阅读说明：本技术 可见光和近红外荧光3d融合图像内窥镜系统 (Visible light and near-infrared fluorescence 3D fusion image endoscope system ) 是由 史成勇 张红鑫 王泰升 于 2019-12-19 设计创作，主要内容包括：本发明涉及一种可见光和近红外荧光3D融合图像内窥镜系统,属于内窥镜成像系统技术领域。解决了如何实现可见光彩色3D图像和近红外荧光3D图像的同时获取和显示的问题。本发明的3D融合图像内窥镜系统,包括可见光近红外激发光源、双目内窥成像系统、分束镜、可见光成像子系统、近红外荧光成像子系统、图像处理融合模块和3D图像显示系统。该3D融合图像内窥镜系统通过分束镜把双目内窥成像系统所成的双目图像分成两路,分别获取可见光彩色3D图像信息和近红外荧光3D图像信息,实现可见光彩色3D图像和近红外荧光3D图像的实时同时获取,经过适当的图像处理和融合,最终实现可见光彩色3D图像和近红外荧光3D图像的实时同时显示。(The invention relates to a visible light and near-infrared fluorescence 3D fusion image endoscope system, and belongs to the technical field of endoscope imaging systems. The problem of how to realize acquireing simultaneously and showing of visible light colour 3D image and near-infrared fluorescence 3D image is solved. The 3D fusion image endoscope system comprises a visible light near-infrared excitation light source, a binocular endoscopic imaging system, a beam splitter, a visible light imaging subsystem, a near-infrared fluorescence imaging subsystem, an image processing fusion module and a 3D image display system. The 3D fusion image endoscope system divides binocular images formed by the binocular endoscopic imaging system into two paths through the beam splitter, respectively acquires visible light color 3D image information and near infrared fluorescence 3D image information, realizes real-time simultaneous acquisition of the visible light color 3D images and the near infrared fluorescence 3D images, and finally realizes real-time simultaneous display of the visible light color 3D images and the near infrared fluorescence 3D images through proper image processing and fusion.)

1. The visible light and near-infrared fluorescence 3D fusion image endoscope system is characterized by comprising a visible light near-infrared excitation light source (1), a binocular endoscopic imaging system (2), a beam splitter (3), a visible light imaging subsystem (4), a near-infrared fluorescence imaging subsystem (5), an image processing fusion module (6) and a 3D image display system (7);

the visible light near-infrared excitation light source (1) is used for simultaneously providing visible light illumination and near-infrared fluorescence excitation light illumination for the binocular endoscopic imaging system (2);

the binocular endoscopic imaging system (2) collects binocular images with horizontal parallax;

the beam splitter (3) divides the binocular image into two beams, one beam enters the visible light imaging subsystem (4), and the other beam enters the near-infrared fluorescence imaging subsystem (5);

the visible light imaging subsystem (4) samples visible light information in the binocular image incident through the beam splitter (3) into a digital image and transmits the digital image to the image processing and fusing module (6);

the near-infrared fluorescence imaging subsystem (5) samples near-infrared fluorescence information in the binocular image incident through the beam splitter (3) into a digital image and transmits the digital image to the image processing and fusing module (6);

the image processing and fusing module (6) respectively preprocesses the digital image output by the visible light imaging subsystem (4) and the digital image output by the near infrared fluorescence imaging subsystem (5), carries out image fusion on the preprocessed digital image output by the visible light imaging subsystem (4) and the digital image output by the near infrared fluorescence imaging subsystem (5), obtains a 3D fused image, carries out 3D coding on the obtained 3D fused image and then transmits the 3D fused image to the 3D image display system (7);

the 3D image display system (7) displays the received 3D code as a 3D image.

2. The visible light and near-infrared fluorescence 3D fusion image endoscope system according to claim 1, characterized in that the visible light near-infrared excitation light source (1) is a light source integrating a visible light cold light source and a near-infrared fluorescence excitation light source, the working wavelength band of the visible light cold light source is 400-700nm, and the near-infrared fluorescence excitation light source is 785nm laser.

