CN118402746B

CN118402746B - Bending information determining method applied to lumen endoscope outer sleeve

Info

Publication number: CN118402746B
Application number: CN202410182883.6A
Authority: CN
Inventors: 钟斌
Original assignee: Ronovo Shanghai Medical Science and Technology Ltd
Current assignee: Ronovo Shanghai Medical Science and Technology Ltd
Priority date: 2024-02-19
Filing date: 2024-02-19
Publication date: 2025-07-18
Anticipated expiration: 2044-02-19
Also published as: CN118402746A; WO2025176049A1

Abstract

The application discloses a method for determining bending information applied to an outer sleeve of a lumen endoscope. The plurality of bending measuring pipes are sequentially arranged on the inner wall of the outer sleeve of the lumen channel endoscope; each bending measuring tube corresponds to a unique digital identifier; the bending measuring tube comprises a cable and a spring tube, the fixed end points of the cable and the spring tube on the inner wall of the outer sleeve are the same, the fixed starting point of the cable is positioned at one of a plurality of first calibration positions on the inner wall of the outer sleeve, and the fixed starting point of the spring tube is positioned at a second calibration position on the inner wall of the outer sleeve; A displacement sensor is arranged at a fixed starting point of a cable of a bending measuring tube, and the fixed end point of each bending measuring tube on the inner wall of an outer sleeve is different.

Description

Bending information determining method applied to lumen endoscope outer sleeve

Technical Field

The embodiment of the invention relates to the technical field of robot control, in particular to a method for determining bending information applied to an outer sleeve of a cavity endoscope.

Background

Endoscopic surgery via the natural lumen of the human body is performed by passing surgical instruments through the natural lumen of the human body (e.g., oral cavity, esophagus, bronchus, stomach, colon, rectum, etc.) into the lumen of the human body and performing diagnosis and treatment. In the operation process, the cavity endoscope outer sleeve is required to be inserted into the natural cavity, is hollow and is used for accommodating a plurality of different types of surgical instruments, and guides the surgical instrument end effector to finally reach an operation point. In the operation process, the bending deformation of the instrument pipeline enables the spring guide pipe and the cable of the transmission instrument wrapping cable to deform, nonlinear friction between the transmission cable in the instrument pipeline and the spring guide pipe is increased, accumulated friction force is caused to be large, and accordingly the transmission position of the transmission end of the transmission cable is inaccurate, and control inaccuracy of the instrument end effector is caused. Generally, the outer sleeve of the surgical robot through the natural cavity of the human body, the instrument pipeline of the surgical instrument and the cable transmission structure of the transmission instrument are tightly wrapped. Therefore, the bending state of the cable transmission structure can be equivalently estimated through on-line recognition of the bending state of the outer sleeve of the endoscope of the cavity, and effective feedback information is provided for realizing accurate control of the tail end.

Currently, shape detection sensors, such as fiber bragg grating (FGB) sensors, are arranged on the outer sleeve of the endoscope, and these sensors can detect locally strained fiber bragg gratings, and the change of the bragg wavelength reflected by the sensors reflects the change of the bending curvature of the shape sensor, so that the bending state of the 3D shape recognition outer sleeve of the endoscope can be obtained by a differential geometry method.

However, the sensitivity of the sensor is affected by environmental factors (such as illumination and temperature change), and the optical fiber bending sensor has a certain dependence on the mechanical properties of the optical fiber, and the main material of the sensor is silicon dioxide, is tensile and shear-resistant, is extremely easy to cause brittle fracture to cause the sensor to fail when in rough installation or improper operation, and has the problem of poor stability of the determined bending information. In addition, there is a problem in that the cost is relatively high and the installation and maintenance are complicated.

Disclosure of Invention

The embodiment of the invention provides a method for determining the bending information of an outer sleeve of a cavity endoscope, which is used for stably, quickly, efficiently and inexpensively determining the bending information of the outer sleeve of the cavity endoscope and providing effective feedback information for realizing friction evaluation in a robot operation process through a natural cavity operation and realizing accurate control of an end instrument.

In a first aspect, the invention provides a method for determining bending information applied to an outer sleeve of a endoscope in a lumen, the outer sleeve of the endoscope in the lumen comprises a plurality of bending measuring pipes which are sequentially arranged on the inner wall of the outer sleeve of the endoscope in the lumen, each bending measuring pipe corresponds to a unique digital mark, each bending measuring pipe comprises a cable and a spring pipe which surrounds a part of the cable, the length of the cable is larger than that of the spring pipe, the fixing end point of the cable and the fixing end point of the spring pipe on the inner wall of the outer sleeve are identical, the fixing start point of the cable is positioned at one of at least one first calibration position on the inner wall of the outer sleeve, the fixing start point of the spring pipe is positioned at a second calibration position on the inner wall of the outer sleeve, a displacement sensor is arranged at the fixing start point of the cable of each bending measuring pipe, and the fixing end points of the bending measuring pipes on the inner wall of the outer sleeve are different, and comprises:

Determining cable displacement information for each of the bend measurement tubes based on the corresponding displacement sensor;

and determining the bending information of the outer sleeve of the endoscope of the cavity channel based on the digital identification of each bending measuring tube, the corresponding cable displacement information and the section diameter of the spring tube, wherein the bending information comprises an outer sleeve bending position section and a bending curvature corresponding to the outer sleeve bending position section.

In a second aspect, the present invention provides a bending information determining apparatus for use with an outer lumen sheath, the apparatus comprising:

The cable displacement information acquisition module is used for determining cable displacement information for each bending measuring tube based on the corresponding displacement sensor;

And the bending information determining module is used for determining the bending information of the outer sleeve of the endoscope of the cavity channel based on the digital identification of each bending measuring tube, the corresponding cable displacement information and the section diameter of the spring tube, wherein the bending information comprises an outer sleeve bending position section and a bending curvature corresponding to the outer sleeve bending position section.

