CN115474885A - Endoscope control method, endoscope and surgical robot - Google Patents

Abstract

The present application relates to an endoscope control method, an endoscope, a surgical robot, a computer device, a storage medium, and a computer program product. The method comprises the following steps: acquiring pressure data of an endoscope during movement in a natural cavity; detecting the relation between the pressure data and a preset threshold condition, and acquiring a pressure direction corresponding to the pressure data on the endoscope when the pressure data meets the threshold condition; acquiring a mapping relation between a control direction of a control end and an endoscope moving direction; and generating pressure feedback corresponding to the control end based on the mapping relation, the pressure direction and the pressure data. According to the method, through the control feedback of the control end, an operator can effectively sense the contact force of the surface of the endoscope in the natural cavity of the human body, and the damage to the natural cavity in the operation process of the endoscope can be effectively reduced.

Description

Endoscope control method, endoscope and surgical robot

technical field

The present application relates to the technical field of medical device control, in particular to an endoscope control method, an endoscope and a surgical robot.

Background technique

With the development of computer technology and medical imaging technology, the application of electronic endoscopy is extensive. According to whether it can change the direction clinically, electronic endoscopes are divided into two types: rigid endoscopes and flexible endoscopes. Flexible endoscopes mainly complete inspection, diagnosis and treatment through the natural orifices of the human body, such as gastroscopes, colonoscopes, laryngoscopes, and bronchoscopes, etc., mainly enter the human body through the human digestive tract, respiratory tract and urinary tract. Traditional flexible endoscopes cannot effectively perceive the contact force on the surface of the endoscope in the natural orifice of the human body, so it is difficult for doctors to operate during surgery, and it is easy to cause unnecessary damage to the natural orifice.

Contents of the invention

Based on this, it is necessary to address the above technical problems and provide an endoscope control method, an endoscope and a surgical robot that can reduce the damage to the natural lumen caused by the endoscope operation.

In a first aspect, the present application provides an endoscope control method. The methods include:

Obtain the pressure data of the endoscope when it moves in the natural cavity;

Detect the relationship between the pressure data and the preset threshold condition, and when the pressure data meets the threshold condition, obtain the pressure direction corresponding to the pressure data on the endoscope;

Obtain the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope;

Based on the mapping relationship, pressure direction and pressure data, the pressure feedback corresponding to the control terminal is generated.

In one of the embodiments, the pressure data received by the endoscope when moving in the natural lumen is obtained, including:

Initialize multiple pressure sensors on the endoscope, so that the pressure values displayed by multiple pressure sensors are the same when they are not affected by external forces;

Number multiple pressure sensors to obtain the sensor number;

Obtain the sensor number of the pressure sensor when the endoscope moves in the natural cavity, and the pressure value sensed by the pressure sensor.

In one of the embodiments, the relationship between the pressure data and the preset threshold condition is detected, and when the pressure data meets the threshold condition, the pressure direction corresponding to the pressure data on the endoscope is obtained, including:

Obtain the pressure value in the pressure data, and detect the relationship between the pressure value and the preset threshold;

When the pressure value is greater than or equal to the threshold, get the sensor number in the pressure data;

Obtain the position of the pressure sensor on the endoscope based on the sensor number;

Based on the position of the pressure sensor on the endoscope, the pressure direction corresponding to the pressure data on the endoscope is determined.

In one of the embodiments, based on the mapping relationship, pressure direction and pressure data, the pressure feedback corresponding to the control terminal is generated, including:

When the control end is controlling the endoscope, based on the mapping relationship, the movement resistance is applied on the control end; wherein, the movement resistance is positively correlated with the pressure value in the pressure data; the direction of the movement resistance is opposite to the pressure direction.

In one of the embodiments, based on the mapping relationship, pressure direction and pressure data, the pressure feedback corresponding to the control terminal is generated, including:

When the control end is controlling the endoscope, based on the mapping relationship, vibration feedback is performed when the control end moves; wherein, the vibration feedback includes vibration frequency and vibration intensity; the vibration feedback is positively correlated with the pressure value.

