focus ring, and finally the white light can be clearly imaged on the white light camera, and the fluorescence can be clearly imaged on the fluorescence camera.

进一步地，在本申请中，所述内窥镜模块与所述双相机模块之间还设置有变焦适配器镜头。Further, in the present application, a zoom adapter lens is further arranged between the endoscope module and the dual camera module.

利用变焦适配器镜头可以根据需求更换不同焦段的变焦镜头，从而具备变焦能力，满足不同情况下的各种需求。The zoom adapter lens can be used to replace the zoom lens with different focal lengths according to the needs, so as to have the zoom capability to meet various needs in different situations.

进一步地，在本申请中，还包括光源模块，所述光源模块包括白光光源以及红外光源，所述白光光源与所述红外光源连接有导光束，所述导光束连接在所述内窥镜模块上。Further, in the present application, it also includes a light source module, the light source module includes a white light source and an infrared light source, the white light source and the infrared light source are connected with a light guide, and the light guide is connected to the endoscope module superior.

进一步地，在本申请中，所述第一光路由沿物面到像面依次排列的第一透镜、第二透镜、第三透镜、光阑、第四透镜、第五透镜以及第六透镜组成；Further, in this application, the first optical path is composed of a first lens, a second lens, a third lens, a diaphragm, a fourth lens, a fifth lens and a sixth lens arranged in sequence from the object plane to the image plane ;

所述第一透镜靠近物面一侧为凸面，靠近像面一侧为凹面；The side of the first lens close to the object plane is convex, and the side close to the image plane is concave;

所述第二透镜靠近物面一侧为凹面，靠近像面一侧为凸面；The side of the second lens close to the object plane is concave, and the side close to the image plane is convex;

所述第三透镜靠近物面一侧为凹面，靠近像面一侧为凹面；The side of the third lens close to the object plane is concave, and the side close to the image plane is concave;

所述第四透镜靠近物面一侧为凸面，靠近像面一侧为凹面；The side of the fourth lens close to the object plane is convex, and the side close to the image plane is concave;

所述第五透镜靠近物面一侧为凸面，靠近像面一侧为凸面；The side of the fifth lens close to the object plane is convex, and the side close to the image plane is convex;

所述第六透镜靠近物面一侧为凸面，靠近像面一侧为凸面。The side of the sixth lens close to the object plane is convex, and the side close to the image plane is convex.

进一步地，在本申请中，所述第二透镜和所述第三透镜为双胶合透镜，所述第四透镜与所述第五透镜为双胶合透镜。Further, in the present application, the second lens and the third lens are doublet lenses, and the fourth lens and the fifth lens are doublet lenses.

进一步地，在本申请中，所述第一透镜靠近物面一侧的半径为8.75mm，靠近像面一侧的半径为2.11mm，厚度为0.8mm；Further, in this application, the radius of the first lens on the side close to the object plane is 8.75 mm, the radius on the side close to the image plane is 2.11 mm, and the thickness is 0.8 mm;

所述第二透镜靠近物面一侧的半径为-10.19mm，靠近像面一侧的半径为-2.48mm，厚度为3.5mm；The second lens has a radius of -10.19mm on the side close to the object plane, a radius of -2.48mm on the side close to the image plane, and a thickness of 3.5mm;

所述第三透镜靠近物面一侧的半径为-2.48mm，靠近像面一侧的半径为18.64mm，厚度为2mm；The third lens has a radius of -2.48mm on the side close to the object plane, a radius of 18.64mm on the side close to the image plane, and a thickness of 2mm;

所述第四透镜靠近物面一侧的半径为50.83mm，靠近像面一侧的半径为5.73mm，厚度为4mm；The radius of the fourth lens near the object plane side is 50.83mm, the radius near the image plane side is 5.73mm, and the thickness is 4mm;

所述第五透镜靠近物面一侧的半径为5.73mm，靠近像面一侧的半径为-3.84mm，厚度为2mm；The fifth lens has a radius of 5.73 mm on the side close to the object plane, a radius of -3.84 mm on the side close to the image plane, and a thickness of 2 mm;

所述第六透镜靠近物面一侧的半径为8.06mm，靠近像面一侧的半径为-709.88mm，厚度为2.5mm；The sixth lens has a radius of 8.06mm on the side close to the object plane, a radius of -709.88mm on the side close to the image plane, and a thickness of 2.5mm;

所述第一透镜与所述第二透镜的间隔为1mm，所述光阑设置在所述第三透镜与所述第四透镜之间且分别与所述第三透镜以及所述第四透镜接触，所述光阑的厚度为0.5mm，所述第五透镜与所述第六透镜的间隔为0.4mm。The distance between the first lens and the second lens is 1mm, and the diaphragm is arranged between the third lens and the fourth lens and is in contact with the third lens and the fourth lens respectively , the thickness of the diaphragm is 0.5 mm, and the distance between the fifth lens and the sixth lens is 0.4 mm.