In a third aspect, the present invention provides a data processing electronic device comprising:

at least one processor, and

A memory communicatively coupled to the at least one processor, wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of determining bending information applied to the outer lumen sheath of the lumen endoscope of any one of the embodiments of the present invention.

In a fourth aspect, the present invention provides a computer readable storage medium storing computer instructions for causing a processor to perform the method for determining bending information applied to an outer lumen sheath of a lumen endoscope according to any of the embodiments of the present invention.

In a fifth aspect, the present invention provides a computer program product comprising a computer program which, when executed by a processor, implements a method of determining bending information for an outer lumen sheath according to any of the embodiments of the present invention.

The technical scheme includes that the lumen endoscope outer sleeve comprises a plurality of bending measuring tubes which are sequentially arranged on the inner wall of the lumen endoscope outer sleeve, each bending measuring tube corresponds to a unique digital mark, each bending measuring tube comprises a cable and a spring tube which surrounds a part of the cable, the length of the cable is larger than that of the spring tube, the fixing end points of the cable and the spring tube on the inner wall of the outer sleeve are identical, the fixing start point of the cable is located at one of at least one first calibration position on the inner wall of the outer sleeve, the fixing start point of the spring tube is located at a second calibration position on the inner wall of the outer sleeve, a displacement sensor is arranged at the fixing start point of the cable of each bending measuring tube, the fixing end points of the bending measuring tubes on the inner wall of the outer sleeve are different, and the specific method for determining bending information of the lumen endoscope outer sleeve is that the bending measuring tubes are based on the corresponding displacement sensors. In order to obtain the friction force value between each spring catheter and the transmission cable in the instrument pipeline of the natural cavity flexible surgical robot, the bending information of the cavity endoscope outer sleeve can be determined stably, rapidly, efficiently and at low cost by embedding a plurality of bending measuring pipes in the cavity endoscope outer sleeve and utilizing the bending characteristics of the cable combined with the spring catheters to identify the bending information of the cavity endoscope outer sleeve in the using process on line. Therefore, the accumulated bending curvature of the endoscopic outer sleeve of the cavity can be determined according to the bending information, and effective feedback information is provided for realizing friction evaluation in the process of a robot operation through a natural cavity operation and realizing accurate control of an end instrument.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a natural orifice flexible surgical robot in accordance with an embodiment of the present invention;

FIG. 2 is a schematic diagram of the physical structure of an outer sleeve of a lumen endoscope according to an embodiment of the present invention;

FIG. 3 is a schematic diagram showing the physical structure of any one of the bending measurement tubes according to the first embodiment of the present invention;

FIG. 4 is a schematic view showing a bending test tube circumferentially arranged and laid on the inner wall of the outer sleeve of the endoscope in a lumen

FIG. 5 is a flowchart of a method for determining bending information applied to an outer sleeve of a lumen endoscope according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of determining cable displacement information according to a first embodiment of the present invention;

FIG. 7 is a schematic view of a lumen endoscope outer sheath according to a first embodiment of the present invention, wherein two outer sheath bending position sections exist;

FIG. 8 is a schematic view of a support frame for a measuring tube in an outer sleeve of a lumen endoscope according to an embodiment of the present invention;

FIG. 9 is a flowchart of a method for determining bending information applied to an outer sleeve of a lumen endoscope according to a second embodiment of the present invention;

fig. 10 is a schematic structural diagram of a bending information determining device applied to an outer sleeve of a lumen endoscope according to a third embodiment of the present invention;

fig. 11 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that, in the description and claims of the present invention and the above figures, the terms "first preset condition", "second preset condition", and the like are used to distinguish similar objects, and are not necessarily used to describe a specific order or precedence. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Before the present technical solution is introduced, an application scenario may be illustrated. Endoscopic surgery via the natural lumen of the human body is performed by passing surgical instruments through the natural lumen of the human body (e.g., oral cavity, esophagus, bronchus, stomach, colon, rectum, etc.) into the lumen of the human body and performing diagnosis and treatment. Today, natural-cavity endoscopic surgery via the human body can be performed using a natural-cavity flexible surgical robot, a schematic view of which is shown in fig. 1. As shown in fig. 1, the natural orifice flexible surgical robot includes an instrument tube, a surgical instrument, and an orifice endoscopic outer cannula (simply referred to as an outer cannula).

The flexible surgical robot performs teleoperation on the end surgical instrument in a cable transmission mode, specifically, a transmission cable is arranged inside an instrument pipeline, the tail end of the surgical instrument comprises an end effector, the end effector is connected with the transmission cable, and the transmission cable extends to a driving mechanism of the instrument, such as a motor. Upon implementation of the surgical procedure command, the end effector is driven by the drive cable to perform the surgical procedure. Wherein the cable drive structure is typically composed of an inner drive cable and a spring conduit (a tight coil spring configuration) surrounding the cable, both ends of which are fixed to both ends of the instrument tube for guiding the drive path of its inner drive cable.

The outer sleeve is hollow and is used for accommodating a plurality of surgical instruments of different types, and the end effector of the surgical instrument is guided to finally reach a surgical operation point. In a general operation process, an outer sleeve is required to be inserted into a natural cavity, a plurality of surgical instruments extend into the outer sleeve, the surgical instruments are inserted into the outer sleeve along with the outer sleeve, and after the outer sleeve and the surgical instruments reach a proper position of an operation point, the surgical instrument end effector extends out of the outer sleeve, so that operation is performed. In the process that the surgical instrument end effector reaches the surgical operating point, an operator needs to adjust the posture of the outer sleeve so as to drive the surgical instrument end effector to smoothly reach the surgical operating point, and then follow-up surgical operation is performed.