In a second aspect, the present application also provides an endoscope. The endoscopes include:

The head is used to support the light guide and collect image data;

The snake bone, connected with the head, is used to control the bending of the endoscope;

Pressure sensor, the pressure sensor is located on the snake bone, used to collect the pressure data received by the snake bone when it moves in the natural cavity;

The flexible circuit board is electrically connected with the pressure sensor, and is used for acquiring pressure data collected by the pressure sensor and performing signal processing on the pressure data.

In one of the embodiments, the snake bone includes a plurality of connected joints; pressure sensors are located on the joints.

In one of the embodiments, each joint is provided with a riveting point, and adjacent joints are connected through the riveting point.

In one embodiment, the endoscope further includes a control wire; a guide wire hole is provided in each joint, and the control wire is used to pass through the guide wire hole to control the bending of multiple joints.

In one of the embodiments, the endoscope further includes a protective piece, and the protective piece covers the snake bone.

In a third aspect, the present application also provides a surgical robot. The surgical robot includes:

As the endoscope described in any of the above embodiments, the endoscope is used to move in the natural cavity, and collect image data in the natural cavity and pressure data received by the endoscope when moving in the natural cavity;

The control terminal is used to obtain the pressure data received by the endoscope when it moves in the natural cavity; detect the relationship between the pressure data and the preset threshold condition, and obtain the pressure direction corresponding to the pressure data on the endoscope when the pressure data meets the threshold condition; Obtain the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope; based on the mapping relationship, pressure direction and pressure data, generate pressure feedback corresponding to the control terminal;

The driving part is used for correspondingly controlling the movement of the endoscope based on the control signal of the control terminal.

In one of the embodiments, the surgical robot further includes a display device, which is used to display the image data in the natural cavity collected by the endoscope.

In a fourth aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method in any one of the above embodiments when executing the computer program.

In a fifth aspect, the present application also provides a storage medium readable by a computer device. The computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method in any one of the above-mentioned embodiments are implemented.

In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the method described in any of the foregoing embodiments are implemented.

The above-mentioned endoscope control method, endoscope and surgical robot first obtain the pressure data received by the endoscope when it moves in the natural cavity; then, detect the relationship between the pressure data and the preset threshold condition, and when the pressure data satisfies the threshold condition, obtain The pressure direction corresponding to the pressure data on the endoscope. Further, the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope is obtained. Finally, based on the mapping relationship, pressure direction and pressure data, the pressure feedback corresponding to the control terminal is generated. In this application, through the control feedback of the control terminal, the operator can effectively perceive the contact force on the surface of the endoscope in the natural orifice of the human body, which can effectively reduce the damage to the natural orifice during the operation of the endoscope.

Description of drawings

Fig. 1 is an application environment diagram of an endoscope control method in an embodiment;

Fig. 2 is a schematic structural view of an endoscope in an embodiment;

Figure 3 is a side view of the joint in one embodiment;

Figure 4 is a top view of a joint with a pressure sensor in one embodiment;

Fig. 5 (a) is the structural schematic diagram of control arm in an embodiment;

Fig. 5 (b) is a structural schematic diagram in which the control end is a handle in one embodiment;

Fig. 5 (c) is a structural schematic diagram in which the control end is a rocker in one embodiment;

Fig. 6 is a schematic flow chart of an endoscope control method in an embodiment;

Fig. 7 is a block diagram of the electrical principle of the pressure sensor in one embodiment;

Fig. 8 is a schematic diagram of the principle of pressure sensor data collection in an embodiment;

Figure 9(a) is a schematic diagram of the mapping relationship between the moving direction of the control arm and the bending direction of the endoscope in one embodiment;

Figure 9(b) is a schematic diagram of the mapping relationship between the moving direction of the left rocker of the handle and the bending direction of the endoscope in one embodiment;

Figure 9(c) is a schematic diagram of the mapping relationship between the moving direction of the rocker and the bending direction of the endoscope in one embodiment;

Figure 10 is a diagram of the internal structure of a computer device in one embodiment.

detailed description

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

The endoscope control method provided in the embodiment of the present application may be applied in the application environment shown in FIG. 1 .

Further, the endoscope control method provided in the embodiment of the present application can be applied to the endoscope shown in FIG. The sealing head 202 is used for supporting the light guide and collecting image data. The snake bone 204 is connected with the head 202 and is used to control the bending of the endoscope. The pressure sensor 206 is located on the snake bone 204 and is used to collect pressure data received by the snake bone 204 when it moves in the natural cavity. Wherein, the pressure sensor 206 may be a strain gauge. The flexible circuit board 208 is electrically connected with the pressure sensor 206, and is used for acquiring pressure data collected by the pressure sensor 206, and performing signal processing on the pressure data.