进一步地，在本申请中，所述第一透镜的材料为H-ZLAF75，所述第二透镜的材料为H-ZF4，所述第三透镜的材料为H-FK61，所述第四透镜的材料为H-ZF62，所述第五透镜的材料为H-ZPK5，所述第六透镜的材料为H-LAF50。Further, in this application, the material of the first lens is H-ZLAF75, the material of the second lens is H-ZF4, the material of the third lens is H-FK61, and the material of the fourth lens The material is H-ZF62, the material of the fifth lens is H-ZPK5, and the material of the sixth lens is H-LAF50.

第二方面，本申请中还提供一种双相机3D光学荧光内窥镜摄像方法，包括：In the second aspect, the present application also provides a dual-camera 3D optical fluorescence endoscopic imaging method, including:

获取两路不同视角的混合光，所述混合光包括白光和荧光；Obtain two paths of mixed light with different viewing angles, the mixed light includes white light and fluorescent light;

对两路不同视角的所述混合光进行分离以用于在一个方向形成两路白光，在另一个方向形成两路荧光；separating the two paths of mixed light from different viewing angles to form two paths of white light in one direction and two paths of fluorescent light in the other direction;

根据分离后的两路白光融合生成3D白光图像和/或根据所述分离后的两路荧光融合生成3D荧光图像和/或根据分离后的两路白光以及分离后的两路荧光融合生成3D混合图像。Generating a 3D white light image according to the fusion of the separated two paths of white light and/or generating a 3D fluorescence image according to the fusion of the separated two paths of fluorescence and/or generating a 3D hybrid according to the fusion of the separated two paths of white light and the separated two paths of fluorescence image.

第三方面，本申请中还提供一种电子设备，包括处理器以及存储器，所述存储器存储有计算机可读取指令，当所述计算机可读取指令由所述处理器执行时，运行上述方法中的步骤。In a third aspect, the present application also provides an electronic device, including a processor and a memory, the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the above method is executed in the steps.

由上可知，本申请提供的一种双相机3D光学荧光内窥镜摄像系统、方法及电子设备，通过设置结构相同且并列设置的第一光路以及第二光路来从不同的视角接收包含有白光和荧光的混合光，即，接收了具有水平视差的两路混合光，且两路混合光均包含了白光和荧光，然后两路混合光照射向分光器，分光器对两路混合光进行分离，具体来说，分光器对白光和荧光进行分离，将两路混合光分离成为两路白光以及两路荧光，并且，两路白光射向一个方向，两路荧光射向另一个方向，其中，两路白光与两路混合光一样具有水平视差，两路荧光也与两路混合光一样具有水平视差，两路白光照射至白光相机，两路荧光照射向荧光相机，然后白光相机与荧光相机将光信号转换成电信号以后传输给图像处理模块，图像处理模块则根据两路白光融合生成3D白光图像和/或根据两路荧光融合生成3D荧光图像和/或根据两路白光以及两路荧光融合生成3D混合图像，因此具有装配简单、成像效率高的有益效果。It can be known from the above that the application provides a dual-camera 3D optical fluorescence endoscope imaging system, method and electronic equipment, by setting the first optical path and the second optical path with the same structure and arranged side by side to receive white light from different angles of view. The mixed light with fluorescence, that is, two mixed lights with horizontal parallax are received, and the two mixed lights contain white light and fluorescent light, and then the two mixed lights are irradiated to the beam splitter, and the beam splitter separates the two mixed lights , specifically, the beam splitter separates white light and fluorescence, and separates the two paths of mixed light into two paths of white light and two paths of fluorescence, and the two paths of white light are emitted in one direction, and the two paths of fluorescence are emitted in another direction, wherein, The two paths of white light have the same horizontal parallax as the two paths of mixed light, and the two paths of fluorescent light have the same horizontal parallax as the two paths of mixed light. The two paths of white light illuminate the white light camera, and the two paths of fluorescence illuminate the fluorescence camera. The optical signal is converted into an electrical signal and then transmitted to the image processing module. The image processing module generates a 3D white light image based on the fusion of two channels of white light and/or generates a 3D fluorescent image based on the fusion of two channels of fluorescence and/or generates a 3D image based on the fusion of two channels of white light and two channels of fluorescence. A 3D hybrid image is generated, thus having the beneficial effects of simple assembly and high imaging efficiency.

附图说明Description of drawings

图1为本申请提供的一种双相机3D光学荧光内窥镜摄像系统的结构示意图。FIG. 1 is a schematic structural diagram of a dual-camera 3D optical fluorescence endoscopic imaging system provided by the present application.

图2为本申请提供的一种双相机3D光学荧光内窥镜摄像系统的结构示意图。FIG. 2 is a schematic structural diagram of a dual-camera 3D optical fluorescence endoscope imaging system provided by the present application.