On the basis of the hardware structure, in the process of performing operation by adopting the natural cavity flexible operation robot, the bending deformation of the instrument pipeline enables the spring guide pipe wrapping the cable and the transmission cable to deform simultaneously, and nonlinear friction between the transmission cable inside the instrument pipeline and the spring guide pipe is increased. Further, due to the fact that multiple bends may be formed, the accumulated friction force between the transmission cable and the spring guide tube is large, and the transmission position of the transmission end of the transmission cable is inaccurate, such as the transmission position of a motor, so that the accuracy of the control of the end effector of the instrument is difficult to ensure, and the control of the end effector is challenging.

Because of the space limitation at the tail end of the surgical robot instrument, an additional sensor cannot be added on the instrument, so that the bending information of the flexible surgical robot through the natural cavity channel can be identified on line in order to obtain the friction force of the cable transmission structure caused by bending. Generally, the outer sleeve of the surgical robot through the natural cavity of the human body, the instrument pipeline of the surgical instrument and the cable transmission structure of the transmission instrument are tightly wrapped. Therefore, the bending information of the cable transmission structure can be equivalently evaluated through on-line identification of the bending information of the outer sleeve, so that effective feedback information is provided for realizing accurate control of the tail end, further, the transmission error caused by friction of the surgical robot is calculated more accurately, and the control precision of the tail end instrument is improved by combining other compensation algorithms.

Example 1

The embodiment of the invention relates to a solid structure schematic diagram of an outer sleeve of a lumen endoscope, which is shown in fig. 2. As shown in FIG. 2, the outer sleeve of the endoscope comprises a plurality of bending measuring tubes which are sequentially arranged on the inner wall of the outer sleeve of the endoscope, and a black thin solid line in the figure represents one bending measuring tube. The bending measuring tube is a physical device specially used for measuring bending information of the outer sleeve of the endoscope of the cavity. Each bend measurement tube corresponds to a unique numerical identifier. A displacement sensor is disposed at a fixed starting point of each bending measurement tube. The fixing end point of each bending measuring tube at the inner wall of the outer sleeve is different.

Each bend-determining tube includes a cable and a spring tube surrounding a portion of the cable, the cable having a length greater than the length of the spring tube. For clarity of explanation of the structure of each of the bending measurement tubes, one of the bending measurement tubes will be described as an example. The solid structure of any one of the bending measurement tubes is schematically shown in fig. 3, wherein the middle black solid line represents a cable with a length b, and the rectangular frame surrounding a part of the black solid line (cable) represents a spring tube with a length a.

The bending measuring tube comprises a spring tube, wherein the bending measuring tube comprises a spring tube, the spring tube is arranged outside the cable, the spring tube can form a natural radian, when the outer sleeve is bent, the outer sleeve can form a natural radian, and therefore the accuracy of determining the bending information of the outer sleeve is improved.

Next, the fixing position of the cable in the bending measurement tube and the spring tube in the bending measurement tube to the inner wall of the outer tube will be described in detail. The fixing end points of the cable and the spring tube on the inner wall of the outer sleeve are the same, and the fixing start points of the cable and the spring tube on the inner wall of the outer sleeve are not necessarily the same. Specifically, the fixed starting point of the cable is located at one of at least one first calibration position on the inner wall of the outer sleeve, and the fixed starting point of the spring tube is located at a second calibration position on the inner wall of the outer sleeve.

The number of the first calibration positions may be one or more, as shown in fig. 2, where the leftmost side of the outer sleeve in fig. 2 is the proximal end of the outer sleeve, and the rightmost side is the distal end of the outer sleeve, and in the example of fig. 2, three first calibration positions (represented by white rectangular boxes in fig. 2) are defined in advance, and are respectively position 1, position 2 and position 3. It is predefined which first calibration position the cable of each bending determination tube is fixed to. For example, the total of 10 bending measurement tubes may be included, the cable start positions of the 10 bending measurement tubes may be different from each other, the fixing start points of 3 bending measurement tube cables are preset to be located at position 1, the fixing start points of 5 bending measurement tube cables are located at position 2, and the fixing start points of 2 bending measurement tube cables are located at position 3.

Wherein the number of second calibration positions is one. When the second calibration position is predetermined, the first calibration position furthest from the proximal end of the outer sleeve is first determined as the reference first calibration position, so that the second calibration position is only required to be positioned on the right side of the reference first calibration position. For example, position S in the example of fig. 2 represents a determined second calibration position (represented by the black rectangular box in fig. 2) at which the spring tube of each bend measuring tube is fixed. In a specific application, the second calibration position can be set at a position of a preset distance on the right side of the reference first calibration position, wherein the specific value of the preset distance can be set according to actual requirements.

Illustratively, a total of 2N bending measurement tubes are included, where the cable fixing starting points of the N bending measurement tubes are located at the same first calibration position, and then the N bending measurement tubes are laid out in a schematic surrounding arrangement on the inner wall of the lumen-endoscope outer tube, see fig. 4, where the unique number corresponding to the first bending measurement tube is denoted as "1", the unique number corresponding to the second bending measurement tube is denoted as "2", and so on. The fixed end points of the bending measuring pipes on the inner wall of the outer sleeve of the cavity endoscope are different. The solid black filled rectangle in fig. 4 represents the second calibration position, and the diagonal filled rectangle represents the first calibration position for the N bending measurement tubes. For any of the bend measuring tubes, the fixed end points of the cable and the spring tube are the same, the fixed start point of the cable being in the first nominal position in FIG. 4, and the fixed start point of the spring tube being in the second nominal position in FIG. 4. For each bending measurement tube, a displacement sensor is disposed at a fixed starting point of the bending measurement tube. In addition, a tension-maintaining device may be provided at the fixed starting point to ensure that the cable of the bending measurement tube is in tension.