In some embodiments, as shown in FIG. 2 , snake bone 204 includes a plurality of connected joints 210 .

In some embodiments, the pressure sensors 206 are located on the joints 210 , and each joint 210 may be provided with multiple pressure sensors 206 .

In some embodiments, as shown in FIG. 2 , the endoscope further includes a protective piece 212 , and the protective piece 212 is sheathed outside the snake bone 204 . Wherein, the protection member 212 can be made of waterproof material such as rubber, and is used to protect the pressure sensor 206 on the joint 210 from contacting with liquid.

In some embodiments, as shown in FIG. 3 , each joint 210 is provided with a riveting point 301 , and adjacent joints 210 are connected through the riveting point 301 .

In some embodiments, as shown in FIG. 4 , the above-mentioned endoscope further includes a control wire. Each joint 210 is provided with a guide wire hole 401 , and a control wire is used to pass through the guide wire hole 401 to control the bending of multiple joints 210 .

The present application also provides a surgical robot, the surgical robot includes the endoscope shown in FIG. 2 , and the surgical robot includes the endoscope, a control end and a driving part. Wherein, the endoscope is used for moving in the natural cavity, and collects image data in the natural cavity and pressure data received by the endoscope when moving in the natural cavity. Wherein, the endoscope may include but not limited to a pressure sensor, an image sensor, etc., wherein the pressure sensor may be a strain gauge. The control end is used to obtain the pressure data received by the endoscope when it moves in the natural cavity, and detect the relationship between the pressure data and the preset threshold condition. When the pressure data meets the threshold condition, the control terminal obtains the pressure direction corresponding to the pressure data on the endoscope, obtains the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope, and then generates the corresponding control terminal based on the mapping relationship, pressure direction and pressure data. pressure feedback. Wherein, the form of the control end may include but not limited to: a control handle, a control rocker, and a control arm. The driving part is used for correspondingly controlling the movement of the endoscope based on the control signal of the control terminal.

Among them, the pressure sensor is used to obtain the pressure data received by the endoscope when it moves in the natural cavity, and send it to the control terminal. The control terminal detects the relationship between the pressure data and the preset threshold condition. When the pressure data meets the threshold condition, the internal The pressure direction corresponding to the pressure data on the mirror. Then, the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope is obtained. Finally, the control terminal can generate pressure feedback corresponding to the control terminal based on the mapping relationship, pressure direction and pressure data.

In this embodiment, as shown in FIG. 5( a ), the surgical robot may further include a display screen and a switching device, wherein the switching device may be a foot pedal, which is used to switch input signals for controlling instruments and controlling endoscopes. The display screen may be a liquid crystal display screen or an electronic ink display screen.

In this embodiment, as shown in FIG. 5(b) and FIG. 5(c), the form of the control end may include but not limited to: a control handle, a control rocker, and a control arm. As shown in Figure 5(b), when the control end is a control handle, the switching device can be a button, and the direction buttons, left rocker and right rocker are used to control the bending direction of the endoscope. As shown in Figure 5(c), when the control end is a rocker structure, the switching device can be a control button, and the rocker is used to control the bending direction of the endoscope.

In one embodiment, as shown in FIG. 6 , a method for controlling an endoscope is provided. The application of the method to a surgical robot is used as an example for illustration, including the following steps 602 to 608 .

In step 602, the pressure data received by the endoscope when moving in the natural lumen is acquired.

In this embodiment, multiple pressure sensors on the endoscope collect pressure data received by the endoscope when it moves in the natural lumen, and transmit the collected pressure data to the control terminal. Wherein, the pressure sensor can transmit the pressure data to the control terminal through the flexible circuit board, and the pressure data transmitted from the pressure sensor to the control terminal can include but not limited to: pressure value and unique identification of the pressure sensor. Wherein, the unique identification of the pressure sensor can be expressed in the form of numbers, characters, and the like.

In this embodiment, based on the unique identification of the pressure sensor, the control end can determine the position of the pressure sensor on the endoscope, and determine the pressure on different positions of the endoscope.