图3为本申请提供的内窥镜模块侧面示意图。Fig. 3 is a schematic side view of the endoscope module provided by the present application.

图4为本申请提供的内窥镜模块的第一光路和第二光路的结构示意图。FIG. 4 is a schematic structural diagram of the first optical path and the second optical path of the endoscope module provided by the present application.

图5为本申请使用的第一光路和第二光路的MTF曲线图。FIG. 5 is an MTF curve diagram of the first optical path and the second optical path used in the present application.

图6为本申请提供的一种电子设备的结构示意图。FIG. 6 is a schematic structural diagram of an electronic device provided by the present application.

图中：100、内窥镜模块；200、双相机模块；300、图像处理模块；400、变焦适配器镜头；500、光源模块；110、第一光路；120、第二光路；130、导光束；140、玻璃保护片；111、第一透镜；112、第二透镜；113、第三透镜；114、第四透镜；115、第五透镜；116、第六透镜；117、光阑；210、分光器；220、白光相机；230、荧光相机；240、调焦环；610、处理器；620、存储器。In the figure: 100, endoscope module; 200, dual camera module; 300, image processing module; 400, zoom adapter lens; 500, light source module; 110, first optical path; 120, second optical path; 130, light guide; 140, glass protection sheet; 111, first lens; 112, second lens; 113, third lens; 114, fourth lens; 115, fifth lens; 116, sixth lens; 117, aperture; 210, light splitting 220, a white light camera; 230, a fluorescent camera; 240, a focus ring; 610, a processor; 620, a memory.

具体实施方式Detailed ways

下面将结合本申请中附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are only some of the embodiments of this application, not all of them. The components of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本申请的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

请参照图1，一种双相机3D光学荧光内窥镜摄像系统，其技术方案具体包括：Please refer to Figure 1, a dual-camera 3D optical fluorescence endoscope camera system, the technical solution of which specifically includes:

内窥镜模块100，包括第一光路110以及与第一光路110结构相同且并列设置的第二光路120，第一光路110与第二光路120用于从不同视角接收混合光，混合光包括白光以及荧光；The endoscope module 100 includes a first optical path 110 and a second optical path 120 having the same structure as the first optical path 110 and arranged side by side. The first optical path 110 and the second optical path 120 are used to receive mixed light from different viewing angles. The mixed light includes white light and fluorescence;

双相机模块200，包括分光器210、白光相机220以及荧光相机230，分光器210同时接收来自第一光路110与第二光路120的混合光，并将混合光分离以用于在一个方向形成两路白光，在另一个方向形成两路荧光，白光相机220接收分离后的两路白光，荧光相机230接收分离后的两路荧光；The dual camera module 200 includes a beam splitter 210, a white light camera 220, and a fluorescence camera 230. The beam splitter 210 simultaneously receives the mixed light from the first light path 110 and the second light path 120, and separates the mixed light to form two light beams in one direction. One path of white light forms two paths of fluorescence in another direction, the white light camera 220 receives the separated two paths of white light, and the fluorescence camera 230 receives the separated two paths of fluorescence;

具体的，这里所指的白光相机220可以指的是单独的一个图像传感器，即CMOS，荧光相机230也可以指的是单独的一个图像传感器；Specifically, the white light camera 220 referred to here may refer to a single image sensor, that is, CMOS, and the fluorescence camera 230 may also refer to a single image sensor;

图像处理模块300，根据白光相机220中的两路白光融合生成3D白光图像和/或根据荧光相机230中的两路荧光融合生成3D荧光图像和/或根据白光相机220中的两路白光以及荧光相机230中的两路荧光融合生成3D混合图像。The image processing module 300 generates a 3D white light image according to the two-way white light fusion in the white light camera 220 and/or generates a 3D fluorescence image according to the two-way fluorescence fusion in the fluorescence camera 230 and/or generates a 3D fluorescence image according to the two-way white light and fluorescence light in the white light camera 220 Two-way fluorescent fusion in camera 230 generates a 3D blended image.

