Insertion part, endoscope, intrarenal pressure detection system and endoscope processing system

Abstract

The invention relates to the technical field of medical instruments, and particularly discloses an insertion part, an endoscope, an intrarenal pressure detection system and an endoscope processing system.The insertion part comprises an insertion part body and a diaphragm, the diaphragm is movably arranged on the outer side of the far end of the insertion part body, and the diaphragm is provided with a hard area and a soft area; a mark is arranged on the hard area and / or the soft area, a camera module and a window opening corresponding to the camera module are arranged in the insertion part body, and the mark can be captured by the camera module; according to the scheme, when the far end of the insertion part stretches into the renal pelvis, the diaphragm is elastically deformed under the action of intrarenal pressure, and the hard area moves and / or deflects accordingly, so that the hard area has corresponding size and / or form change in the view-finding window of the camera module, the change can be quantified through image processing, and the accuracy of the change is improved. Therefore, the pressure in the renal pelvis can be measured conveniently, errors caused by deformation of the diaphragm can be eliminated, and the accuracy of measuring the pressure in the kidney is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an insertion portion, an endoscope, an intrarenal pressure detection system, and an endoscope processing system. Background Art

[0002] In the field of minimally invasive treatment in urology, transurethral ureteroscopic laser lithotripsy has become an important treatment for upper urinary tract stones due to its significant advantages of less trauma and faster recovery. However, the precise control of intrarenal pressure during surgery has always been a core challenge affecting surgical safety. Continuous perfusion of the renal pelvis and the accumulation of debris produced by stone crushing during surgery may lead to abnormally high intrarenal pressure, and excessively high intrarenal pressure can cause acute complications such as renal parenchymal damage and renal pelvic venous reflux, and significantly increase the risk of postoperative infection and sepsis. Therefore, real-time monitoring and precise regulation of intrarenal pressure are key technical requirements for optimizing surgical safety and clinical prognosis.

[0003] Currently, monitoring of intrarenal pressure during surgery mainly relies on two solutions: endoscopic integrated pressure sensing technology and indirect measurement in vitro. The former achieves real-time feedback by embedding a miniature pressure sensor at the front end of the ureteroscope insertion part. However, due to the limitations of sensor size and power supply requirements, this design significantly increases the diameter of the endoscope tip, resulting in reduced operational flexibility when the scope passes through a narrow ureter and even increasing the risk of intraoperative tissue damage. The latter connects the pressure sensor outside the body by extending the pipe. However, due to factors such as the long perfusion line, dynamic changes in the flow resistance of the flushing fluid, and fluctuations in manual perfusion pressure, there is a significant error between the actual measured pressure value and the true intrarenal pressure, making accurate calibration difficult, especially in complex surgical fields or lithotripsy operations.

[0004] Therefore, developing a miniaturized, low-latency, high-precision intrarenal pressure detection technology is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0005] The present invention discloses an insertion portion, an endoscope, an intrarenal pressure detection system and an endoscope processing system to solve the above-mentioned technical problems existing in the related art.

[0006] In order to solve the above problems, the present invention adopts the following technical solutions: In a first aspect, the present application provides an insertion portion for use in an endoscope, the insertion portion comprising an insertion portion body and a diaphragm, wherein the diaphragm is movably disposed on the outer side of the distal end of the insertion portion body; wherein: The diaphragm has a hard area and a mark is set on the diaphragm. A camera module and a window opening corresponding to the camera module are set in the insertion part body. At least part of the hard area is located within the optical area of ​​the window opening, and the mark can be captured by the camera module.

[0007] In a second aspect, the present application provides an endoscope, which includes the aforementioned insertion portion.

[0008] In a third aspect, the present application further provides an intrarenal pressure detection system based on the aforementioned insertion portion, the intrarenal pressure detection system comprising: A first acquisition module, the first acquisition module is used to acquire first image information captured by the camera module, the first image information including environmental image information and mark image information; a recognition module, configured to recognize the marked image information in the first image information; The calculation module determines the pressure value of the diaphragm in the current environment according to the marked image information.