In particular, the number of the bending measurement pipes is not particularly limited, and the number of the bending measurement pipes may be set according to the measurement accuracy of the bending information, and the greater the number of the bending measurement pipes, the higher the measurement accuracy of the bending information.

Fig. 5 is a flowchart of a method for determining bending information applied to an outer sleeve of a lumen endoscope according to an embodiment of the present invention, where the embodiment is applicable to determining bending information of an outer sleeve of a lumen endoscope. The method may be performed by a bending information determining device applied to an outer lumen sheath, which may be implemented in hardware and/or software, which may be configured on a computer device, which may be a notebook, a desktop computer, a smart tablet, etc. As shown in fig. 5, the method includes:

S110, determining cable displacement information for each bending measuring tube based on the corresponding displacement sensor.

The displacement sensor is an electronic device for measuring cable displacement information of the bending measuring tube, and can convert the position or linear displacement of the bending measuring tube into a readable electric signal so as to facilitate the operations of digitalization, control, processing and the like. In this embodiment, the displacement sensor may include, but is not limited to, an inductive displacement sensor, a capacitive displacement sensor, a photoelectric displacement sensor, an ultrasonic displacement sensor, a hall displacement sensor, and the like.

Specifically, since one displacement sensor is disposed at the fixed start point of each bending measurement tube, cable displacement information corresponding thereto can be determined from the displacement sensor corresponding to the bending measurement tube.

For example, referring to fig. 6, when the bending measuring tube is bent, the displacement sensor disposed at the fixed starting point of the bending measuring tube may collect the cable displacement information, Δl in fig. 6 is the cable displacement information, and if the bending measuring tube is changed in bending at the current time as compared with the previous time, the cable displacement information is Δl, and if the bending measuring tube is not changed in bending at the current time as compared with the previous time, the cable displacement information is 0.

S120, determining the bending information of the outer sleeve of the endoscope of the cavity channel based on the digital identification of each bending measuring tube, the corresponding cable displacement information and the section diameter of the spring tube.

The bending information comprises an outer sleeve bending position section and a bending curvature corresponding to the outer sleeve bending position section. The cross-sectional diameter of the spring tube is shown schematically in the right-hand side of fig. 6. The diameter of the section of the spring tube is a fixed parameter of the spring tube, and is a determined quantity, and the fixed parameter is directly obtained.

Specifically, in the process of performing an operation by using the flexible operation robot through the natural cavity, the cable displacement information of each bending measurement tube can be determined at any time, and if the cable displacement information of one or more bending measurement tubes is non-zero, the position of the outer sleeve part of the endoscope of the cavity is indicated to be in a bending state. Thus, one or more of the to-be-processed bending measurement tubes for which the cable displacement information is non-zero may be first determined, and in turn,

And determining the bending position section of the outer sleeve of the lumen endoscope outer sleeve according to the digital mark of the bending measuring tube to be processed. Since each bend measuring tube is different at the fixed end point of the inner wall of the outer sleeve of the lumen endoscope and each bend measuring tube corresponds to a unique digital identification, the bend position section of the outer sleeve can be determined by only determining the digital identification of the bend measuring tube with the cable displacement information being non-zero.

In this embodiment, a preset displacement-curvature mapping function of the bending curvature of the outer sleeve may be predetermined, where the preset displacement-curvature mapping function is:

In the formula, For the bending curvature corresponding to the bending position section of the outer sleeve, deltaL is the total cable displacement variation amount of each bending measuring tube contained in the bending position section of the outer sleeve, d is the section diameter of the spring tube,

In the specific implementation process, for the outer sleeve bending position section, the total cable displacement change amount of each bending measurement pipe contained in the outer sleeve bending position section can be only determined, and the total cable displacement change amount and the section diameter of the spring pipe can be brought into a preset displacement-curvature mapping function to obtain the bending curvature corresponding to the outer sleeve bending position section.

Next, the derivation process of the displacement-curvature mapping function is preset in detail. When the outer sleeve bending position section of the outer sleeve of the endoscope is bent, the spring tube of any bending measuring tube in the outer sleeve bending position section is deformed, and the deformation relationship is shown on the right side of fig. 6. The spring tube is made up of a plurality of spring turns, in fig. 6, an oval shape representing a single spring turn, b representing the width of the single spring turn, d representing the cross-sectional diameter of the spring tube, S representing the cumulative arc length of contact between the units at the bend of the spring tube,Representing the bending angle of each spring single turn, and Deltax _i represents the displacement information of each spring single turn. As can be seen from FIG. 6, the cumulative arc length S of the spring tube curvature is the sum of the single coil widths of all the curved portions of the spring, the cumulative curvatureFor single-turn bending curvature of springsThe total cable displacement change amount DeltaL is the sum of the displacements Deltax _i caused by each spring single turn, and the relationship can be expressed as follows:

Further, the deformation Δχ _i of each spring single turn satisfies the following relationship according to the cosine law:

Here, it can be assumed simply that the bend is uniformly curved, but not uniformly curved, but that each spring is a single turn The coefficients of distribution are different but the total bending curvatureThe geometric relationship is unchanged, and the assumption is made that the formula is convenient to deduce but the result is not affected, so the assumption is made that:

thus, equation (2) can be further rewritten as:

finally, constructing a model of the mapping relationship between the total amount of cable displacement change of each bending measurement tube contained in the outer tube bending position section and the cumulative bending curvature of the outer tube bending position section can be expressed as:

Further, according to the assumption of uniform bending, the number n of spring tube units included at the bend satisfies:

Thus, equation (5) can be further rewritten as:

defining the bending curvature at the bending of the spring tube as κ, satisfies the following relationship:

Thus, equation (7) can be further rewritten as:

If A (bκ) is Taylor-expanded, the expression is:

If the remainder of the expansion polynomial, O (bK) ², is sufficiently small, the total amount of cable displacement change DeltaL of each bend-measuring tube contained in the outer tube bending position section corresponds to the bending curvature of the outer tube bending position section The following linear relationship is satisfied:

Equation (12) can be converted into:

Preferably, equation (14) can be packaged as a mapping model Mapping relation modelThe method comprises the following steps:

wherein j is a number mark corresponding to the bending measuring tube, n is the total number of the bending measuring tubes, For the bending curvature of the outer tube bending position section, Δl _j is the total amount of cable displacement change of each bending measurement tube included in the outer tube bending position section.

It will be appreciated that since the bend-determining tube and its spring tube are embedded within the outer sleeve, the calculated bend curvature from each bend-determining tube may correspond to the bend curvature of its inner segmented outer sleeve. Because the lumen endoscope outer sleeve has a plurality of outer sleeve bending position sections, each outer sleeve bending position section and the bending curvature corresponding to each outer sleeve bending position section can be determined based on the specific implementation manner, and the sum of the bending curvatures of the outer sleeve bending position sections is the accumulated total bending curvature of the lumen endoscope outer sleeve.

Illustratively, FIG. 7 is a schematic view of a lumen endoscopic outer cannula having two outer cannula bending position segments. As shown in fig. 7, the cable displacement information of the 1 st to n th bending measurement pipes is zero, which indicates that the first n bending measurement pipes are not bent at the portions corresponding to the outer sleeve of the endoscope of the lumen. The cable displacement information from the n+1th bending measuring tube to the n+m bending measuring tube is nonzero, which shows that the area between the fixed end point of the n bending measuring tube and the fixed end point of the n+m bending measuring tube is an outer sleeve bending position section, and the total cable displacement change amount and the mapping relation model corresponding to each bending measuring tube of the outer sleeve bending position section are calculated according to the cable displacement change amount and the mapping relation modelThe curvature of the outer cannula bending position section of the lumen endoscopic outer cannula is identified as 90 degrees, and this outer cannula bending position section may be referred to as a first outer cannula bending position section. The cable displacement information from the (m+1) th bending measurement pipe to the (m+k) th bending measurement pipe is nonzero, which shows that the area between the fixed end point of the (m) th bending measurement pipe and the fixed end point of the (m+k) th bending measurement pipe is an outer sleeve bending position section, and the total cable displacement change amount and the mapping relation model corresponding to each bending measurement pipe of the outer sleeve bending position section are calculated according to the outer sleeve bending position sectionThe curvature of the outer sleeve bending position section of the endoluminal endoscope outer sleeve is identified as 90 degrees, and the outer sleeve bending position section may be referred to as a second outer sleeve bending position section. The lumen endoscopic outer sleeve has two outer sleeve bending position sections, and the cumulative bending curvature corresponding to the lumen endoscopic outer sleeve is 180 degrees.

On the basis of the embodiment, the outer sleeve of the lumen endoscope further comprises measuring tube supporting frames used for fixing the end points of the bending measuring tubes, wherein the number of the measuring tube supporting frames is consistent with that of the bending measuring tubes, and the placing interval of the measuring tube supporting frames on the inner wall of the outer sleeve is consistent with the length difference of the tube of each bending measuring tube.

In this embodiment, the schematic diagram of the support frame for the measuring tube in the outer sleeve of the endoscope of the lumen is shown in fig. 8, and the solid black-thickened line in fig. 8 represents the support frame for the measuring tube. The inner wall of the outer sleeve is provided with a plurality of measuring tube supporting frames according to a preset distance difference in the axial direction, wherein the preset distance difference is determined according to the length difference of the bent measuring tubes. The support frame of the measuring tube is provided with small through holes the same as the number of the bending measuring tubes for fixing and guiding the bending measuring tubes, and the bending measuring tubes can be used for fixing the tail ends on the support frame in a welding mode without being limited to the welding mode. Preferably, the bending measuring tubes are fixed in sequence in a certain direction (clockwise/anticlockwise) until all bending measuring tubes are fixed on the corresponding support frame. But the bending measuring tubes can also be arranged in a disordered way from long to short (from short to long), but each bending measuring tube with different lengths is ensured to be fixed on the supporting frame. In addition, as shown in the lower right corner of fig. 8, the large through hole inside the measuring tube support frame can form a surgical instrument channel.

In the embodiment, each bending measuring tube can be fixed through the measuring tube support frame, so that the whole tube of each bending measuring tube is tightly attached to the inner wall of the outer sleeve of the lumen endoscope, and the accuracy of measuring the bending information of the outer sleeve of the lumen endoscope through the bending measuring tube equivalent is improved.

It can be understood that the number of the measuring tube supporting frames can be more than that of the bending measuring tubes so as to fix the displacement path of the bending measuring tubes on the inner wall of the outer sleeve, and more measuring tube supporting frames are arranged to be connected with the bending measuring tubes so as to ensure that the bending radian of the bending measuring tubes is closer to that of the outer sleeve, thereby improving the accuracy of the bending information measurement.

Example two

Fig. 9 is a flowchart of a method for determining bending information applied to an outer sleeve of a lumen endoscope according to a second embodiment of the present invention, and S120 is further refined based on the foregoing embodiment. Wherein, the technical terms identical to or corresponding to the above embodiments are not repeated herein.

As shown in fig. 9, the method includes:

S210, determining cable displacement information for each bending measuring tube based on the corresponding displacement sensor.