通过设置结构相同且并列设置的第一光路110以及第二光路120来从不同的视角接收包含有白光和荧光的混合光，即，接收了具有水平视差的两路混合光，且两路混合光均包含了白光和荧光，然后两路混合光照射向分光器210，分光器210对两路混合光进行分离，具体来说，分光器210对白光和荧光进行分离，将两路混合光分离成为两路白光以及两路荧光，并且，两路白光射向一个方向，两路荧光射向另一个方向，其中，两路白光与两路混合光一样具有水平视差，两路荧光也与两路混合光一样具有水平视差，两路白光照射至白光相机220，两路荧光照射向荧光相机230，然后白光相机220与荧光相机230将光信号转换成电信号以后传输给图像处理模块300，图像处理模块300则根据两路白光融合生成3D白光图像和/或根据两路荧光融合生成3D荧光图像和/或根据两路白光以及两路荧光融合生成3D混合图像，因此具有装配简单、成像效率高的有益效果。By setting the first optical path 110 and the second optical path 120 with the same structure and arranged side by side to receive the mixed light containing white light and fluorescent light from different viewing angles, that is, two paths of mixed light with horizontal parallax are received, and the two paths of mixed light Both contain white light and fluorescence, and then the two paths of mixed light are irradiated to the beam splitter 210, and the beam splitter 210 separates the two paths of mixed light. Specifically, the beam splitter 210 separates the white light and fluorescence, and separates the two paths of mixed light into Two channels of white light and two channels of fluorescent light, and two channels of white light shoot in one direction, and two channels of fluorescent light shoot in another direction, wherein, the two channels of white light have the same horizontal parallax as the two channels of mixed light, and the two channels of fluorescent light also mix with the two channels Light also has horizontal parallax, two paths of white light are irradiated to the white light camera 220, two paths of fluorescent light are irradiated to the fluorescence camera 230, then the white light camera 220 and the fluorescence camera 230 convert the optical signal into an electrical signal and then transmit it to the image processing module 300, the image processing module The 300 generates a 3D white light image based on the fusion of two channels of white light and/or generates a 3D fluorescent image based on the fusion of two channels of fluorescence and/or generates a 3D hybrid image based on the fusion of two channels of white light and two channels of fluorescence, so it has the advantages of simple assembly and high imaging efficiency Effect.

具体而言，在传统的方案中，在单独实现白光的3D成像或荧光的3D成像的时候，就需要使用两个图像传感器来接收具有水平视差的两个光信号，然而，对于使用两个图像传感器来生成3D图像而言，存在图像数据不同步的问题，在出现图像数据不同步的时候，需要对图像数据的时序进行处理，需要占用较高的系统计算资源，导致生产效率低，若要解决该问题，则需要严格对齐两个图像传感器，这给装配和调试带来了很高难度。Specifically, in the traditional scheme, when 3D imaging of white light or 3D imaging of fluorescence is realized separately, it is necessary to use two image sensors to receive two light signals with horizontal parallax. However, for using two images For the generation of 3D images by sensors, there is a problem of out-of-sync image data. When the image data is out-of-sync, it is necessary to process the timing of the image data, which needs to occupy relatively high system computing resources, resulting in low production efficiency. To solve this problem, the two image sensors need to be strictly aligned, which brings great difficulty to assembly and debugging.

而通过本申请的方案，可以只需通过一个相机，就可以实现3D成像，可以只使用白光相机220来实现白光的3D成像，可以只使用荧光相机230来实现荧光的3D成像，在同时使用白光相机220和荧光相机230的时候，可以实现白光和荧光的3D混合成像，以获得更好的成像，并且，由于3D混合图像可以通过3D白光图像和3D荧光图像叠加得到，因此对两个图像传感器的安装没有太高的要求，因此具有装配简单的优点。However, through the solution of the present application, 3D imaging can be realized with only one camera, only the white light camera 220 can be used to realize white light 3D imaging, and only the fluorescent camera 230 can be used to realize fluorescent 3D imaging. When the camera 220 and the fluorescence camera 230 can realize 3D hybrid imaging of white light and fluorescence to obtain better imaging, and since the 3D hybrid image can be obtained by superimposing the 3D white light image and the 3D fluorescence image, the two image sensors The installation does not have too high requirements, so it has the advantage of simple assembly.

具体的，本申请提供的一种双相机3D光学荧光内窥镜摄像系统还包括控制器，控制器可以控制图像处理模块300只根据照射在一个图像传感器上的两路白光来融合生成3D白光图像，控制器可以控制图像处理模块300只根据照射在一个图像传感器上的两路荧光来融合生成3D荧光图像，控制器还可以控制图像处理模块300同时根据照射在一个图像传感器上的两路白光以及照射在一个图像传感器上的两路荧光来融合生成3D混合图像。Specifically, the dual-camera 3D optical fluorescence endoscopic imaging system provided by the present application also includes a controller, which can control the image processing module 300 to fuse and generate a 3D white light image only according to two paths of white light irradiated on an image sensor. , the controller can control the image processing module 300 to fuse and generate a 3D fluorescence image only according to two channels of fluorescence irradiated on an image sensor, and the controller can also control the image processing module 300 to simultaneously generate a 3D fluorescence image according to two channels of white light irradiated on an image sensor and Two fluorescent lights illuminated on an image sensor are fused to generate a 3D hybrid image.

在一些实施例中，还包括检测模块，检测模块用于检测白光和荧光的亮度，控制器根据白光和荧光的亮度控制图像处理模块300对应融合生成3D白光图像和/或3D荧光图像和/或3D混合图像。In some embodiments, a detection module is also included, the detection module is used to detect the brightness of white light and fluorescence, and the controller controls the image processing module 300 according to the brightness of white light and fluorescence to generate 3D white light images and/or 3D fluorescence images and/or 3D blended images.