In another embodiment, the database corresponding to the control terminal can store the position information of multiple pressure sensors on the endoscope, for example, which joint is installed or which side of the joint is installed, so that when receiving pressure When the pressure data collected by the sensor, the control end can also determine the specific part corresponding to the pressure, laying the foundation for the accuracy of the subsequent threshold comparison.

In this embodiment, the pressure sensor may be a strain gauge. As shown in Figure 7, after the strain gauge senses the pressure, the flexible circuit board can perform signal processing such as signal amplification and analog-to-digital conversion on the pressure data transmitted by the strain gauge based on the Wheatstone bridge, and obtain the pressure data after signal processing. The pressure data after signal processing is transmitted to the control terminal. Wherein, the flexible circuit board may be a flexible PCB (Printed Circuit Board, printed circuit board). Among them, the Wheatstone bridge is suitable for detecting small changes in resistance, and the resistance change of strain gauges can also be measured by this circuit. As shown in Figure 8, the Wheatstone bridge is composed of four resistors (R1, R2, R3, R4). If R1=R2=R3=R4, no matter how much voltage is input, the output voltage e is always 0, and this state is called a balanced state. If the balance is disturbed, an output voltage corresponding to the change in resistance is produced.

Specifically, the calculation formula of the output voltage is shown in formula (1):

Among them, ε is the strain, K is the proportional constant, E is the input voltage, and e is the output voltage. The calculation formula of ε is shown in formula (2):

Among them, R is the original resistance value Ω of the strain gauge, and ΔR is the resistance change Ω caused by elongation or compression.

Step 604, detecting the relationship between the pressure data and the preset threshold condition, and obtaining the pressure direction corresponding to the pressure data on the endoscope when the pressure data satisfies the threshold condition.

In this embodiment, the preset threshold condition may be preset by the user according to the type of natural cavity.

In this embodiment, in different natural orifices, the threshold conditions corresponding to the pressure sensors at different parts of the endoscope may be different.

In another embodiment, the threshold conditions corresponding to the pressure sensors at different parts of the endoscope can also be the same, for example, if the preset preset condition is set to a pressure value greater than 2N (Newton, Newton), then, when the pressure sensor senses When the detected force is greater than 2N, the collected pressure data can be transmitted to the control terminal, and no data processing is performed when the force sensed by the pressure sensor is less than or equal to 2N.

Step 606, obtaining the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope.

In this embodiment, the form of the control end may include but not limited to: a control handle, a control rocker, and a control arm.

In this embodiment, through the driving part, the control end can control the tightening of the control wire, so as to control the bending direction of the endoscope. There is a mapping relationship between the control direction of the control end and the moving (bending) direction of the endoscope.

In this embodiment, as shown in Figure 9(a), when the switching device at the control end is a pedal and the control arm is used to control the bending direction of the endoscope, the bending direction of the endoscope can be controlled correspondingly based on the moving direction of the control arm .

In this embodiment, as shown in Figure 9(b), when the control end is a control handle, the switching device is a button, and when the left rocker is used to control the bending direction of the endoscope, it can be based on the movement direction of the left rocker. Controls the bending direction of the endoscope.

In this embodiment, as shown in Figure 9(c), when the control end is a rocker structure, the switching device is a control button, and the rocker is used to control the bending direction of the endoscope, it can be controlled based on the moving direction of the rocker. The bending direction of the endoscope.

Step 608: Generate pressure feedback corresponding to the control terminal based on the mapping relationship, pressure direction, and pressure data.

In this embodiment, the pressure feedback may include but not limited to: resistance feedback, vibration feedback, and the like. Wherein, the resistance feedback refers to generating a corresponding resistance value and resistance direction based on the pressure value and the pressure direction corresponding to the pressure data, or the pressure value and the pressure position. Wherein, the vibration feedback refers to generating a corresponding vibration frequency and vibration intensity based on the pressure value and pressure direction corresponding to the pressure data, or the pressure value and the pressure position.

In this embodiment, the resistance value in the resistance feedback, the vibration intensity in the vibration feedback, or the vibration frequency in the vibration feedback may be correlated with the pressure value in the pressure data (such as positive correlation, negative correlation, etc.).

