Controlling integral energy of a laser pulse in a fluorescence imaging system

1. A method comprising:

cycling an emitter to emit a plurality of emissions of electromagnetic radiation according to a variable emission cycle pattern that comprises:

a plurality of visible emissions each comprising a visible wavelength of electromagnetic radiation; and

a plurality of excitation emissions each comprising a fluorescence excitation wavelength of electromagnetic radiation; and

synchronizing an operational cycle of an image sensor with the variable emission cycle pattern of the emitter such that the image sensor outputs a plurality of exposure frames;

receiving the plurality of exposure frames output by the image sensor, wherein each of the plurality of exposure frames corresponds in time with at least one of the plurality of emissions emitted by the emitter;

receiving a plurality of energy intensity readings from a photo diode that measures an intensity of each of the plurality of emissions of electromagnetic radiation; and

determining whether to adjust one or more of an emission intensity or an emission duration of at least one of the plurality of emissions emitted by the emitter based on one or more of the plurality of energy intensity readings received from the photo diode;

wherein the plurality of exposure frames comprises:

a plurality of color exposure frames, wherein pixel data for each of the plurality of color exposure frames is accumulated by a pixel array of the image sensor when the emitter pulses one or more of the plurality of visible emissions; and

a plurality of fluorescence exposure frames, wherein pixel data for each of the plurality of fluorescence exposure frames is accumulated by the pixel array of the image sensor when the emitter pulses one or more of the plurality of excitation emissions.

2. The method of claim 1 , further comprising:

determining an energy output emitted by the emitter based on the plurality of energy intensity readings received from the photo diode; and

comparing the energy output with a desired energy output for the emitter;

wherein determining whether to adjust one or more of the emission intensity or the emission duration of the at least one of the plurality of emissions comprises determining based on whether the energy output is within a tolerance threshold with respect to the desired energy output for the emitter; and

wherein the method further comprises adjusting the one or more of the emission intensity or the emission duration of the at least one of the plurality of emissions to optimize the exposure of a scene and to enable endoscopic visualization of the scene with the image sensor.

3. The method of claim 2 , wherein the emitter comprises:

a plurality of electromagnetic sources that are independently actuatable to emit the plurality of emissions according to the variable emission cycle pattern; and

a plurality of photo diodes, wherein each of the plurality of photo diodes is dedicated to detecting an energy intensity output of one or more of the plurality of electromagnetic sources.

4. The method of claim 1 , wherein receiving the plurality of energy intensity readings from the photo diode comprises:

receiving a visible energy intensity reading from a visible photo diode, wherein the visible photo diode is dedicated to sensing energy emitted by a visible source of the emitter that is configured to emit only electromagnetic radiation within a visible waveband; and

receiving a fluorescence energy intensity reading from a fluorescence photo diode, wherein the fluorescence photo diode is dedicated to sensing energy emitted by an excitation source of the emitter that is configured to emit the fluorescence excitation wavelength of electromagnetic radiation.

5. The method of claim 4 , wherein determining whether to adjust the one or more of the emission intensity or the emission duration comprises independently adjusting the one or more of the emission intensity or the emission duration of the visible source or the fluorescence source.

6. The method of claim 4 , further comprising:

determining that the one or more of the plurality of energy intensity readings received from the photo diode is outside a tolerance threshold for a desired energy output of the emitter; and

adjusting the one or more of the emission intensity or the emission duration of the at least one of the plurality of emissions by independently adjusting one or more of the visible source or the fluorescence source.

7. The method of claim 1 , wherein the emitter comprises a plurality of independent sources of electromagnetic radiation, and wherein cycling the emitter comprises:

cycling one or more visible sources on and off to pulse the plurality of visible emissions; and

cycling one or more excitation sources on and off to pulse the plurality of excitation emissions;

wherein the one or more visible sources are pulsed independently of the one or more excitation sources.

8. The method of claim 1 , further comprising synchronizing the variable emission cycle pattern of the emitter and the operational cycle of the image sensor such that the plurality of emissions are emitted during a plurality of blanking periods of the image sensor, wherein each of the plurality of blanking periods corresponds to a time between a readout of a last row of active pixels in the pixel array of the image sensor and a beginning of a next subsequent readout of the active pixels in the pixel array of the image sensor.