[0009] In a fourth aspect, the present application further provides an endoscope processing system, the endoscope processing system comprising: A second acquisition module, the second acquisition module is used to acquire first image information captured by the camera module, the first image information including environmental image information and mark image information; a processing module, configured to process the first image information to obtain second image information in which the marked image information in the first image information is eliminated; A display module is configured to display the second image information.

[0010] The technical solution adopted by the present invention can achieve the following beneficial effects: The insertion part, endoscope, intrarenal pressure detection system and endoscope processing system of the present application, when the distal end of the insertion part is inserted into the human kidney, is affected by the intrarenal pressure, and the diaphragm undergoes elastic deformation under the action of the intrarenal pressure, and the hard area moves in the optical axis direction of the camera module. At this time, the line of sight between the hard area and the camera module changes, causing the size of the hard area in the camera module's viewfinder to change. The camera module can record this change in the hard area in real time, and then can quantify this change in the hard area through image processing, so that the pressure value in the environment where the diaphragm is located can be calculated, that is, the intrarenal pressure value. This detection method eliminates the need for embedding a miniature pressure sensor at the distal end of the insertion portion, effectively controlling the radial dimension of the distal end, ensuring the permeability of the distal end while significantly reducing the risk of trauma. Furthermore, because the diaphragm is directly within the renal environment, compared to detection methods that extend the tubing to connect to a pressure sensor outside the body, it eliminates the influence of factors such as tubing length, dynamic changes in flushing fluid flow resistance, and manual perfusion pressure fluctuations, ensuring the accuracy and timeliness of intrarenal pressure detection. It is particularly suitable for complex surgical procedures and lithotripsy operations. At the same time, since the hard area on the diaphragm does not undergo elastic deformation under pressure, the impact of elastic distortion on imaging is reduced or even eliminated. That is, the reflected light has a higher degree of restoration when passing through the hard area, which greatly reduces the difficulty of subsequent image processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1 This is one of the structural diagrams of the insertion portion of an embodiment of the present application; Figure 2 is a schematic diagram of the distal end face of the insertion portion of an embodiment of the present application; Figure 3 This is the second structural diagram of the insertion portion of the embodiment of the present application; Figure 4 is one of the schematic diagrams of the intrarenal pressure detection system according to an embodiment of the present application; Figure 5 This is the second schematic diagram of the intrarenal pressure detection system according to an embodiment of the present application; Figure 6 Schematic diagram of an endoscope processing system according to an embodiment of the present application.

[0013] In the picture: 100, insertion part body; 110, camera module; 200, diaphragm; 200a, hard area; 200b, soft area; 200c, mark; 210, first elastic membrane; 211, base; 212, connecting part; 220, hard transparent part; 230, second elastic membrane; 310, first acquisition module; 320, recognition module; 330, comparison module; 340, calculation module; 410, second acquisition module; 420, processing module; 430, display module. DETAILED DESCRIPTION

[0014] To make the objectives, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without inventive effort are within the scope of protection of the present invention.

[0015] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0016] The following is combined with Figures 1 to 6 , the insertion part, endoscope, intrarenal pressure detection system and endoscope processing system provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0017] See Figure 1 、 Figure 2 and Figure 3 The embodiment of the present application discloses an insertion part, which includes an insertion part body 100 and a diaphragm 200, wherein the insertion part body 100 may include an active bending section and a lens mount, and the lens mount is installed and connected to the distal end of the active bending section. The active bending section can be one of a riveted snake bone, an integrally cut snake bone and an integrally injection-molded snake bone. The lens mount can provide an installation base for the light source, the camera module 110 and the distal end of the instrument tube, that is, the light source, the camera module 110 and the distal end of the instrument tube can be installed in the lens mount, and the diaphragm 200 can be movably arranged on the distal outside of the insertion part body 100. It should be noted that in the embodiment of the present application, the movable setting of the diaphragm 200 relative to the insertion body 100 includes that when the pressure in the environment in which the diaphragm 200 is located changes, the diaphragm 200 undergoes a certain displacement in the axial direction of the insertion body 100 (that is, the optical axis direction of the camera module 110), and may also include that the diaphragm 200 undergoes a certain elastic strain in the axial direction of the insertion body 100, or a combination of the two.