S220, for each bending measuring tube, determining at least one bending measuring tube group to be processed and at least one unbent measuring tube group based on the cable displacement information and a preset bending judgment condition.

Wherein, preset bending judgment conditions are preset and are used for judging whether the bending measurement pipe is in a bending state or not. The bending measuring tube group to be treated comprises at least two bending measuring tubes in a bending state. The unbent measuring tube group comprises at least two bending measuring tubes which are not in a bending state.

The preset bending judgment condition is that at least two bending measurement pipes with the cable displacement information being larger than a preset displacement threshold and the numerical marks being adjacent to each other are determined to be a bending measurement pipe group to be processed, and at least two bending measurement pipes with the cable displacement information being smaller than the preset displacement threshold and the numerical marks being adjacent to each other are determined to be an unbent measurement pipe group.

In this embodiment, the preset displacement threshold is a displacement fixed value set in advance. In a specific application, there is a case where cable displacement information of the bending measurement tube is extremely small, and if bending information of the lumen endoscope outer sheath is determined from the bending measurement tube where cable displacement information is extremely small, there may be a case where measurement accuracy is low, so that a preset displacement threshold value may be set. For each bending measurement tube, determining at least one bending measurement tube group to be processed and at least one unbent measurement tube group according to the cable displacement information and the magnitude relation of a preset displacement threshold value.

For example, if 20 bending measurement tubes are included in total, the cable displacement information of the 1 st to 5 th bending measurement tubes is smaller than a preset displacement threshold, the cable displacement information of the 6 th to 12 th bending measurement tubes is larger than the preset displacement threshold, the cable displacement information of the 13 th to 17 th bending measurement tubes is smaller than the preset displacement threshold, and the cable displacement information of the 17 th to 20 th bending measurement tubes is larger than the preset displacement threshold, the bending measurement tube comprises two to-be-processed bending measurement tube groups and two non-bending measurement tube groups. The two to-be-treated bending measuring tube groups are the 6 th to 12 th bending measuring tubes and the 17 th to 20 th bending measuring tubes, and the two non-bending measuring tube groups are the 1 st to 5 th bending measuring tubes and the 13 th to 17 th bending measuring tubes.

S230, for each to-be-processed bending measurement tube group, determining the bending information of the lumen endoscope outer sleeve on the basis of the digital identification of the to-be-processed bending measurement tube group, the cable displacement information and the section diameter of the spring tube.

In this embodiment, determining the bending information of the outer sleeve of the endoscope of the lumen may specifically include the following steps:

s2301, determining a target outer sleeve bending position section of the lumen endoscope outer sleeve based on a first digital mark of a first bending measuring tube and a second digital mark of a last bending measuring tube in the to-be-processed bending measuring tube group.

On the basis of the above exemplary embodiments, for a tube set for bending measurement to be treated including 6 th to 12 th bending measurement tubes, the 6 th bending measurement tube is the first bending measurement tube, and the 12 th bending measurement tube is the last bending measurement tube. The number corresponding to the 6 th bending measuring tube is '6', the first number is '6', the number corresponding to the 12 th bending measuring tube is '12', and the second number is '12'.

In this embodiment, the specific implementation manner is:

(1) And obtaining a preset coding-position mapping relation table.

The preset coding-position mapping relation table is a corresponding relation table of the digital identification of the bending measuring tube and the position information of the fixed end point of the bending measuring tube on the outer sleeve of the lumen endoscope.

In this embodiment, the preset code-position mapping relation table is stored in the preset storage unit in advance, and is directly obtained.

(2) And determining an adjacent digital identifier on the first digital identifier as a starting digital identifier.

On the basis of the above exemplary embodiment, for the to-be-processed bending measurement tube group including the 6 th to 12 th bending measurement tubes, if the number corresponding to the 6 th bending measurement tube is "6", the first number is "6", and the initial number is "5".

(3) And determining a bending starting position corresponding to the starting digital identifier and a bending ending position corresponding to the second digital identifier based on the starting digital identifier, the second digital identifier and the preset coding-position mapping relation table.

In this embodiment, on the basis of determining the initial digital identifier and the second digital identifier, the bending initial position corresponding to the initial digital identifier and the bending final position corresponding to the second digital identifier may be directly obtained by querying the preset code-position mapping relation table.

(4) And determining the area from the bending starting position to the bending ending position of the outer sleeve of the lumen endoscope as a target outer sleeve bending position section.

S2302, determining the bending curvature corresponding to the bending position section of the target outer sleeve based on the cable displacement information of each bending measuring tube in the to-be-processed bending measuring tube group and the section diameter of the spring tube.

The specific implementation mode is as follows:

(1) And determining the total cable displacement change amount corresponding to the to-be-processed bending measurement tube group based on the cable displacement information of each bending measurement tube in the to-be-processed bending measurement tube group.

In this embodiment, the cable displacement information of each bending measurement tube in the bending measurement tube group to be processed is summed to obtain the total amount of displacement change of the bending measurement tube group to be processed.

(2) And determining the bending curvature corresponding to the bending position section of the target outer sleeve based on the cable displacement change amount, the section diameter of the spring tube and a preset displacement-curvature mapping function.

Wherein the preset displacement-curvature mapping function is:

In the formula, And delta L is the total cable displacement change amount corresponding to the bending position section of the outer sleeve, delta L is the section diameter of the spring tube.

In the embodiment, the total cable displacement change amount and the section diameter of the spring tube are brought into a preset displacement-curvature mapping function for calculation, and the bending curvature corresponding to the bending position section of the target outer sleeve can be obtained.