In this embodiment, the resistance direction in the resistance feedback may be related to (eg opposite to) the pressure direction or pressure position.

In the above-mentioned endoscope control method, firstly, the pressure data received by the endoscope when moving in the natural lumen is acquired. Then, the relationship between the pressure data and the preset threshold condition is detected, and when the pressure data satisfies the threshold condition, the pressure direction corresponding to the pressure data on the endoscope is acquired. Further, the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope is obtained. Finally, based on the mapping relationship, pressure direction and pressure data, the pressure feedback corresponding to the control terminal is generated. In this application, through the control feedback of the control terminal, the operator can effectively perceive the contact force on the surface of the endoscope in the natural orifice of the human body, which can effectively reduce the damage to the natural orifice during the operation of the endoscope.

In some embodiments, acquiring the pressure data received by the endoscope when it moves in the natural lumen includes: initializing multiple pressure sensors on the endoscope, so that the multiple pressure sensors display the pressure data without being affected by external forces If the pressure values are the same, multiple pressure sensors are numbered to obtain the sensor numbers, the sensor numbers of the pressure sensors when the endoscope moves in the natural cavity, and the pressure values sensed by the pressure sensors are obtained.

In this embodiment, the pressure sensor may be a strain gauge.

In this embodiment, before the endoscope enters the natural cavity, the control terminal needs to initialize multiple pressure sensors on the endoscope, so that the pressure values displayed by the multiple pressure sensors are the same when they are not affected by external forces. For example 0N, 1N and so on.

In this embodiment, the numbers of the pressure sensors correspond to the joints where the pressure sensors are located and the positions of the pressure sensors on the joints.

In some embodiments, detecting the relationship between the pressure data and a preset threshold condition, and obtaining the pressure direction corresponding to the pressure data on the endoscope when the pressure data meets the threshold condition, includes: obtaining the pressure value in the pressure data, and detecting the pressure value The relationship with the preset threshold value, when the pressure value is greater than or equal to the threshold value, obtain the sensor number in the pressure data, based on the sensor number, obtain the position of the pressure sensor on the endoscope, based on the position of the pressure sensor on the endoscope, determine The pressure direction corresponding to the pressure data on the endoscope.

In this embodiment, the control terminal determines the threshold condition for acquiring pressure data based on the value of the pressure sensor after initialization. For example, when the control terminal needs to acquire pressure data when the pressure is greater than 2N, and the pressure sensor displays a pressure value of 1N without being affected by external force after initialization, the pressure data should be acquired when the value of the pressure sensor is greater than 3N.

In this embodiment, the pressure data may include a data identifier with only the serial number of the pressure sensor. Based on the corresponding relationship between the number of the pressure sensor and the joint where the pressure sensor is located and the position of the pressure sensor on the joint, the control end can determine the joint where the pressure sensor is located and the position of the pressure sensor on the joint by identifying the data identifier in the pressure data. specific location.

In this embodiment, based on the joint where the pressure sensor is located and the specific position of the pressure sensor on the joint, the direction of the pressure on the pressure sensor can be determined.

In some embodiments, generating pressure feedback corresponding to the control end based on the mapping relationship, pressure direction, and pressure data includes: when the control end is controlling the endoscope, applying movement resistance to the control end based on the mapping relationship. Among them, the moving resistance is positively correlated with the pressure value in the pressure data, and the direction of the moving resistance is opposite to that of the pressure.

In this embodiment, the relationship between the number of the pressure sensor, the joint where the pressure sensor is located, and the specific position of the pressure sensor on the joint can be queried through the mapping table.

In this embodiment, the control terminal can determine the specific position of the pressure sensor on the endoscope (on which joint and in which direction) based on the unique identifier representing the number of the pressure sensor in the mapping table and the pressure data. The specific position on the endoscope can determine the pressure direction corresponding to the pressure data. Based on the mapping relationship, a moving resistance opposite to the pressure direction is generated at the control end.

In this embodiment, the pressure changes linearly, and the control terminal can generate resistance based on the pressure value in the pressure data, wherein the resistance is the same as the pressure value or has a linear correlation with the pressure value, and the operator can feel the resistance by simulating the resistance. To the size of the pressure on the endoscope.