具体而言，在白光亮度和荧光亮度均大于预设值时，控制器才会控制图像处理模块300融合生成3D混合图像，因为当白光亮度过低或荧光亮度过低的时候，融合生成的3D混合图像可能具有不好的显示效果，过低亮度的白光或荧光反而会造成干扰。因此，当白光亮度低于预设值时而荧光亮度不低于预设值时，控制器可以控制图像处理模块300根据荧光融合生成3D荧光图像；当荧光亮度低于预设值而白光亮度不低于预设值，控制器可以控制图像处理模块300根据白光融合生成3D白光图像。Specifically, the controller controls the image processing module 300 to fuse and generate a 3D hybrid image when both the brightness of the white light and the brightness of the fluorescence are greater than a preset value, because when the brightness of the white light or the brightness of the fluorescence is too low, the 3D image generated by fusion Mixed images may have a bad display effect, and white light or fluorescent lights with too low brightness will cause interference. Therefore, when the brightness of the white light is lower than the preset value and the brightness of the fluorescence is not lower than the preset value, the controller can control the image processing module 300 to generate a 3D fluorescence image according to the fusion of fluorescence; Based on the preset value, the controller can control the image processing module 300 to generate a 3D white light image according to the white light fusion.

此外，还包括有显示模块，图像处理模块300将融合生成的3D白光图像和/或3D荧光图像和/或3D混合图像输出至显示模块中进行显示，具体的，显示模块可以是由三块显示屏组成，当图像处理模块300只生成3D白光图像时，可以在三块显示屏上显示3D白光图像；当图像处理模块300只生成3D荧光图像时，可以在三块显示屏上显示3D荧光图像；当图像处理模块300生成3D混合图像时，可以在三块显示屏上分别显示3D白光图像、3D荧光图像以及3D混合图像。In addition, a display module is also included, and the image processing module 300 outputs the 3D white light image and/or 3D fluorescent image and/or 3D mixed image generated by fusion to the display module for display. Specifically, the display module can be composed of three display modules. When the image processing module 300 only generates 3D white light images, 3D white light images can be displayed on three display screens; when the image processing module 300 only generates 3D fluorescent images, 3D fluorescent images can be displayed on three display screens ; When the image processing module 300 generates a 3D mixed image, it can display a 3D white light image, a 3D fluorescence image and a 3D mixed image on three display screens respectively.

进一步地，参照图2，在本申请中，分光器210与白光相机220和/或荧光相机230之间设置有调焦环240。Further, referring to FIG. 2 , in this application, a focus ring 240 is provided between the beam splitter 210 and the white light camera 220 and/or the fluorescence camera 230 .

通过上述设置，当白光和荧光没有共焦面的时候，即，白光或荧光的焦点没有落入相机的感光面上的时候，通过调焦环240可以调节白光或荧光的成像面的位置，最终使白光可以在白光相机220上清晰成像，使荧光可以在荧光相机230上清晰成像。With the above settings, when the white light and fluorescence have no confocal plane, that is, when the focus of the white light or fluorescence does not fall on the photosensitive surface of the camera, the position of the imaging surface of the white light or fluorescence can be adjusted through the focus ring 240, and finally The white light can be clearly imaged on the white light camera 220 , and the fluorescence can be clearly imaged on the fluorescence camera 230 .

进一步地，在本申请中，内窥镜模块100与双相机模块200之间还设置有变焦适配器镜头400。Further, in the present application, a zoom adapter lens 400 is also provided between the endoscope module 100 and the dual camera module 200 .

通过上述设置，利用变焦适配器镜头400可以根据需求更换不同焦段的变焦镜头，从而具备变焦能力，满足不同情况下的各种需求。Through the above settings, the zoom adapter lens 400 can be used to replace zoom lenses with different focal lengths according to requirements, so as to have zoom capabilities and meet various needs in different situations.

具体的，变焦适配器镜头400由两路结构相同的光路结构组成。Specifically, the zoom adapter lens 400 is composed of two optical paths with the same structure.

进一步地，参照图2和图3，在本申请中，还包括光源模块500，光源模块500包括白光光源以及红外光源，白光光源与红外光源连接有导光束130，导光束130连接在内窥镜模块100上。Further, referring to FIG. 2 and FIG. 3 , in this application, a light source module 500 is also included. The light source module 500 includes a white light source and an infrared light source. on module 100.

通过上述设置，利用导光束130将白光光源发出的光以及红外光源发出的光导向沿着内窥镜模块100定向照射在组织表面，从而使组织反射出白光和荧光，并且，反射出的白光和荧光可以被内窥镜模块100接收。Through the above-mentioned setting, the light emitted by the white light source and the infrared light source are guided by the light guide 130 and irradiated on the surface of the tissue along the endoscope module 100, so that the tissue reflects white light and fluorescence, and the reflected white light and The fluorescence may be received by the endoscope module 100 .