3. The visible light and near infrared fluorescence 3D fusion image endoscope system according to claim 1, characterized in that the working wavelength band of the binocular endoscopic imaging system (2) is 400-1000 nm.

4. The visible light and near-infrared fluorescence 3D fused image endoscope system according to claim 1, wherein the binocular endoscopic imaging system (2) comprises an external endoscope tube (2-1), a second optical fiber (2-2), an internal endoscope tube (2-3), a first fixing member (2-4) and a single-tube endoscope (2-5); the first fixing piece (2-4) is a cylinder, two axial through holes are formed in the first fixing piece (2-4), and on the radial cross section of the first fixing piece (2-4), the two axial through holes are centrosymmetric relative to the circle center of the radial cross section; the endoscope inner tube (2-3) and the endoscope outer tube (2-1) are sequentially sleeved outside the first fixing piece (2-4) from inside to outside and are coaxially arranged, and the inner wall of the endoscope inner tube (2-3) is fixed on the outer wall of the first fixing piece (2-4); the second optical fibers (2-2) are fixed between the outer wall of the endoscope inner tube (2-3) and the inner wall of the endoscope outer tube (2-1), and the length direction of the second optical fibers (2-2) is axially arranged along the first fixing piece (2-4); the two single-tube endoscopes (2-5) are respectively fixed in the two axial through holes of the first fixing piece (2-4), and the working wave band of the single-tube endoscope (2-5) is 400-1000 nm; the rear ends of the endoscope outer tube (2-1), the second optical fiber (2-2), the endoscope inner tube (2-3), the first fixing piece (2-4) and the single-tube endoscope (2-5) are horizontally aligned, and the front ends are positioned on the same surface.

5. The visible light and near infrared fluorescence 3D fusion image endoscope system according to claim 4, characterized in that, the 3D co-imaging endoscope system further comprises a first optical fiber (9), a first connecting through hole is provided on the outer wall of the rear portion of the outer tube (2-1) of the endoscope body, one end of the first optical fiber (9) is connected with the visible light near infrared excitation light source (1), and the other end passes through the first connecting through hole and is connected with the second optical fiber (2-2).

6. The visible light and near infrared fluorescence 3D fusion image endoscope system according to claim 5, characterized in that, the 3D co-imaging endoscope system further comprises a second fixing member (8), the second fixing member (8) is a cylindrical structure, and is sleeved and fixed outside the outer wall of the rear portion of the binocular endoscopic imaging system (2), a second connecting hole matched with the first connecting hole is arranged on the second fixing member (8), and the other end of the first optical fiber (9) passes through the second connecting hole and the first connecting hole in sequence and is connected with the second optical fiber (2-2).

7. The visible light and near infrared fluorescence 3D fusion image endoscope system according to claim 1, characterized in that the beam splitter (3) is a full-wave-band half-reflecting and half-transmitting mirror, the reflected light enters the near infrared fluorescence imaging subsystem (5), and the transmitted light enters the visible light imaging subsystem (4);

or, the beam splitter (3) is a 400-700nm transmission 800-1000nm reflection beam splitter (3), the 400-700nm band beam splitting light enters the visible light imaging subsystem (4), and the 800-1000nm band beam splitting light enters the near-infrared fluorescence imaging subsystem (5);

or, the beam splitter (3) reflects the beam splitter (3) with the wavelength of 400-700nm and transmits the beam splitter with the wavelength of 800-1000nm, the beam splitter with the wavelength of 400-700nm enters the visible light imaging subsystem (4), and the beam splitter with the wavelength of 800-1000nm enters the near-infrared fluorescence imaging subsystem (5).

8. The visible light and near infrared fluorescence 3D fusion image endoscope system according to claim 1, characterized in that the working wavelength band of the visible light imaging subsystem (4) is 400-700 nm; the binocular image acquisition system comprises a visible light relay optical system and a visible light color detector, wherein the visible light relay optical system images visible light information in a binocular image incident through a beam splitter (3) onto the visible light color detector, and the visible light color detector samples the received image of the visible light relay optical system into a digital image and transmits the digital image to an image processing and fusing module (6).