In some embodiments, generating pressure feedback corresponding to the control end based on the mapping relationship, pressure direction, and pressure data includes: when the control end is controlling the endoscope, performing vibration feedback when the control end moves based on the mapping relationship. Wherein, the vibration feedback includes vibration frequency and vibration intensity, and the vibration feedback is positively correlated with the pressure value.

In this embodiment, the magnitude of the pressure changes linearly, and the control end can generate corresponding vibration feedback based on the magnitude of the pressure value in the pressure data. Wherein, there may be a positive correlation between the vibration intensity (such as the amplitude) and the pressure value, and the operator can perceive the magnitude of the pressure on the endoscope by simulating the vibration intensity.

In this embodiment, the vibration frequency may also have a positive correlation with the pressure value.

In this embodiment, by obtaining pressure changes and pressure feedback, the control end can use software to carry out real-time planning of endoscopic operation, and adjust the angle of endoscopic entry into the cavity, so as to realize automatic path planning of the surgical robot and provide an automatic surgical solution for the robot. Information is provided, and path planning of the endoscope in the natural cavity can be performed based on the acquired information.

It should be understood that although the steps in the flow charts involved in the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flow charts involved in the above-mentioned embodiments may include multiple steps or stages, and these steps or stages are not necessarily executed at the same time, but may be performed at different times For execution, the execution order of these steps or stages is not necessarily performed sequentially, but may be executed in turn or alternately with other steps or at least a part of steps or stages in other steps.

In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure may be as shown in FIG. 10 . The computer device includes a processor, memory and a network interface connected by a system bus. Wherein, the processor of the computer device is used to provide calculation and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs and databases. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used to store the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope, pressure data and other data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, an endoscope control method is realized.

Those skilled in the art can understand that the structure shown in Figure 10 is only a block diagram of a part of the structure related to the solution of this application, and does not constitute a limitation to the computer equipment on which the solution of this application is applied. The specific computer equipment can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: acquiring pressure data of the endoscope when it moves in the natural cavity , detect the relationship between the pressure data and the preset threshold condition, when the pressure data meets the threshold condition, obtain the pressure direction corresponding to the pressure data on the endoscope, obtain the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope, based on the mapping relationship, Pressure direction and pressure data to generate pressure feedback corresponding to the control end.

In one embodiment, when the processor executes the computer program, the acquisition of the pressure data received by the endoscope when it moves in the natural lumen may include: initializing multiple pressure sensors on the endoscope, so that the multiple pressure sensors Under the influence of external force, the displayed pressure value is the same, number the multiple pressure sensors to obtain the sensor number, obtain the sensor number of the pressure sensor when the endoscope moves in the natural cavity, and the pressure value sensed by the pressure sensor.

In one embodiment, when the processor executes the computer program, it also detects the relationship between the pressure data and the preset threshold condition. When the pressure data meets the threshold condition, acquiring the pressure direction corresponding to the pressure data on the endoscope may include: acquiring the pressure The pressure value in the data, detect the relationship between the pressure value and the preset threshold value, when the pressure value is greater than or equal to the threshold value, obtain the sensor number in the pressure data, based on the sensor number, obtain the position of the pressure sensor on the endoscope, based on the pressure The position of the sensor on the endoscope determines the pressure direction corresponding to the pressure data on the endoscope.

In one embodiment, when the processor executes the computer program, it also generates pressure feedback corresponding to the control terminal based on the mapping relationship, pressure direction and pressure data, which may include: when the control terminal is controlling the endoscope, based on the mapping relationship, in The control end applies movement resistance. Among them, the moving resistance is positively correlated with the pressure value in the pressure data, and the direction of the moving resistance is opposite to that of the pressure.

In one embodiment, when the processor executes the computer program, it also generates pressure feedback corresponding to the control terminal based on the mapping relationship, pressure direction and pressure data, which may include: when the control terminal is controlling the endoscope, based on the mapping relationship, in Vibration feedback when the console is moved. Wherein, the vibration feedback includes vibration frequency and vibration intensity, and the vibration feedback is positively correlated with the pressure value.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: acquiring the pressure data received by the endoscope when it moves in the natural cavity, detecting the pressure The relationship between the data and the preset threshold condition. When the pressure data meets the threshold condition, the pressure direction corresponding to the pressure data on the endoscope is obtained, and the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope is obtained. Based on the mapping relationship, pressure direction and Pressure data to generate pressure feedback corresponding to the control end.