进一步地，参照图4，在本申请中，第一光路110由沿物面到像面依次排列的第一透镜111、第二透镜112、第三透镜113、光阑117、第四透镜114、第五透镜115以及第六透镜116组成；Further, referring to FIG. 4 , in this application, the first optical path 110 consists of a first lens 111 , a second lens 112 , a third lens 113 , an aperture 117 , a fourth lens 114 , and The fifth lens 115 and the sixth lens 116 are composed;

第一透镜111靠近物面一侧为凸面，靠近像面一侧为凹面；The side of the first lens 111 close to the object plane is convex, and the side close to the image plane is concave;

第二透镜112靠近物面一侧为凹面，靠近像面一侧为凸面；The side of the second lens 112 close to the object plane is concave, and the side close to the image plane is convex;

第三透镜113靠近物面一侧为凹面，靠近像面一侧为凹面；The side of the third lens 113 close to the object plane is concave, and the side close to the image plane is concave;

第四透镜114靠近物面一侧为凸面，靠近像面一侧为凹面；The fourth lens 114 is convex on the side close to the object plane, and concave on the side close to the image plane;

第五透镜115靠近物面一侧为凸面，靠近像面一侧为凸面；The side of the fifth lens 115 close to the object plane is convex, and the side close to the image plane is convex;

第六透镜116靠近物面一侧为凸面，靠近像面一侧为凸面。The side of the sixth lens 116 close to the object plane has a convex surface, and the side close to the image plane has a convex surface.

具体的，第二透镜112和第三透镜113为双胶合透镜，第四透镜114与第五透镜115为双胶合透镜。Specifically, the second lens 112 and the third lens 113 are doublet lenses, and the fourth lens 114 and the fifth lens 115 are doublet lenses.

将第二透镜112和第三透镜113制成双胶合透镜，将第四透镜114与第五透镜115制成双胶合透镜可用于最大限度地减少色差或消除色差，通过双胶合透镜能够改善像质、减少光能量的反射损失，从而提升镜头成像的清晰度。另外，双胶合透镜的使用还可简化镜头制造过程中的装配程序，可有助于消除色差影响，减小场曲，校正慧差；在本申请中，使用两组双胶合透镜还可以残留部分色差以平衡光学系统的整体色差，镜片的胶合省略了两镜片之间的空气间隔，使得光学系统整体紧凑，满足内窥镜小型化需求。Making the second lens 112 and the third lens 113 into a doublet lens, making the fourth lens 114 and the fifth lens 115 into a doublet lens can be used to minimize chromatic aberration or eliminate chromatic aberration, and the image quality can be improved by the doublet lens , Reduce the reflection loss of light energy, thereby improving the clarity of lens imaging. In addition, the use of doublet lenses can also simplify the assembly procedure in the lens manufacturing process, which can help eliminate the influence of chromatic aberration, reduce field curvature, and correct coma aberration; in this application, the use of two sets of doublet lenses can also leave some The chromatic aberration is used to balance the overall chromatic aberration of the optical system. The gluing of the lenses omits the air space between the two lenses, making the overall compact optical system and meeting the miniaturization requirements of the endoscope.

在一些优选实施方式中，第一透镜111靠近物面一侧的半径为8.75mm，靠近像面一侧的半径为2.11mm，厚度为0.8mm；In some preferred embodiments, the radius of the first lens 111 on the side close to the object plane is 8.75 mm, the radius on the side close to the image plane is 2.11 mm, and the thickness is 0.8 mm;

第二透镜112靠近物面一侧的半径为-10.19mm，靠近像面一侧的半径为-2.48mm，厚度为3.5mm；The second lens 112 has a radius of -10.19mm on the side close to the object plane, a radius of -2.48mm on the side close to the image plane, and a thickness of 3.5mm;

第三透镜113靠近物面一侧的半径为-2.48mm，靠近像面一侧的半径为18.64mm，厚度为2mm；The third lens 113 has a radius of -2.48mm on the side close to the object plane, a radius of 18.64mm on the side close to the image plane, and a thickness of 2mm;

第四透镜114靠近物面一侧的半径为50.83mm，靠近像面一侧的半径为5.73mm，厚度为4mm；The fourth lens 114 has a radius of 50.83 mm on the side close to the object plane, a radius of 5.73 mm on the side close to the image plane, and a thickness of 4 mm;

第五透镜115靠近物面一侧的半径为5.73mm，靠近像面一侧的半径为-3.84mm，厚度为2mm；The fifth lens 115 has a radius of 5.73 mm on the side close to the object plane, a radius of -3.84 mm on the side close to the image plane, and a thickness of 2 mm;

第六透镜116靠近物面一侧的半径为8.06mm，靠近像面一侧的半径为-709.88mm，厚度为2.5mm；The sixth lens 116 has a radius of 8.06 mm on the side close to the object plane, a radius of -709.88 mm on the side close to the image plane, and a thickness of 2.5 mm;

第一透镜111与第二透镜112的间隔为1mm，光阑117设置在第三透镜113与第四透镜114之间且分别与第三透镜113以及第四透镜114接触，光阑117的厚度为0.5mm，第五透镜115与第六透镜116的间隔为0.4mm。The interval between the first lens 111 and the second lens 112 is 1 mm, and the diaphragm 117 is arranged between the third lens 113 and the fourth lens 114 and is in contact with the third lens 113 and the fourth lens 114 respectively, and the thickness of the diaphragm 117 is 0.5 mm, and the distance between the fifth lens 115 and the sixth lens 116 is 0.4 mm.