9. The visible light and near infrared fluorescence 3D fusion image endoscope system according to claim 1, characterized in that the near infrared fluorescence imaging subsystem (5) has a working wavelength band of 800-1000nm, and comprises a near infrared relay optical system and a near infrared fluorescence detector, wherein the near infrared relay optical system images the near infrared fluorescence information in the binocular image incident through the beam splitter (3) onto the near infrared fluorescence detector, and the near infrared fluorescence detector samples the received image of the near infrared relay optical system into a digital image and transmits the digital image to the image processing fusion module (6).

10. Visible and near infrared fluorescence 3D fused image endoscope system according to claim 1, characterized in that the 3D image display system (7) is a polarized 3D display, 3D helmet glasses or a shuttered 3D display.

Technical Field

The invention belongs to the technical field of endoscope imaging systems, and particularly relates to a visible light and near-infrared fluorescence 3D fusion image endoscope system which is particularly suitable for surgical navigation.

Background

In clinical surgery, how to accurately judge the accurate tissue excision of tumor tissue edges is the key to success or failure of the surgery. In the current operation, the judgment of the doctor is mainly relied on, which requires sufficient experience of the doctor, so that the requirement on the condition of the doctor is high. Although the existing 2D image endoscope system can display the tumor tissue edge in real time, the endoscope system cannot display visible light and near-infrared fluorescence simultaneously, and needs to switch the working state, which brings inconvenience to the surgical procedure and prolongs the surgical time.

In addition, with the development of endoscopic imaging technology, 3D endoscopic imaging is becoming an indispensable instrument in minimally invasive surgery. Compared with the existing 2D endoscope, the 3D endoscopic imaging system can acquire the depth information of a scene, can better reflect the real situation of the scene, and enables doctors to feel the situation of the operation part like being personally on the scene, thereby better controlling the operation process.

However, there is no endoscope system in the prior art that can achieve simultaneous acquisition and display of visible and near-infrared fluorescence 3D images.

Disclosure of Invention

The invention provides a visible light and near infrared fluorescence 3D fusion image endoscope system, which aims to solve the technical problems in the prior art and realize the simultaneous acquisition and display of visible light and near infrared fluorescence 3D images.

The technical scheme adopted by the invention for solving the technical problems is as follows.

The visible light and near-infrared fluorescence 3D fusion image endoscope system comprises a visible light near-infrared excitation light source, a binocular endoscopic imaging system, a beam splitter, a visible light imaging subsystem, a near-infrared fluorescence imaging subsystem, an image processing fusion module and a 3D image display system;

the visible light near-infrared excitation light source provides visible light illumination and near-infrared fluorescence excitation light illumination for the binocular endoscopic imaging system simultaneously;

the binocular endoscopic imaging system acquires binocular images with horizontal parallax;

the beam splitter divides the binocular image into two beams, one beam enters the visible light imaging subsystem, and the other beam enters the near-infrared fluorescence imaging subsystem;

the visible light imaging subsystem samples visible light information in the binocular image incident through the beam splitter into a digital image and transmits the digital image to the image processing and fusing module;

the near-infrared fluorescence imaging subsystem samples near-infrared fluorescence information in the binocular image incident through the beam splitter into a digital image and transmits the digital image to the image processing and fusing module;

the image processing and fusing module respectively preprocesses the digital image output by the visible light imaging subsystem and the digital image output by the near-infrared fluorescence imaging subsystem, performs image fusion on the preprocessed digital image output by the visible light imaging subsystem and the digital image output by the near-infrared fluorescence imaging subsystem to obtain a 3D fused image, performs 3D coding on the obtained 3D fused image, and transmits the 3D fused image to a 3D image display system;

the 3D image display system displays the received 3D code as a 3D image.