In one embodiment, when the computer program is executed by the processor, the acquisition of the pressure data received by the endoscope when it moves in the natural cavity may include: initializing a plurality of pressure sensors on the endoscope, so that the plurality of pressure sensors are The displayed pressure value is the same under the condition of not being affected by external force, numbering multiple pressure sensors to obtain the sensor number, obtaining the sensor number of the pressure sensor when the endoscope moves in the natural cavity, and the pressure value sensed by the pressure sensor.

In one embodiment, when the computer program is executed by the processor, it also detects the relationship between the pressure data and the preset threshold condition. When the pressure data meets the threshold condition, acquiring the pressure direction corresponding to the pressure data on the endoscope may include: acquiring The pressure value in the pressure data, detect the relationship between the pressure value and the preset threshold value, when the pressure value is greater than or equal to the threshold value, obtain the sensor number in the pressure data, based on the sensor number, obtain the position of the pressure sensor on the endoscope, based on The position of the pressure sensor on the endoscope determines the pressure direction corresponding to the pressure data on the endoscope.

In one embodiment, when the computer program is executed by the processor, the pressure feedback corresponding to the control terminal is generated based on the mapping relationship, pressure direction and pressure data, which may include: when the control terminal is controlling the endoscope, based on the mapping relationship, Apply movement resistance on the control end. Among them, the moving resistance is positively correlated with the pressure value in the pressure data, and the direction of the moving resistance is opposite to that of the pressure.

In one embodiment, when the computer program is executed by the processor, the pressure feedback corresponding to the control terminal is generated based on the mapping relationship, pressure direction and pressure data, which may include: when the control terminal is controlling the endoscope, based on the mapping relationship, Vibration feedback when the console is moved. Wherein, the vibration feedback includes vibration frequency and vibration intensity, and the vibration feedback is positively correlated with the pressure value.

In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the following steps are implemented: acquiring pressure data received by the endoscope when it moves in the natural cavity, detecting pressure data and preset When the pressure data meets the threshold condition, the pressure direction corresponding to the pressure data on the endoscope is obtained, and the mapping relationship between the control direction of the control terminal and the moving direction of the endoscope is obtained, and based on the mapping relationship, pressure direction and pressure data, a Corresponding to the pressure feedback of the control terminal.

In one embodiment, when the computer program is executed by the processor, the acquisition of the pressure data received by the endoscope when it moves in the natural cavity may include: initializing a plurality of pressure sensors on the endoscope, so that the plurality of pressure sensors are The displayed pressure value is the same under the condition of not being affected by external force, numbering multiple pressure sensors to obtain the sensor number, obtaining the sensor number of the pressure sensor when the endoscope moves in the natural cavity, and the pressure value sensed by the pressure sensor.

In one embodiment, when the computer program is executed by the processor, it also detects the relationship between the pressure data and the preset threshold condition. When the pressure data meets the threshold condition, acquiring the pressure direction corresponding to the pressure data on the endoscope may include: acquiring The pressure value in the pressure data, detect the relationship between the pressure value and the preset threshold value, when the pressure value is greater than or equal to the threshold value, obtain the sensor number in the pressure data, based on the sensor number, obtain the position of the pressure sensor on the endoscope, based on The position of the pressure sensor on the endoscope determines the pressure direction corresponding to the pressure data on the endoscope.

In one embodiment, when the computer program is executed by the processor, the pressure feedback corresponding to the control terminal is generated based on the mapping relationship, pressure direction and pressure data, which may include: when the control terminal is controlling the endoscope, based on the mapping relationship, Apply movement resistance on the control end. Among them, the moving resistance is positively correlated with the pressure value in the pressure data, and the direction of the moving resistance is opposite to that of the pressure.

In one embodiment, when the computer program is executed by the processor, the pressure feedback corresponding to the control terminal is generated based on the mapping relationship, pressure direction and pressure data, which may include: when the control terminal is controlling the endoscope, based on the mapping relationship, Vibration feedback when the console is moved. Wherein, the vibration feedback includes vibration frequency and vibration intensity, and the vibration feedback is positively correlated with the pressure value.