According to the technical scheme provided by the embodiment of the invention, cable displacement information is determined for each bending measurement tube based on a corresponding displacement sensor, and further, at least one bending measurement tube group to be processed and at least one unbent measurement tube group are determined for each bending measurement tube based on the cable displacement information and a preset bending judgment condition, and further, the bending information of the outer sleeve bending position section of the outer sleeve of the lumen endoscope and the bending curvature corresponding to the outer sleeve bending position section are determined for each bending measurement tube group to be processed based on the digital identification of the bending measurement tube, the cable displacement information and the section diameter of the spring tube, so that the stable, rapid, efficient and low-cost determination of the bending information of the outer sleeve of the lumen endoscope is realized.

Example III

Fig. 10 is a schematic structural diagram of a bending information determining device applied to an outer sleeve of a lumen endoscope according to a third embodiment of the present invention, where the device may execute the bending information determining method applied to the outer sleeve of a lumen endoscope according to the embodiment of the present invention. The device comprises a cable displacement information acquisition module 310 and a bending information determination module 320, wherein the cable displacement information acquisition module is used for acquiring cable displacement information, the bending information determination module is used for acquiring bending information of the cable displacement information, the bending information determination module is used for determining the displacement of the cable displacement information, the bending information determination module is used for determining the displacement of the cable displacement information of the cable displacement sensor, and the bending information determination module is used for determining the displacement of the cable displacement sensor.

A cable displacement information acquisition module 310 configured to determine cable displacement information for each of the bending measurement pipes based on the corresponding displacement sensor;

And a bending information determining module 320, configured to determine bending information of the outer sleeve of the endoluminal endoscope based on the digital identifier of each bending measurement tube, the corresponding cable displacement information, and the cross-sectional diameter of the spring tube, where the bending information includes an outer sleeve bending position section and a bending curvature corresponding to the outer sleeve bending position section.

Optionally, the bending information determining module 320 includes:

A bending measurement tube determining sub-module for determining, for each of the bending measurement tubes, at least one bending measurement tube group to be processed and at least one unbent measurement tube group based on the cable displacement information and a preset bending judgment condition;

And the bending information determining submodule is used for determining the bending information of the lumen endoscope outer sleeve for each to-be-processed bending measuring tube group based on the digital mark of the to-be-processed bending measuring tube group, the cable displacement information and the section diameter of the spring tube.

Optionally, the bending measurement tube determining submodule is specifically configured to determine at least two bending measurement tubes adjacent to each other with the cable displacement information equal to or greater than a preset displacement threshold as a to-be-processed bending measurement tube group, and determine at least two bending measurement tubes adjacent to each other with the cable displacement information less than the preset displacement threshold as an unbent measurement tube group.

Optionally, the bending information determining sub-module includes:

a bending section determining unit for determining a target outer sleeve bending position section of the lumen endoscopic outer sleeve based on a first digital mark of a first bending measuring tube and a second digital mark of a last bending measuring tube in the to-be-processed bending measuring tube group;

And the bending curvature determining unit is used for determining the bending curvature corresponding to the bending position section of the target outer sleeve on the basis of the cable displacement information of each bending measuring tube in the to-be-processed bending measuring tube group and the section diameter of the spring tube.

Optionally, the bending section determining unit includes:

a mapping table obtaining subunit, configured to obtain a preset coding-position mapping table, where the preset coding-position mapping table is a corresponding relation table between a digital identifier of the bending measurement tube and position information of a fixed end point of the bending measurement tube on the lumen endoscope outer sleeve;

a starting identifier determining subunit, configured to determine a next adjacent digital identifier on the first digital identifier as a starting digital identifier;

a start-end position determination subunit configured to determine a bend start position corresponding to the start digital identifier and a bend end position corresponding to the second digital identifier based on the start digital identifier, the second digital identifier, and the preset code-position mapping table;

And the bending section determining subunit is used for determining the area from the bending starting position to the bending ending position of the outer sleeve of the lumen endoscope as a target outer sleeve bending position section.

Optionally, the bending curvature determining unit includes:

a displacement variation determining subunit, configured to determine a total amount of cable displacement variation corresponding to the to-be-processed bending measurement tube set based on cable displacement information of each of the bending measurement tubes in the to-be-processed bending measurement tube set;

A bending curvature determination subunit, configured to determine a bending curvature corresponding to the target outer sleeve bending position section based on the total cable displacement variation amount, the cross-sectional diameter of the spring tube, and a preset displacement-curvature mapping function;

wherein the preset displacement-curvature mapping function is:

Optionally, the lumen endoscope outer sleeve further comprises a measuring tube supporting frame used for fixing the end point of each bending measuring tube, the number of the measuring tube supporting frames is consistent with that of the bending measuring tubes, and the placing interval of each measuring tube supporting frame on the inner wall of the outer sleeve is consistent with the length difference of the tube of each bending measuring tube.

The bending information determining device applied to the outer sleeve of the endoscope in the cavity can execute the bending information determining method applied to the outer sleeve of the endoscope in the cavity, and has the corresponding functional modules and beneficial effects of the executing method.

It should be noted that the above-mentioned units and modules included in the apparatus are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented, and the specific names of the functional units are only used for distinguishing from each other, and are not used for limiting the protection scope of the embodiments of the present disclosure.

Example IV

Fig. 11 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 11, the electronic device 10 includes at least one processor 11, and a memory such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including an input unit 16, such as a keyboard, mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, optical disk, etc., and a communication unit 19, such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a bending information determination method applied to a lumen endoscopic outer sheath.