Further, the visible light near-infrared excitation light source is a light source integrating a visible light cold light source and a near-infrared fluorescence excitation light source, the working wavelength band of the visible light cold light source is 400-700nm, and the near-infrared fluorescence excitation light source is 785nm laser.

Further, the working wave band of the binocular endoscopic imaging system is 400-1000 nm.

Furthermore, the binocular endoscopic imaging system comprises an outer endoscope body tube, a second optical fiber, an inner endoscope body tube, a first fixing piece and a single-tube endoscope; the first fixing piece is a cylinder, two axial through holes are formed in the first fixing piece, and the two axial through holes are centrosymmetric relative to the circle center of the radial cross section on the radial cross section of the first fixing piece; the endoscope inner tube and the endoscope outer tube are sequentially sleeved outside the first fixing piece from inside to outside and are coaxially arranged, and the inner wall of the endoscope inner tube is fixed on the outer wall of the first fixing piece; the second optical fibers are fixed between the outer wall of the endoscope body inner tube and the inner wall of the endoscope body outer tube, and the length direction of the second optical fibers is axially arranged along the first fixing piece; the two single-tube endoscopes are respectively fixed in the two axial through holes of the first fixing piece, and the working wave band of the single-tube endoscope is 400-1000 nm; the rear ends of the endoscope outer tube, the second optical fiber, the endoscope inner tube, the first fixing piece and the single-tube endoscope are horizontally aligned, and the front ends are positioned on the same surface.

Furthermore, the 3D common imaging endoscope system further comprises a first optical fiber, a first connecting through hole is formed in the outer wall of the rear portion of the outer tube of the endoscope body, one end of the first optical fiber is connected with the visible light near-infrared excitation light source, and the other end of the first optical fiber penetrates through the first connecting through hole and is connected with a second optical fiber.

Still further, the 3D common imaging endoscope system further comprises a second fixing piece which is of a cylindrical structure and is sleeved and fixed outside the outer wall of the rear portion of the binocular endoscopic imaging system, a second connecting hole matched with the first connecting hole is formed in the second fixing piece, and the other end of the first optical fiber penetrates through the second connecting hole and the first connecting hole in sequence and is connected with the second optical fiber.

Furthermore, the beam splitter is a full-wave-band semi-reflecting and semi-transmitting mirror, reflected light enters the near-infrared fluorescence imaging subsystem, and transmitted light enters the visible light imaging subsystem.

Further, the beam splitter is a 400-plus-700 nm transmission 800-plus-1000 nm reflection beam splitter or a 400-plus-700 nm reflection 800-plus-1000 nm transmission beam splitter, the beam splitting light of 400-plus-700 nm waveband enters the visible light imaging subsystem, and the beam splitting light of 800-plus-1000 nm waveband enters the near-infrared fluorescence imaging subsystem.

Further, the working waveband of the visible light imaging subsystem is 400-700 nm; the binocular image fusion system comprises a visible light relay optical system and a visible light color detector, wherein the visible light relay optical system images visible light information in a binocular image incident through a beam splitter onto the visible light color detector, and the visible light color detector samples the received image of the visible light relay optical system into a digital image and transmits the digital image to an image processing fusion module.

Further, the working wavelength band of the near-infrared fluorescence imaging subsystem is 800-1000nm, and the near-infrared fluorescence imaging subsystem comprises a near-infrared relay optical system and a near-infrared fluorescence detector, wherein the near-infrared relay optical system images near-infrared fluorescence information in a binocular image incident through a beam splitter onto the near-infrared fluorescence detector, and the near-infrared fluorescence detector samples a received image of the near-infrared relay optical system into a digital image and transmits the digital image to the image processing and fusion module.

Further, the 3D image display system is a polarized 3D display, 3D helmet glasses, or a shutter type 3D display.