9. The method of claim 1 , further comprising generating an overlay image frame based on the pixel data for at least one of the plurality of color exposure frames, and further based on the pixel data for at least one of the plurality of fluorescence exposure frames, wherein the overlay frame comprises:

a color depiction of the scene; and

a depiction of where a fluorescence relaxation wavelength was sensed in the scene.

10. The method of claim 1 , further comprising identifying a tissue structure within the scene based on one or more of the plurality of fluorescence exposure frames, wherein identifying the tissue structure comprises:

providing the one or more of the plurality of fluorescence exposure frames to a corresponding system configured to determine one or more of a location of the tissue structure or an identity of the tissue structure based on data from the one or more of the plurality of fluorescence exposure frames; and

receiving from the corresponding system one or more of the location of the tissue structure or the identity of the tissue structure;

wherein the tissue structure comprises one or more of a nerve, a ureter, a blood vessel, an artery, a blood flow, or a tumor.

11. The method of claim 1 , wherein a scene being visualized by the image sensor comprises a fluorescent reagent configured to absorb the fluorescence excitation wavelength of electromagnetic radiation and emit a fluorescence relaxation wavelength of electromagnetic radiation, and wherein:

the pixel data for the plurality of fluorescence exposure frames comprises accumulation of a fluorescence relaxation emission emitted by the fluorescent reagent; and

the fluorescent reagent is configured to bind to one or more of a nerve, a ureter, a blood vessel, or a tumor.

12. The method of claim 1 , wherein the fluorescence excitation wavelength of electromagnetic radiation comprises one or more of:

electromagnetic radiation within a range from about 770 nm to about 795 nm; or

electromagnetic radiation within a range from about 790 nm to about 815 nm.

13. The method of claim 1 , wherein the emitter comprises a plurality of independent electromagnetic sources, and wherein the method comprises independently actuating each of the plurality of independent electromagnetic sources to produce the variable emission cycle pattern, and wherein the plurality of independent electromagnetic sources comprises:

a visible source that emits electromagnetic radiation within a visible waveband of the electromagnetic spectrum;

a first fluorescence source that emits electromagnetic radiation within a range from about 770 nm to about 795 nm; and

a second fluorescence source that emits electromagnetic radiation within a range from about 790 nm to about 815 nm.

14. The method of claim 13 , wherein the visible source comprises one or more of:

a white source that emits white electromagnetic radiation;

a red source that emits red electromagnetic radiation;

a green source that emits green electromagnetic radiation; or

a blue source that emits blue electromagnetic radiation.

15. The method of claim 13 , wherein the variable emission cycle pattern comprises a first fluorescence emission pulsed by the first fluorescence source and a second fluorescence emission pulsed by the second fluorescence source, and wherein the first fluorescence emission and the second fluorescence emission are pulsed simultaneously or at different times within the variable emission cycle pattern.

16. The method of claim 1 , wherein the plurality of emissions of electromagnetic radiation are the only source of electromagnetic radiation in a light deficient environment where the image sensor is disposed, and wherein the pixel array of the image sensor is configured to accumulate reflected electromagnetic radiation from only the plurality of emissions of electromagnetic radiation and not from ambient light.

17. The method of claim 1 , wherein the image sensor is disposed at a distal end of an endoscope, and wherein the emitter is located remotely from the endoscope, and wherein the plurality of emissions of electromagnetic radiation are carried from the emitter to the distal end of the endoscope with a waveguide comprising a fiber optic cable.

18. The method of claim 1 , further comprising optimizing exposure of a scene based on image data extracted from the plurality of exposure frames output by the image sensor, wherein optimizing the exposure of the scene comprises adjusting the one or more of the emission intensity or the emission duration of at least one of the plurality of emissions emitted by the emitter.

19. The method of claim 1 , wherein the image sensor comprises:

a first image sensor comprising a filtered pixel array that transmits red, green, and blue wavelengths of electromagnetic radiation; and

a second image sensor comprising a monochromatic pixel array that is wavelength-agnostic.

20. The method of claim 1 , wherein the emitter comprises:

a first excitation source that pulses only electromagnetic radiation within a waveband from about 770 nm to about 795 nm;

a first photo diode dedicated to detecting an energy output by the first excitation source;

a second excitation source that pulses only electromagnetic radiation within a waveband from about 790 nm to about 815 nm; and

a second photo diode dedicated to detecting an energy output by the second excitation source.