第一透镜111的材料为H-ZLAF75，第二透镜112的材料为H-ZF4，第三透镜113的材料为H-FK61，第四透镜114的材料为H-ZF62，第五透镜115的材料为H-ZPK5，第六透镜116的材料为H-LAF50。The material of the first lens 111 is H-ZLAF75, the material of the second lens 112 is H-ZF4, the material of the third lens 113 is H-FK61, the material of the fourth lens 114 is H-ZF62, and the material of the fifth lens 115 It is H-ZPK5, and the material of the sixth lens 116 is H-LAF50.

此外，在第一光路110和第二光路120靠近物面的一侧还设置有玻璃保护片140，玻璃保护片140的材料为AL2O3。In addition, a protective glass sheet 140 is provided on the side of the first optical path 110 and the second optical path 120 close to the object plane, and the material of the protective glass sheet 140 is Al2O3.

通过上述设置，在保证第一光路110结构的尺寸小于20mm的情况下仍然能够获得优秀的成像效果，其MTF曲线如图5所示，满足了内窥镜这种特殊应用场景的需求。Through the above settings, excellent imaging effects can still be obtained while ensuring that the size of the structure of the first optical path 110 is less than 20 mm. Its MTF curve is shown in FIG. 5 , which meets the requirements of the special application scenario of the endoscope.

第二方面，本申请中还提供一种双相机3D光学荧光内窥镜摄像方法，包括：In the second aspect, the present application also provides a dual-camera 3D optical fluorescence endoscopic imaging method, including:

获取两路不同视角的混合光，混合光包括白光和荧光；Obtain two mixed lights with different viewing angles, including white light and fluorescent light;

对两路不同视角的混合光进行分离以用于在一个方向形成两路白光，在另一个方向形成两路荧光；Separate the mixed light from two different viewing angles to form two white lights in one direction and two fluorescent lights in the other direction;

根据分离后的两路白光融合生成3D白光图像和/或根据分离后的两路荧光融合生成3D荧光图像和/或根据分离后的两路白光以及分离后的两路荧光融合生成3D混合图像。Generate a 3D white light image according to the fusion of the separated two paths of white light and/or generate a 3D fluorescence image according to the fusion of the separated two paths of fluorescence and/or generate a 3D mixed image according to the fusion of the separated two paths of white light and the separated two paths of fluorescence.

通过接收具有水平视差的两路混合光，且两路混合光均包含了白光和荧光，然后对两路混合光进行分离，具体来说，是对白光和荧光进行分离，将两路混合光分离成为两路白光以及两路荧光，并且，两路白光射向一个方向，两路荧光射向另一个方向，其中，两路白光与两路混合光一样具有水平视差，两路荧光也与两路混合光一样具有水平视差，然后根据两路白光融合生成3D白光图像和/或根据两路荧光融合生成3D荧光图像和/或根据两路白光以及两路荧光融合生成3D混合图像，具体来说只需通过一个相机，就可以实现3D成像，可以只使用白光相机来实现白光的3D成像，可以只使用荧光相机来实现荧光的3D成像，在同时使用白光相机和荧光相机的时候，可以实现白光和荧光的3D混合成像，以获得更好的成像，并且，由于3D混合图像可以通过3D白光图像和3D荧光图像叠加得到，因此对两个图像传感器的安装没有太高的要求，因此具有装配简单、成像效率高的优点。By receiving two paths of mixed light with horizontal parallax, and the two paths of mixed light both contain white light and fluorescence, and then separate the two paths of mixed light, specifically, separate the white light and fluorescence, and separate the two paths of mixed light It becomes two paths of white light and two paths of fluorescent light, and the two paths of white light emit in one direction, and the two paths of fluorescent light emit in another direction, wherein, the two paths of white light have the same horizontal parallax as the two paths of mixed light, and the two paths of fluorescent light also have the same horizontal parallax as the two paths of mixed light. Mixed light also has horizontal parallax, and then generates a 3D white light image based on the fusion of two white lights and/or generates a 3D fluorescent image based on the fusion of two fluorescent lights and/or generates a 3D mixed image based on the fusion of two white lights and two fluorescent lights. 3D imaging can be achieved with only one camera, white light 3D imaging can be achieved only with a white light camera, fluorescence 3D imaging can be achieved only with a fluorescence camera, and white light and fluorescence imaging can be achieved when using both a white light camera and a fluorescence camera Fluorescent 3D hybrid imaging to obtain better imaging, and since the 3D hybrid image can be obtained by superimposing 3D white light images and 3D fluorescent images, there is no high requirement for the installation of the two image sensors, so it has the advantages of simple assembly, The advantages of high imaging efficiency.