[0018] In an embodiment of the present application, the diaphragm 200 has a hard area 200a, and the hard area 200a is made of a transparent material. For example, the hard area 200a can be a transparent glass sheet. The mark 200c can be set in the hard area 200a, and can also be set in other areas of the diaphragm 200 to clearly distinguish the hard area 200a, that is, the edge of the mark 200c can serve as the boundary between the hard area 200a and other areas. A camera module 110 and a window opening corresponding to the camera module 110 are provided in the insertion body 100. At least part of the hard area 200a is located within the optical area of ​​the window opening, and the mark 200c can be captured by the camera module 110.

[0019] Based on the above technical solution, when the pressure in the environment in which the diaphragm 200 is located changes, the hard area 200a moves in the optical axis direction of the camera module 110. At this time, the visual distance between the hard area 200a and the camera module 110 changes, thereby causing the size of the hard area 200a in the viewfinder of the camera module 110 to change. The camera module 110 records this change in the hard area in real time, and then this change in the hard area 200a can be quantified through image processing, so that the pressure value in the environment in which the diaphragm 200 is located can be calculated, that is, the intrarenal pressure value can be calculated. For example, the mark 200c can be set on the hard area 200a, and the change in the mark 200c can feedback the change in the hard area 200a. The camera module 110 can record the change in the mark 200c in real time, and then use the change in the mark 200c for image processing to obtain the intrarenal pressure value.

[0020] This detection method does not require embedding a miniature pressure sensor at the distal end of the insertion part, thereby effectively controlling the radial size of the distal end of the insertion part, significantly reducing the risk of trauma while ensuring the permeability of the distal end of the insertion part; and, since the diaphragm 200 is directly in the intrarenal environment, compared to the detection method of extending the pipeline to connect the pressure sensor outside the body, it can eliminate the influence of factors such as pipeline length, dynamic changes in flushing fluid flow resistance, and manual perfusion pressure fluctuations, and can ensure the accuracy and timeliness of intrarenal pressure detection.

[0021] At the same time, since the hard area 200a on the diaphragm 200 will not undergo elastic deformation under pressure, the influence of the elastic distortion of the hard area 200a on the imaging is reduced or even eliminated, that is, the image information captured by the camera module 110 in this area has a higher degree of restoration, thereby greatly reducing the difficulty of subsequent image processing.

[0022] It should be noted that in the embodiment of the present application, the insert body 100 has a sealed cavity, which is distributed on the proximal side of the diaphragm 200 and corresponds to the camera module 110. For example, the sealed cavity can be located between the camera module 110 and the diaphragm 200, with the distal side of the sealed cavity sealed by the diaphragm 200, and the proximal side of the sealed cavity can be provided with a transparent glass slide to achieve sealing, so as to ensure that the camera module 110 can normally capture the mark 200c on the diaphragm 200; alternatively, the camera module installation cavity of the lens mount for installing the camera module 110 can constitute the sealed cavity, the distal side of the sealed cavity is sealed by the diaphragm 200, and the proximal side of the sealed cavity can be sealed by injection. In this case, the distal side of the diaphragm 200 is exposed to the intrarenal environment, and the proximal side of the diaphragm 200 is exposed to the sealed cavity. The driving force for the deformation of the diaphragm 200 comes from the pressure difference between the intrarenal environment and the sealed cavity. That is to say, the sealed cavity can provide a stable reference pressure so that the deformation of the diaphragm 200 can truly reflect the intrarenal pressure.

[0023] It can be understood that if the sealed cavity is depressurized, the pressure difference between the intrarenal environment and the sealed cavity decreases, and the deformation of the diaphragm 200 in the intrarenal environment decreases, resulting in a decrease in the deformation of the mark 200c obtained through the image information, and then the mapping relationship between the deformation of the mark 200c and the intrarenal pressure will become invalid, that is, in this case, the true intrarenal pressure value cannot be accurately measured.

[0024] In the embodiment of the present application, the diaphragm 200 may further include a soft region 200b, which is connected to the hard region 200a. For example, the soft region 200b may be disposed around the periphery of the hard region 200a. For example, the soft region 200b may be an elastic membrane structure that is sealed and connected to the transparent glass sheet and surrounds the transparent glass sheet. The soft region 200b is connected to the insertion portion body 100. For example, a portion of the soft region 200b may be attached and fixed to the insertion portion body 100 by adhesive bonding. When the distal end of the insertion portion is located in the intrarenal environment, as the intrarenal pressure changes, the soft region 200b can undergo a certain degree of elastic deformation, thereby allowing the entire diaphragm 200 to move relative to the insertion portion body 100. The hard region 200a does not undergo elastic deformation, and the hard region 200a will undergo a certain degree of displacement and / or deflection as the soft region 200b elastically deforms.

