內窺鏡是集傳統光學、人體工程學、精密機械、現代電子、數學、軟件等于一體的檢測儀器，主要由圖像傳感器、光學鏡頭、光源照明、機械裝置等部件構成，它可以通過人體的自然腔道或者細小手術切口進入體內，利用內窺鏡可以看到X射線不能顯示的病變，醫生可據此制定出佳的方案。

Endoscope is a detection instrument that integrates traditional optics, ergonomics, precision machinery, modern electronics, mathematics, and software. It is mainly composed of image sensors, optical lenses, light source illumination, mechanical devices, and other components. It can enter the body through natural channels or small surgical incisions, and can see lesions that cannot be displayed by X-rays. Doctors can formulate optimal treatment plans based on this.

醫用內窺鏡主要分為以下兩大類：硬管式內窺鏡：不可彎曲，經過外科切口進入人體無菌組織、器官、無菌腔室，主要包括腹腔鏡、胸腔鏡、關節鏡等，硬管式內窺鏡可分為白光硬鏡和熒光硬鏡。軟管式內窺鏡：可以自由彎曲，通過人體自然腔道進入體內，鏡體較長同時具有一定柔性，光電信號傳輸距離較遠，鏡體插入部直徑較小且功能集成復雜，對設計工藝及制造技術的要求更高，具有較高的技術壁壘，主要包括胃鏡、腸鏡、支氣管鏡等。

Medical endoscopes are mainly divided into the following two categories: rigid tube endoscopes: non bendable, entering sterile tissues, organs, and chambers of the human body through surgical incisions, mainly including laparoscopy, thoracoscopy, arthroscopy, etc. Hard tube endoscopes can be divided into white light hard endoscopes and fluorescent hard endoscopes. Flexible tube endoscope: It can be freely bent and enter the body through the natural passage of the human body. The endoscope body is long and has a certain degree of flexibility, with a long distance for photoelectric signal transmission. The diameter of the insertion part of the endoscope body is small and the function integration is complex. It has higher requirements for design process and manufacturing technology, and has high technical barriers, mainly including gastroscopy, colonoscopy, bronchoscopy, etc.

醫用內窺鏡主要由三大系統組成，分別為窺鏡系統、圖像顯示系統、照明系統。

Medical endoscopes mainly consist of three major systems, namely the endoscope system, image display system, and lighting system.

以目前較為常用的電子內窺鏡為例，鏡體伸入患者體內，鏡體內部并列多個管道，包括照明光纖、傳像光纖、傳氣通道、傳水通道、器械通道等，內窺鏡精密度極高，需要多個領域相互配合。

Taking the commonly used electronic endoscope as an example, the endoscope body is inserted into the patient's body, and multiple pipes are parallel inside the endoscope body, including lighting optical fibers, image transmission optical fibers, gas transmission channels, water transmission channels, instrument channels, etc. The precision of the endoscope is extremely high, requiring cooperation from multiple professional fields.

內窺鏡系統：主要包括手柄和鏡體。鏡體主要由物鏡、傳像元件、目鏡、照明元件及輔助元件等組成。圖像顯示系統：早期內窺鏡或硬管式內窺鏡采用直視，而現在的電子內窺鏡通常由CCD/CMOS光電傳感器、顯示器、計算機和圖像處理器組成。照明系統：主要是照明光源、傳光束等。早的內窺鏡設備采用熱光源，如自然光、煤油燈、通電鉑絲環、小型白熾燈等，易對人體造成灼傷，需要同時配置水冷裝置，現在則普遍使用冷光源，主要是LED光源、氙燈、鹵素燈。

Endoscopic system: mainly including handle and endoscope body. The mirror body mainly consists of an objective lens, image transmission components, eyepiece, lighting components, and auxiliary components. Image display system: Early endoscopes or rigid tube endoscopes used direct vision, while modern electronic endoscopes typically consist of CCD/CMOS photoelectric sensors, displays, computers, and image processors. Lighting system: mainly consisting of lighting sources, transmission beams, etc. Early endoscopic equipment used thermal light sources, such as natural light, kerosene lamps, electrified platinum wire rings, small incandescent lamps, etc., which could easily cause burns to the human body and required water cooling devices. Nowadays, cold light sources are commonly used, mainly LED light sources, xenon lamps, and halogen lamps.