In some embodiments, the bending information determining method applied to the endoluminal endoscopic sheath may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more of the steps of the bending information determining method described above as applied to a lumen sheath may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the bending information determination method applied to the endoluminal outer sleeve in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be a special or general purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable apparatus for determining bending information for a lumen sheath, such that the computer programs, when executed by the processor, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user, for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome. It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein. The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A method for determining bending information applied to an outer sleeve of a lumen endoscope is characterized in that the outer sleeve of the lumen endoscope comprises a plurality of bending measuring pipes which are sequentially arranged on the inner wall of the outer sleeve of the lumen endoscope, each bending measuring pipe corresponds to a unique digital mark, each bending measuring pipe comprises a cable and a spring pipe which surrounds a part of the cable, the length of the cable is larger than that of the spring pipe, the cable is identical to that of the spring pipe at a fixing end point of the inner wall of the outer sleeve, the fixing start point of the cable is located at one of at least one first calibration position on the inner wall of the outer sleeve, the fixing start point of the spring pipe is located at a second calibration position on the inner wall of the outer sleeve, a displacement sensor is arranged at the fixing start point of each bending measuring pipe cable, and the fixing end points of the bending measuring pipes on the inner wall of the outer sleeve are different.

2. The method of claim 1, wherein said determining bending information for the endoluminal outer sheath based on the digital identification of each of the bending determination tubes, the corresponding cable displacement information, and the cross-sectional diameter of the spring tube comprises:

for each of the bending measurement tubes, determining at least one bending measurement tube group to be processed and at least one unbent measurement tube group based on the cable displacement information and a preset bending judgment condition;

For each of the tube sets, determining bending information of the lumen sheath based on the digital identification of the tube, cable displacement information, and cross-sectional diameter of the spring tube.

3. The method according to claim 2, wherein the preset bending judgment condition is:

determining at least two bending measurement pipes adjacent to each other as a bending measurement pipe group to be processed by the digital mark, wherein the cable displacement information is equal to or greater than a preset displacement threshold value;

And determining the cable displacement information to be smaller than a preset displacement threshold value and determining at least two bending measuring pipes adjacent to each other as an unbent measuring pipe group by using the numbers.

4. The method of claim 3, wherein said determining bending information for the endoluminal sheath based on the to-be-treated bending measurement tube set comprising a digital identification of a bending measurement tube, cable displacement information, and a cross-sectional diameter of the spring tube comprises:

Determining a target outer sleeve bending position section of the lumen endoscope outer sleeve based on a first digital mark of a first bending measuring tube and a second digital mark of a last bending measuring tube in the to-be-processed bending measuring tube group;

And determining the bending curvature corresponding to the bending position section of the target outer sleeve based on the cable displacement information of each bending measuring tube in the to-be-processed bending measuring tube group and the section diameter of the spring tube.

5. The method of claim 4, wherein determining a target outer cannula bend location segment of a lumen endoscopic outer cannula based on a first digital representation of a first bend measurement tube and a second digital representation of a last bend measurement tube of the set of bend measurement tubes to be processed comprises:

Obtaining a preset coding-position mapping relation table, wherein the preset coding-position mapping relation table is a corresponding relation table of a digital identifier of the bending measuring tube and position information of a fixed end point of the bending measuring tube on the outer sleeve of the lumen endoscope;

Determining an adjacent digital identifier on the first digital identifier as a starting digital identifier;

Determining a bending start position corresponding to the initial digital identifier and a bending end position corresponding to the second digital identifier based on the initial digital identifier, the second digital identifier and the preset code-position mapping relation table;

And determining the area from the bending starting position to the bending ending position of the outer sleeve of the lumen endoscope as a target outer sleeve bending position section.

6. The method of claim 4, wherein determining a bending curvature corresponding to the target outer sleeve bending location section based on cable displacement information of each of the bending measurement tubes in the set of bending measurement tubes to be processed and a cross-sectional diameter of the spring tube comprises:

Determining the total cable displacement change amount corresponding to the to-be-processed bending measurement tube group based on the cable displacement information of each bending measurement tube in the to-be-processed bending measurement tube group;

Determining a bending curvature corresponding to the bending position section of the target outer sleeve based on the total cable displacement change amount, the section diameter of the spring tube and a preset displacement-curvature mapping function;

wherein the preset displacement-curvature mapping function is:

7. The method of claim 1, wherein the endoluminal endoscope outer sheath further comprises a plurality of measuring tube holders for holding the ends of each of the plurality of curved measuring tubes, the plurality of measuring tube holders being identical to the plurality of curved measuring tubes, the plurality of measuring tube holders being spaced apart from the inner wall of the outer sheath by a distance identical to the difference in tube lengths of the plurality of curved measuring tubes.

8. A bending information determining device applied to a lumen endoscope outer sleeve is characterized in that the lumen endoscope outer sleeve comprises a plurality of bending measuring tubes which are sequentially arranged on the inner wall of the lumen endoscope outer sleeve, each bending measuring tube corresponds to a unique digital mark, each bending measuring tube comprises a cable and a spring tube which surrounds a part of the cable, the length of the cable is larger than that of the spring tube, the cable is identical to that of the spring tube at a fixing end point of the inner wall of the outer sleeve, the fixing start point of the cable is located at one of at least one first calibration position on the inner wall of the outer sleeve, the fixing start point of the spring tube is located at a second calibration position on the inner wall of the outer sleeve, a displacement sensor is arranged at the fixing start point of each bending measuring tube cable, and the fixing end points of the bending measuring tubes on the inner wall of the outer sleeve are different, and the device comprises:

9. An electronic device, characterized in that the electronic device comprises:

one or more processors;

Storage means for storing one or more programs,

The one or more programs, when executed by one or more processors, cause the one or more processors to implement the method of bending information determination as applied to a lumen endoscopic outer sheath as in any of claims 1-7.

10. A storage medium containing computer executable instructions for performing the bending information determining method applied to a lumen endoscopic outer cannula as in any of claims 1-7 when executed by a computer processor.