[0025] In some embodiments of the present application, the mark 200c can be set on the soft area 200b. In this way, during the elastic deformation of the soft area 200b, the mark 200c will undergo a morphological change. The intrarenal pressure can also be measured by recording and calculating this change of the mark 200c. It can be understood that in this case, although the mark 200c is not set on the hard area 200a, the part of the image information captured by the camera module 110 corresponding to the hard area 200a also has a high degree of restoration, which can also reduce the difficulty of subsequent image processing.

[0026] In a preferred embodiment of the present application, the mark 200c is set on the hard area 200a. In this way, when the diaphragm 200 is subjected to the intrarenal pressure, the soft area 200b undergoes elastic deformation and causes the hard area 200a to move axially, thereby changing the viewing distance between the mark 200c and the camera module 110. This change in viewing distance is usually manifested as a change in the size of the mark 200c in the viewfinder of the camera module 110. During the quantification process, the processing difficulty can be greatly reduced. That is to say, compared with the method of setting the mark 200c on the soft area 200b, setting the mark 200c on the hard area 200a can reduce the influence of the distortion of the soft area 200b and improve the accuracy of intrarenal pressure measurement.

[0027] In some embodiments of the present application, the hard area 200a is arranged corresponding to the window opening, and the hard area 200a covers the entire optical area of ​​the window opening, and the mark 200c is arranged on the hard area 200a. In this way, the viewfinder of the camera module 110 is covered by the hard area 200a, and there is no distortion area of ​​the soft area 200b in the viewfinder of the camera module 110, so that each area of ​​the image information captured by the camera module 110 has a high degree of restoration, thereby ensuring the accuracy and safety of the doctor's operation during the surgical operation.

[0028] It can be understood that in the embodiment of the present application, the soft area 200b can be made of a transparent material. In this case, for example, the soft area 200b can be made of a highly transparent silicone material or an optical-grade epoxy resin. When both the hard area 200a and the soft area 200b are present in the viewfinder of the camera module 110, the camera module 110 can clearly see the intrarenal environment, thereby avoiding the soft area 200b from blocking the camera module 110 and affecting the normal use function of the endoscope, thereby ensuring the safety of the surgical operation; and when the hard area 200a completely covers the viewfinder of the camera module 110, the soft area 200b can be made of a non-light-transmitting material. Such a setting can prevent light from entering the viewfinder of the camera module 110 from the soft area 200b, causing light interference and affecting the imaging quality of the camera module 110.

[0029] In some embodiments of the present application, a hydrophilic coating is provided on the diaphragm 200. For example, the hydrophilic coating can be made of PEG material (polyethylene glycol) or PVP material (polyvinyl pyrrolidone). The hydrophilic coating forms a uniform hydrogel layer on the surface of the diaphragm 200 by forming hydrogen bonds with water molecules. This structure can effectively repel non-polar pollutants such as blood proteins and lipids, reduce their adhesion and deposition pollution on the surface of the diaphragm 200, thereby ensuring the transparency of the diaphragm 200, and then ensuring the observation effect of the camera module 110, avoiding the interference of the observed human tissue and / or markings, thereby ensuring the effectiveness and accuracy of the camera module 110.

[0030] In the embodiments of the present application, the mark 200c can have various forms. For example, the mark 200c can be at least one of a linear mark, a curved mark, a ring mark, and a grid mark. In a preferred embodiment of the present application, the mark 200c can be a square ring mark or a circular ring mark. The axisymmetric design of the ring mark enables it to exhibit a uniform response characteristic within the viewfinder of the camera module 110 when it moves axially. That is, the ring mark within the viewfinder will deform uniformly along the circumference (e.g., increase or decrease in diameter). This variable characteristic simplifies the model during subsequent quantification, reduces processing difficulty, and enables timely reflection of the intrarenal pressure value. Furthermore, when the diaphragm 200 is subjected to intrarenal pressure, even if the hard region 200a is affected by the soft region 200b and deflects to a certain extent, this deflection change can be reflected by the mark 200c. For example, a circular ring mark can change to an elliptical shape after deflection. This change in the ring mark also facilitates subsequent image correction processing.