It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all Information and data authorized by the user or fully authorized by all parties.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any reference to storage, database or other media used in the various embodiments provided in the present application may include at least one of non-volatile and volatile storage. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive variable memory (ReRAM), magnetic variable memory (Magnetoresistive Random Access Memory, MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (Phase Change Memory, PCM), graphene memory, etc. The volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory. As an illustration and not a limitation, the RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM). The databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a blockchain-based distributed database, etc., but is not limited thereto. The processors involved in the various embodiments provided by this application can be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., and are not limited to this.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be determined by the appended claims.

Claims (12)

1. A method of controlling an endoscope, the method comprising:

acquiring pressure data of an endoscope during movement in a natural cavity;

detecting the relation between the pressure data and a preset threshold condition, and acquiring a pressure direction corresponding to the pressure data on the endoscope when the pressure data meets the threshold condition;

acquiring a mapping relation between a control direction of a control end and a moving direction of the endoscope;

and generating pressure feedback corresponding to the control end based on the mapping relation, the pressure direction and the pressure data.

2. The method of claim 1, wherein said obtaining pressure data to which the endoscope is subjected while moving in the natural lumen comprises:

initializing a plurality of pressure sensors on the endoscope to enable the pressure values displayed by the plurality of pressure sensors to be the same under the condition of not being influenced by external force;

numbering the pressure sensors to obtain sensor numbers;

and acquiring the sensor number of the pressure sensor when the endoscope moves in the natural cavity and the pressure value sensed by the pressure sensor.

3. The method of claim 2, wherein the detecting the relationship between the pressure data and a preset threshold condition, and when the pressure data satisfies the threshold condition, acquiring a pressure direction corresponding to the pressure data on the endoscope comprises:

acquiring a pressure value in the pressure data, and detecting the relation between the pressure value and a preset threshold value;

when the pressure value is larger than or equal to the threshold value, acquiring a sensor number in the pressure data;

acquiring the position of the pressure sensor on the endoscope based on the sensor number;

and determining a pressure direction corresponding to the pressure data on the endoscope based on the position of the pressure sensor on the endoscope.

4. The method of claim 2, wherein generating pressure feedback corresponding to the control end based on the mapping, the pressure direction, and the pressure data comprises:

applying movement resistance at the control end based on the mapping relationship when the control end is controlling the endoscope; wherein the movement resistance is in positive correlation with a pressure value in the pressure data; the direction of the moving resistance is opposite to the direction of the pressure.

5. The method of claim 2, wherein generating pressure feedback corresponding to the control end based on the mapping, the pressure direction, and the pressure data comprises:

when the control end controls the endoscope, vibration feedback is carried out when the control end moves on the basis of the mapping relation; the vibration feedback comprises vibration frequency and vibration intensity; the vibration feedback and the pressure value are in positive correlation.

6. An endoscope, comprising:

the seal head is used for supporting the light guide beam and acquiring image data;

the snake bone is connected with the end socket and used for controlling the bending of the endoscope;

the pressure sensor is positioned on the snake bone and used for collecting pressure data received by the snake bone when the snake bone moves in a natural cavity;

and the flexible circuit board is electrically connected with the pressure sensor and is used for acquiring pressure data acquired by the pressure sensor and processing the pressure data by signals.

7. An endoscope according to claim 6, wherein said snake bone comprises a plurality of connected joints; the pressure sensor is located on the joint.

8. A surgical robot comprising an endoscope according to any of claims 6 to 8, said endoscope being adapted to move in a natural orifice and to acquire image data in the natural orifice and pressure data to which the endoscope is subjected as it moves in the natural orifice;

the control end is used for acquiring pressure data received by the endoscope when the endoscope moves in a natural cavity; detecting the relation between the pressure data and a preset threshold condition, and acquiring a pressure direction corresponding to the pressure data on the endoscope when the pressure data meets the threshold condition; acquiring a control direction of a control end and a mapping relation between the control direction and the moving direction of the endoscope; generating pressure feedback corresponding to the control end based on the mapping relation, the pressure direction and the pressure data;

and the driving piece is used for correspondingly controlling the endoscope to move based on the control signal of the control end.

9. A surgical robot as claimed in claim 8, further comprising a display device for displaying image data acquired by the endoscope in the natural orifice.

10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 5.

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.

12. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 5 when executed by a processor.

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