Compared with the prior art, the invention has the beneficial effects that:

according to the visible light and near infrared fluorescence 3D fusion image endoscope system, a binocular image formed by the binocular endoscopic imaging system is divided into two paths through the beam splitter, visible light color 3D image information and near infrared fluorescence 3D image information are respectively obtained, the visible light color 3D image and the near infrared fluorescence 3D image are simultaneously obtained in real time, and the visible light color 3D image and the near infrared fluorescence 3D image are finally simultaneously displayed in real time through proper image processing and fusion.

The visible light and near infrared fluorescence 3D fusion image endoscope system does not need to switch working states, ensures the coherence of the operation process, provides real-time and effective three-dimensional information and fluorescence mark information of the operation part, helps doctors to accurately judge the edge of tumor tissue, assists the doctors to better control the operation process and recognize and excise the tumor tissue, greatly improves the diagnosis and recognition rate of the tumor tissue and the success rate of excision operation, and does not influence the operation process.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic structural diagram of a visible light and near infrared fluorescence 3D fusion image endoscope system of the present invention;

FIG. 2 is a top view of a binocular endoscopic imaging system in the visible light and near infrared fluorescence 3D fused image endoscope system of the present invention;

FIG. 3 is a schematic diagram of the working principle of a beam splitter of the visible light and near-infrared fluorescence 3D fusion image endoscope system of the present invention, (a) is a full-wave-band semi-reflective and semi-transparent, (b) is 400-fold 700nm transmission and 800-fold 1000nm reflection;

FIG. 4 is a schematic diagram of binocular images received by the visible color detector/near infrared fluorescence detector of the present invention (both detectors receive the same binocular image mode);

in the figure, 1, a visible light near-infrared excitation light source, 2, a binocular endoscopic imaging system, 2-1, an outer endoscope tube, 2-2, a second optical fiber, 2-3, an inner endoscope tube, 2-4, a first fixing piece, 2-5, a single-tube endoscope, 3, a beam splitter, 4, a visible light imaging subsystem, 5, a near-infrared fluorescence imaging subsystem, 6, an image processing and fusing module, 7 and a 3D image display system, 8, a second fixing piece, 9 and a first optical fiber.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings.

As shown in fig. 1, the visible light and near-infrared fluorescence 3D fusion image endoscope system of the present invention includes a visible light near-infrared excitation light source 1, a binocular endoscopic imaging system 2, a beam splitter 3, a visible light imaging subsystem 4, a near-infrared fluorescence imaging subsystem 5, an image processing fusion module 6, a 3D image display system 7, a second fixing member 8, and a first optical fiber 9. The binocular endoscopic imaging system 2 is a main body part of the endoscope system, and the visible light near-infrared excitation light source 1, the beam splitter 3, the visible light imaging subsystem 4, the near-infrared fluorescence imaging subsystem 5, the image processing and fusing module 6 and the 3D image display system 7 are peripheral equipment of the endoscope system.

In the endoscope system, the visible near-infrared excitation light source 1 is a light source integrating a visible cold light source and a near-infrared fluorescence excitation light source. The working waveband of the visible light cold light source is 400-700nm, and the near-infrared fluorescence excitation light source is 785nm laser. The visible near-infrared excitation light source 1 can be obtained in a manner well known to those skilled in the art. The visible light near-infrared excitation light source 1 provides visible light illumination and near-infrared fluorescence excitation light illumination for the binocular endoscopic imaging system 2 at the same time.