[0031] In some embodiments of the present application, the diaphragm 200 is sleeved on the distal end of the insertion body 100 and can be connected and fixed to the distal end of the insertion body 100 by gluing. The sleeve connection can significantly improve the convenience of connecting the diaphragm 200 with the lens holder. During the assembly process, the operator only needs to adjust the posture of the diaphragm 200 so that the avoidance area can accurately avoid the instrument tube or instrument channel.

[0032] In related technologies, the insert body usually also includes a skin covering the active bending section and the outside of the lens mount. The skin can serve as a physical barrier to prevent body fluids and tissues in the human body from penetrating into the internal structure of the insert and damaging the mechanical parts or electronic components of the insert.

[0033] In some embodiments of the present application, the diaphragm 200 includes a first elastic membrane 210 and a hard transparent part 220, wherein the hard transparent part 220 can be a sheet-like structure, and the hard transparent part 220 can be attached to the inner side of the first elastic membrane 210 by gluing. The area of ​​the first elastic membrane 210 is larger than the area of ​​the hard transparent part 220. The area where the first elastic membrane 210 and the hard transparent part 220 overlap constitutes the aforementioned hard area 200a, and the area where the first elastic membrane 210 and the hard transparent part 220 are misaligned constitutes the aforementioned soft area 200b. Part of the soft area 200b can be sleeved on the insertion part body 100 to realize the connection between the diaphragm 200 and the insertion part body 100.

[0034] In the embodiment of the present application, the first elastic membrane 210 includes a base 211 and a connecting portion 212 surrounding the base 211 . Part of the base 211 overlaps with the hard transparent member 220 , and the connecting portion 212 is part of the soft region 200 b . When the first elastic membrane 210 is sleeved on the distal end of the insertion body 100, the base 211 is adapted to the distal end face of the insertion body 100, the connecting portion 212 is sleeved on the radially outer side of the insertion body 100 and can be glued and fixed to the insertion body 100 by gluing, and the skin can be covered on the outer side of the connecting portion 212. Under such a setting, based on the covering effect of the skin, the first elastic membrane 210 can be prevented from being peeled off at the edge when the insertion part is bent, twisted or rubbed against the tissue, and the first elastic membrane 210 can also be prevented from being worn; at the same time, the skin can also be glued and fixed to the outer side of the connecting portion 212. In this way, the inner and outer sides of the connecting portion 212 are both glued and fixed, which can ensure the stability of the connection of the first elastic membrane 210 while achieving a good sealing effect on the distal end of the insertion part.

[0035] During research, the inventors discovered that after the hard transparent member 220 is attached to the inner side of the first elastic film 210 , as the first elastic film 210 elastically deforms, the edge of the hard transparent member 220 is easily peeled off from the first elastic film 210 , and thus easily falls off.

[0036] Based on this situation, in the embodiment of the present application, the membrane 200 may further include a second elastic membrane 230. The second elastic membrane 230 is distributed on the proximal side of the first elastic membrane 210. The hard transparent member 220 is disposed between the first elastic membrane 210 and the second elastic membrane 230. The elasticity of the first elastic membrane 210 is greater than that of the second elastic membrane 230. In other words, the first elastic membrane 210 and the second elastic membrane 230 jointly clamp the hard transparent member 220. The second elastic membrane 230 is harder than the first elastic membrane 210. In this way, the hard transparent part 220 can have a better fitting effect with the second elastic membrane 230. When the first elastic membrane 210 is elastically deformed under pressure, the second elastic membrane 230 can exert a certain abutting force on the hard transparent part 220, so that the edge of the hard transparent part 220 and the first elastic membrane 210 can be in better abutment contact, weakening the separation effect between the edge of the hard transparent part 220 and the first elastic membrane 210, thereby ensuring the stability of the diaphragm 200 structure and the reliability of use.