成像鏡頭：以往采用球面設計，使得像差和變形增大，結果會出現明顯的影像不清，視界歪曲、視野狹小等不良現象，而現在的非球面設計是由球面和平面以外的曲面組成，通過改變鏡片的曲率，使光線匯聚在固定的焦點，修正了影像，視界歪曲等問題，同時使鏡片更輕、更薄、更平。圖像傳感器：圖像傳感器是感受光學圖像信息并轉換成可用輸出信息的傳感器，是組成數字攝像頭的重要器件。可分為電荷耦合元件（CCD）和金屬氧化物半導體元件（CMOS）。CCD高解析度、動態范圍廣、低失真度，但功耗大；CMOS體積小、能耗低、成本低、系統整合度高，但信噪比低、圖像質量較差，國內外技術差距不大。

Imaging lens: In the past, spherical design was used to increase aberration and deformation, resulting in obvious image blurring, distorted field of view, narrow field of view, and other adverse phenomena. However, the current non spherical design is composed of spherical surfaces and surfaces outside the plane. By changing the curvature of the lens, light rays converge at a fixed focus, correcting the image, solving the problem of distorted field of view, and making the lens lighter, thinner, and flatter. Image sensor: Image sensor is a sensor that senses optical image information and converts it into usable output information. It is an important component of digital cameras. It can be divided into charge coupled devices (CCD) and metal oxide semiconductor devices (CMOS). CCD has high resolution, wide dynamic range, low distortion, but high power consumption; CMOS has small size, low energy consumption, low cost, and high system integration, but low signal-to-noise ratio and poor image quality, and there is not much difference in technology between domestic and international markets.

圖像降噪：圖像降噪是指減少數字圖像中噪聲的過程。在內窺鏡攝像系統中，由于應用場景的特殊性，需針對微創手術的應用特點進行針對性的圖像處理，以滿足臨床診療需求。在內窺鏡運動時會產生模糊的圖像，用降噪算法篩選出拍攝圖像中與對象相關移動相對緩慢的像素呈現，從而保持圖像的干凈清晰，讓醫生可以做出準確的診斷；邊緣增強技術是通過算法生成對比度強烈的血管視圖，方便醫生分析；使用假彩色成像、數字濾波等技術，可以把一些不明顯的或是早期病變彰顯出來。邊緣增強：邊緣增強的目的是提高圖像的質量和可辨識度，使圖像更有利于觀察或進一步分析處理，幫助醫生更查看組織中的非正常現象，也是內窺鏡圖像處理中非常重要的技術。

Image denoising: Image denoising refers to the process of reducing noise in digital images. In the endoscopic camera system, due to the special application scenarios, targeted image processing needs to be carried out according to the application characteristics of minimally invasive surgery to meet clinical diagnosis and treatment needs. During the movement of the endoscope, blurry images are generated. A denoising algorithm is used to filter out pixels in the captured image that move relatively slowly related to the object, in order to maintain the cleanliness and clarity of the image, allowing doctors to make accurate diagnoses; Edge enhancement technology generates blood vessel views with strong contrast through algorithms, making it easier for doctors to analyze; Using techniques such as false color imaging and digital filtering can highlight some inconspicuous or early lesions. Edge enhancement: The purpose of edge enhancement is to improve the quality and recognizability of images, making them more conducive to observation or further analysis and processing, helping doctors comprehensively examine abnormal phenomena in tissues, and is also a very important technology in endoscopic image processing.

例如根據顏色難以將細小的血管與周邊組織區分開來，但可以采用邊緣增強技術生成對比度較強烈的血管視圖，以供醫生分析之用。此外，邊緣增強還常用于改進組織紋理圖像以及黏膜表面圖像的視圖質量。

For example, it is difficult to distinguish small blood vessels from surrounding tissues based on color, but edge enhancement technology can be used to generate vascular views with stronger contrast for doctors to analyze. In addition, edge enhancement is often used to improve the view quality of tissue texture images and mucosal surface images.

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