In the endoscope system, the binocular endoscopic imaging system 2 comprises an outer endoscope tube 2-1, a second optical fiber 2-2, an inner endoscope tube 2-3, a first fixing piece 2-4 and a single-tube endoscope 2-5. The first fixing piece 2-4 is a cylinder, two axial through holes are formed in the first fixing piece 2-4, the inner diameters of the two axial through holes are matched with the outer diameters of the two single-tube endoscopes 2-5 respectively, and on the radial cross section of the first fixing piece 2-4, the two axial through holes are centrosymmetric relative to the circle center of the radial cross section; the first fixing member 2-4 may be an integral structure or may be assembled by a plurality of structures. The endoscope inner tube 2-3 and the endoscope outer tube 2-4 are sequentially sleeved outside the first fixing piece 2-4 from inside to outside and are coaxially arranged, the inner wall of the endoscope inner tube 2-3 is fixedly adhered to the outer wall of the first fixing piece 2-4 through glue, and a gap is formed between the outer wall of the endoscope inner tube 2-3 and the inner wall of the endoscope outer tube 2-1. The second optical fibers 2-2 are multiple and can be arranged according to actual needs; the second optical fiber 2-2 is fixed between the outer wall of the endoscope inner tube 2-3 and the inner wall of the endoscope outer tube 2-1 through optical fiber fixing glue, and the length direction of the second optical fiber 2-2 is arranged along the axial direction of the first fixing piece 2-4. The number of the single-tube endoscopes 2-5 is two, and the two single-tube endoscopes 2-5 are respectively fixed in the two axial through holes of the first fixing piece 2-4. The rear ends of the endoscope outer tube 2-1, the second optical fiber 2-2, the endoscope inner tube 2-3, the first fixing piece 2-4 and the single-tube endoscope 2-5 are horizontally aligned, and the front ends are positioned on the same surface; the plane is not particularly limited, and may be a horizontal plane or a slant plane, and the angle between the plane and the binocular endoscopic imaging system 2 is usually 0-90 degrees, such as 0 degree, 30 degrees, or 90 degrees. The outer tube 2-1 of the endoscope body is made of biocompatible steel and can directly contact with a human body. The two single-tube endoscopes 2-5 respectively collect monocular images, so that the binocular endoscopic imaging system 2 collects two images with horizontal parallax like human eyes, and the images are called binocular images. The parameters of the two single-tube endoscopes 2-5 must be as identical as possible in order to acquire two images of different viewing angles but at the same magnification. In order to simultaneously acquire visible light and near-infrared fluorescence 3D images, the working wave bands of the two single-tube endoscopes 2-5 are both 400-1000nm, and visible light and near-infrared fluorescence excitation light can be simultaneously transmitted by plating visible and near-infrared antireflection films on the optical lens group of the single-tube endoscope 2-5. The type of the single-tube endoscope 2-5 is not particularly limited, and a rigid rod endoscope composed of a cylindrical lens can be used, and other types of endoscopes, such as a flexible optical fiber endoscope, can also be used.

In the endoscope system, a beam splitter 3 divides a binocular image of the binocular endoscopic imaging system 2 into two beams, one beam enters a visible light imaging subsystem 4, and the other beam enters a near infrared fluorescence imaging subsystem 5. The beam splitter 3 is a half-reflecting and half-transmitting mirror; the beam splitter 3 can be a full-waveband semi-reflecting and semi-transmitting mirror, generally transmitted light enters the visible light imaging subsystem 4, reflected light enters the near-infrared fluorescence imaging subsystem 5, as shown in (a) in fig. 3, after full-waveband beam splitting, required imaging wavebands are selected in the visible light imaging subsystem 4 and the near-infrared fluorescence imaging subsystem 5 by optical filters, wherein the required imaging wavebands are respectively 400-fold 700nm and 800-fold 1000 nm; or may be a beam splitter with different wave bands, such as 400-700nm transmission (reflection), 800-1000nm reflection (transmission), wherein the beam split light with the 400-700nm wave band enters the visible light imaging subsystem 4, and the beam split light with the 800-1000nm wave band enters the near-infrared fluorescence imaging subsystem 5, as shown in (b) of FIG. 3; after the different wave bands are divided, the wave bands do not need to be selected in the visible light imaging subsystem 4 and the near infrared fluorescence imaging subsystem 5, and the different wave bands only need to be designed according to the respective working wave bands.