[0037] In some embodiments of the present application, the mark 200c can be displayed on a display device after being photographed by the camera module 110. During surgery, the doctor can roughly judge the pressure of each local area within the field of view through the real-time changes of the mark 200c, thereby consciously controlling operations such as perfusion.

[0038] In an embodiment of the present application, the mark 200c is a filtered optical mark, and the mark 200c has a specific color, such as red, blue, green, etc. In a preferred embodiment of the present application, the mark 200c can be made of a colored light material. Under such a setting, in the post-processing process, the image information of the deformed mark 200c can be extracted first to facilitate comparison with the mark 200c in the standard state to measure the intrarenal pressure, and then the light of this color can be filtered out by a filter matched with the color of the mark 200c, so that the mark 200c is not on the display device seen by the doctor. In this way, the doctor will not be disturbed by the mark 200c during observation, and can see the surgical area more clearly and reduce visual interference. That is, the doctor can focus more on the surgical operations in the surgical area, improving the accuracy and safety of the operation.

[0039] In a preferred embodiment of the present application, the mark 200c has a specific color, such as red, blue, green, etc. In a preferred embodiment of the present application, the mark 200c can be made of a colored light material. Under such a setting, in the later processing process, the image information of the deformed mark 200c can be extracted first to facilitate the processing of the image information and measure the intrarenal pressure. Then, the light of this color can be filtered out by a filter that matches the color of the mark 200c, so that the mark 200c is not on the display device seen by the doctor. In this way, the doctor will not be disturbed by the mark 200c during observation, and can see the surgical area more clearly and reduce visual interference. That is, the doctor can focus more on the surgical operations in the surgical area, improving the accuracy and safety of the operation.

[0040] In the embodiment of the present application, the base 211 of the first elastic membrane 210 may be a planar structure with a constant thickness, so that the first elastic membrane 210 can be easily formed during processing and manufacturing.

[0041] An embodiment of the present application further discloses an endoscope, which includes the aforementioned insertion portion. Exemplarily, the endoscope further includes an operating handle, and the proximal end of the insertion portion is connected to the operating handle.

[0042] The present application also discloses an intrarenal pressure detection system. The disclosed intrarenal pressure detection system uses the aforementioned insertion portion to detect intrarenal pressure. Specifically, the intrarenal pressure detection system includes a first acquisition module 310, an identification module 320, and a calculation module 340, wherein: The first acquisition module 310 is used to acquire first image information captured by the camera module 110, wherein the first image information includes intrarenal environment image information and marked image information. The intrarenal environment image information can be transmitted to a display device for observation by a doctor, and the marked image information can be used to measure intrarenal pressure; The recognition module 320 is configured to recognize the marking image information of the marking 200 c in the first image information. It is understood that the recognition module 320 can obtain the marking information of the marking 200 c during the process of recognizing the marking image information. The marking information includes but is not limited to geometric shape information, position information, angle information, size information, stretched state information, and / or compressed state information of the marking 200 c. The calculation module 340 determines the pressure value of the diaphragm 200 in the current environment based on the marked image information, that is, the pressure value of the kidney environment.

[0043] For further technical solutions, see Figure 5The intrarenal pressure detection system may further include a comparison module 330 for comparing the marker image information with standard image information to determine the difference or differential value between the marker image information and the standard image information. The standard image information is image information of marker 200c captured by camera module 110 under standard atmospheric pressure. The marker information in the standard image information includes, but is not limited to, geometric shape information, position information, angle information, size information, stretched state information, and / or compressed state information of marker 200c under standard atmospheric pressure. In this case, calculation module 340 calculates the pressure value applied to diaphragm 200 in the current environment based on the difference or differential value between the marker image information and the standard image information.

[0044] In some optional embodiments of the present application, an intrarenal simulated environment can be constructed in vitro, simulating the human intrarenal environment. The ambient pressure in the simulated intrarenal environment varies within a set range, and the aforementioned insertion portion is placed within the simulated intrarenal environment. During the pressure changes in the simulated intrarenal environment, multiple marker image information and corresponding pressure information are acquired, and a database of marker image information, marker information, and pressure information is established. During the intrarenal pressure detection process, the marker image information of marker 200c is acquired by the camera module 110, and the corresponding pressure information can be matched, i.e., the intrarenal pressure value.