第三方面，参照图6，本申请还提供一种电子设备，包括处理器610以及存储器620，存储器620存储有计算机可读取指令，当计算机可读取指令由处理器610执行时，运行如上方法中的步骤。In the third aspect, referring to FIG. 6 , the present application also provides an electronic device, including a processor 610 and a memory 620, the memory 620 stores computer-readable instructions, and when the computer-readable instructions are executed by the processor 610, the operation is as above steps in the method.

通过上述技术方案，处理器610和存储器620通过通信总线和/或其他形式的连接机构（未标出）互连并相互通讯，存储器620存储有处理器610可执行的计算机程序，当电子设备运行时，处理器610执行该计算机程序，以执行时执行上述实施例的任一可选的实现方式中的方法，以实现以下功能：获取两路不同视角的混合光，混合光包括白光和荧光；对两路不同视角的混合光进行分离以用于在一个方向形成两路白光，在另一个方向形成两路荧光；根据分离后的两路白光融合生成3D白光图像和/或根据分离后的两路荧光融合生成3D荧光图像和/或根据分离后的两路白光以及分离后的两路荧光融合生成3D混合图像。Through the above technical solution, the processor 610 and the memory 620 are interconnected and communicate with each other through a communication bus and/or other forms of connection mechanisms (not shown), and the memory 620 stores computer programs executable by the processor 610. When the electronic device is running At this time, the processor 610 executes the computer program, so as to execute the method in any optional implementation manner of the above-mentioned embodiments, so as to realize the following functions: acquire two paths of mixed light with different viewing angles, and the mixed light includes white light and fluorescent light; Separating two mixed lights with different viewing angles to form two white lights in one direction and two fluorescent lights in the other direction; generate a 3D white light image based on the fusion of the two separated white lights and/or generate a 3D white light image based on the separated two white lights A 3D fluorescent image is generated by merging two channels of fluorescence and/or a 3D mixed image is generated according to two separated channels of white light and two channels of separated fluorescent light.

第四方面，本申请中还提供一种存储介质，其上存储有计算机程序，计算机程序被处理器执行时，运行上述方法中的步骤。In a fourth aspect, the present application further provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above method are executed.

通过上述技术方案，计算机程序被处理器执行时，执行上述实施例的任一可选的实现方式中的方法，以实现以下功能：获取两路不同视角的混合光，混合光包括白光和荧光；对两路不同视角的混合光进行分离以用于在一个方向形成两路白光，在另一个方向形成两路荧光；根据分离后的两路白光融合生成3D白光图像和/或根据分离后的两路荧光融合生成3D荧光图像和/或根据分离后的两路白光以及分离后的两路荧光融合生成3D混合图像。Through the above technical solution, when the computer program is executed by the processor, execute the method in any optional implementation manner of the above embodiment, so as to realize the following functions: obtain two paths of mixed light with different viewing angles, the mixed light includes white light and fluorescent light; Separate the mixed light of two paths with different viewing angles to form two paths of white light in one direction, and form two paths of fluorescence in the other direction; generate a 3D white light image according to the fusion of the separated two paths of white light and/or generate a 3D white light image according to the separated two paths of white light A 3D fluorescent image is generated by merging two channels of fluorescence and/or a 3D mixed image is generated according to two separated channels of white light and two channels of separated fluorescent light.

其中，存储介质可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器（Static Random Access Memory, 简称SRAM），电可擦除可编程只读存储器（Electrically Erasable Programmable Read-Only Memory, 简称EEPROM），可擦除可编程只读存储器（Erasable Programmable Read Only Memory, 简称EPROM），可编程只读存储器（Programmable Red-Only Memory, 简称PROM），只读存储器（Read-OnlyMemory, 简称ROM），磁存储器，快闪存储器，磁盘或光盘。Among them, the storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as Static Random Access Memory (SRAM for short), Electrically Erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), Erasable Programmable Read Only Memory (Erasable Programmable Read Only Memory, referred to as EPROM), Programmable Read-Only Memory (Programmable Red-Only Memory, referred to as PROM), read-only Memory (Read-OnlyMemory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk.

在本申请所提供的实施例中，应该理解到，所揭露装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

另外，作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。In addition, the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

再者，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。Furthermore, each functional module in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.

以上所述仅为本申请的实施例而已，并不用于限制本申请的保护范围，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above descriptions are only examples of the present application, and are not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.