In the endoscope system, the visible light imaging subsystem 4 and the near infrared fluorescence imaging subsystem 5 are both connected with the image processing and fusing module 6. The working waveband of the visible light imaging subsystem 4 is 400-700 nm; the visible light imaging subsystem 4 samples the visible light information in the binocular image incident through the beam splitter 3 into a digital image and transmits the digital image to the image processing and fusing module 6. The working wave band of the near-infrared fluorescence imaging subsystem 5 is 800-1000nm, and the laser interference of 785nm wave band can be filtered; the near-infrared fluorescence imaging subsystem 5 samples the near-infrared fluorescence information in the binocular image incident through the beam splitter 3 into a digital image and transmits the digital image to the image processing and fusing module 6. Specifically, the visible light imaging subsystem 4 may include a visible light relay optical system and a visible light color detector, the visible light relay optical system images visible light information in the binocular image incident through the beam splitter 3 onto the visible light color detector, and the visible light color detector samples the received image of the visible light relay optical system into a digital image and transmits the digital image to the image processing and fusion module 6; the near-infrared fluorescence imaging subsystem 5 comprises a near-infrared relay optical system and a near-infrared fluorescence detector, the near-infrared relay optical system images near-infrared fluorescence information in a binocular image incident through the beam splitter onto the near-infrared fluorescence detector, and the near-infrared fluorescence detector samples a received image of the near-infrared relay optical system into a digital image and transmits the digital image to the image processing and fusion module 6. The visible light detector and the near-infrared fluorescence detector both adopt a single detector to receive binocular images with horizontal parallax, as shown in fig. 4, so that the system size is reduced, and the system complexity is reduced. Both the visible light imaging subsystem 4 and the near infrared fluorescence imaging subsystem 5 can be obtained in a manner well known to those skilled in the art.

In the endoscope system, the image processing and fusing module 6 is connected with the 3D image display system 7, the image processing and fusing module 6 carries out preprocessing (color correction and pseudo-color processing) on digital images output by the visible light imaging subsystem 4 and the near-infrared fluorescence imaging subsystem 5, carries out image fusion on the digital images output by the visible light imaging subsystem 4 and the near-infrared fluorescence imaging subsystem 5 after preprocessing, obtains a 3D fused image containing visible light color information and near-infrared fluorescence information, carries out 3D coding on the 3D fused image, and transmits the 3D fused image to the 3D image display system 7. The image processing and fusion module 6 can also be realized by a method known by persons skilled in the art, the hardware part of the image processing and fusion module can adopt an industrial personal computer or an embedded mainboard and the like, and the software part is an image fusion algorithm program.

In the endoscope system, the 3D image display system 7 displays the received 3D code as a 3D image. The 3D image display system 7 refers to a display that can provide a user with a 3D feeling, and may be a polarized 3D display, a shutter type 3D display, a 3D head-mounted eye, other naked eye 3D display devices, and the like.

The visible light and near infrared fluorescence 3D fusion image endoscope system can be used for real-time detection and navigation of clinical operations of doctors, and can also be integrated into a surgical robot for surgical navigation. The visible light and near-infrared fluorescence 3D fusion image endoscope system has the working process that under the irradiation of a visible light near-infrared excitation light source 1, a binocular endoscopic imaging system 2 collects two images with horizontal parallax (namely binocular images); the beam splitter 3 divides the binocular image into two beams, one beam enters the visible light imaging subsystem 4, the other beam enters the near infrared fluorescence imaging subsystem 5, the visible light imaging subsystem 4 samples visible light information in the binocular image incident through the beam splitter 3 into digital images and transmits the digital images to the image processing and fusing module 6, the near infrared fluorescence imaging subsystem 5 samples near infrared fluorescence information in the binocular image incident through the beam splitter 3 into digital images and transmits the digital images to the image processing and fusing module 6, the image processing and fusing module 6 performs preprocessing (color correction and pseudo color processing), image fusion and 3D coding on the digital images output by the visible light imaging subsystem 4 and the near infrared fluorescence imaging subsystem 5 and then transmits the digital images to the 3D image display system 7, and the 3D image display system 7 displays the received 3D codes into 3D images.