[0045] The present application also discloses an endoscope processing system. The disclosed endoscope processing system can be applied to the aforementioned insertion part. Specifically, see Figure 6 , the endoscope processing system includes: A second acquisition module 410 is used to acquire second image information collected by the camera module 110. The camera module 110 is provided at the distal end of the insertion portion, wherein the second image information also includes image information of the renal environment and image information of the marker; a processing module 420 configured to process the first image information to obtain second image information from which the marked image information is removed. Exemplarily, the processing module 420 may include a filter to remove the marked image information by filtering light. The display module 430 is used for the second image information, which is the aforementioned intrarenal environment image information.

[0046] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0047] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. An insertion portion, applied to an endoscope, characterized in that: It comprises an inserting portion body (100) and a diaphragm (200), wherein the diaphragm (200) is movably arranged on the outer side of the distal end of the inserting portion body (100); wherein: The diaphragm (200) has a hard area (200a), and a mark (200c) is provided on the diaphragm (200); a camera module (110) and a window opening corresponding to the camera module (110) are provided in the inserting portion body (100); at least a portion of the hard area (200a) is located within the optical area of ​​the window opening, and the mark (200c) can be captured by the camera module (110).

2. The insertion portion according to claim 1, wherein The diaphragm (200) further includes a soft region (200b), the soft region (200b) is connected to the hard region (200a), and the soft region (200b) is arranged around the periphery of the hard region (200a); and / or the inserting portion body (100) has a sealed cavity, the sealed cavity is distributed on the proximal side of the diaphragm (200), and the sealed cavity corresponds to the camera module (110).

3. The insertion portion according to claim 2, wherein: The hard area (200a) is arranged corresponding to the window opening, and the hard area (200a) covers the entire optical area of ​​the window opening; the mark (200c) is arranged on the hard area (200a).

4. The insertion portion according to claim 3, wherein: The hard area (200a) is made of a transparent material, and the soft area (200b) is made of a non-transparent material.

5. The insertion portion according to claim 2, wherein: The diaphragm (200) comprises a first elastic membrane (210) and a hard transparent component (220), wherein the hard transparent component (220) is arranged on the first elastic membrane (210), the area of ​​the first elastic membrane (210) is larger than the area of ​​the hard transparent component (220), the area where the first elastic membrane (210) and the hard transparent component (220) overlap constitutes the hard area (200a), and the area where the first elastic membrane (210) and the hard transparent component (220) are offset constitutes the soft area (200b).

6. The insertion portion according to claim 5, wherein: The diaphragm (200) further comprises a second elastic membrane (230), the second elastic membrane (230) being distributed on the proximal side of the first elastic membrane (210), the hard transparent member (220) being arranged between the first elastic membrane (210) and the second elastic membrane (230), and the elasticity of the first elastic membrane (210) being greater than the elasticity of the second elastic membrane (230).

7. The insertion portion according to claim 5, wherein: The first elastic membrane (210) includes a base (211) and a connecting portion (212) surrounding the base (211), the mark (200c) is provided on the base (211), and the connecting portion (212) is sleeved on the inserting portion body (100); The connecting portion (212) is fixed to the inserting portion body (100), and / or, when the inserting portion body (100) includes a skin, the skin covers the connecting portion (212).

8. An endoscope, characterized in that: It comprises the insertion portion according to any one of claims 1 to 7.

9. A renal pressure detection system based on the insertion portion according to any one of claims 1 to 7, characterized in that: The intrarenal pressure detection system comprises: A first acquisition module (310), the first acquisition module (310) is used to acquire first image information captured by the camera module (110), the first image information including environmental image information and marker image information; an identification module (320), the identification module (320) being used to identify the marked image information in the first image information; The calculation module (340) determines the pressure value applied to the diaphragm (200) in the current environment according to the marked image information.

10. An endoscope processing system based on the insertion portion according to any one of claims 1 to 7, characterized in that: include: a second acquisition module (410), the second acquisition module (410) being used to acquire first image information captured by the camera module (110), the first image information comprising environmental image information and marker image information; a processing module (420), the processing module (420) being used to process the first image information to obtain second image information with the marked image information in the first image information eliminated; A display module (430), the display module (430) is used to display the second image information.

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