Flexible endoscope system and control method based on magnetic control and wire drive principle

Abstract

The present invention discloses a flexible endoscope system and a control method based on the principle of magnetic control and wire drive. The system comprises a flexible endoscope in vivo, a magnetic control system and a workstation outside the body; the flexible endoscope in vivo comprises a magnetic control wire drive control unit for posture control, a flexible joint for performing posture change, and an endoscope, a light source and a cleaning module arranged at the end of the flexible joint; the magnetic control system outside the body comprises a multi-degree-of-freedom mechanical arm, an external permanent magnet fixed to the end of the multi-degree-of-freedom mechanical arm actuator, and a magnetic shielding device arranged on the surface of the external permanent magnet; the workstation comprises a controller, a display, a host and a pump; the present invention controls the posture of the endoscope in vivo by using a mechanical arm, magnetic control and wire drive, thereby overcoming the shortcomings of traditional endoscopes occupying card poking space and requiring manual hand-held operation, and can well complete tasks such as automatically adjusting the surgical field of view and lens cleaning in endoscopic surgery.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical endoscopes, and in particular relates to a flexible endoscope system and a control method based on the principles of magnetic control and wire drive. Background Art

[0002] With the advancement of medical technology, thoracic and abdominal surgery has evolved from the original open surgery to the current minimally invasive surgery (MIS) assisted by endoscopes. Compared with traditional open surgery, minimally invasive surgery has less bleeding, smaller wounds, and faster recovery, which can greatly reduce the trauma caused by surgery to patients. The current thoracic and abdominal surgery is mainly multi-channel surgery, and the size of the incision is about 12-15mm in diameter. In recent years, single-channel surgery (SPA) has begun to rise slowly. In single-channel surgery, since the endoscope and other surgical instruments enter the body cavity through the same incision, the incision of single-channel surgery (about 30mm in diameter) is significantly larger than that of traditional multi-channel surgery. At the same time, the endoscope and other surgical instruments pass through the same channel, which will interfere with each other during the operation and cannot effectively form an operating triangle, thereby increasing the difficulty and risk of the operation. Since the endoscope has a larger diameter than other surgical instruments, reducing the space occupied by the endoscope during the operation can not only reduce the size of the wound, but also improve the operability of the surgical instruments and endoscopes. Summary of the invention

[0003] The main purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a flexible endoscope system and control method based on the principles of magnetic control and wire drive. The endoscope in the body of the present invention changes its position and posture under the drive of the magnetic field generated by the external magnet on the external multi-degree-of-freedom robotic arm and the stepper motor in the internal magnetic control wire drive control unit, thereby achieving the purpose of automatically adjusting the endoscopic surgical field, which can not only meet the needs of endoscopic surgery well, but also reduce the space occupied by the incision.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] On one hand, the present invention provides a flexible endoscope system based on the principle of magnetic control and wire drive, including a flexible endoscope in the body, a magnetic control system and a workstation outside the body;

[0006] The flexible endoscope in the body includes a magnetically controlled wire drive control unit for posture control, a flexible joint for performing posture change, and an endoscope, a light source, and a cleaning module arranged at the end of the flexible joint; one end of the flexible joint is fixed to an opening on one side of the magnetically controlled wire drive control unit, and the other end is embedded with an endoscope, a light source, and a cleaning module; under the action of the magnetic field generated by the external magnetic control system, the magnetically controlled wire drive control unit performs planar motion along the inner surface of the body cavity and rotational motion around a direction perpendicular to the tangent plane of the inner surface of the body cavity according to the measured posture of itself; the flexible joint takes the connection with the magnetically controlled wire drive control unit as the base point, is subjected to the lateral force exerted by the thin wire, and performs rotation in two degrees of freedom, up and down and left and right; the endoscope transmits the transmitted video data back to the workstation for analysis and processing;

[0007] The external magnetic control system comprises a multi-degree-of-freedom mechanical arm, an external permanent magnet fixed to the end of the multi-degree-of-freedom mechanical arm actuator, and a magnetic shielding device arranged on the surface of the external permanent magnet;

[0008] The workstation includes a controller, a display, a host and a pump; the host analyzes and processes the collected information and sends control signals to the stepper motor controller, the multi-degree-of-freedom robotic arm, the endoscope and the endoscope light source; the display is responsible for providing video images, and the stepper motor controller controls the movement of the stepper motor inside the magnetically controlled wire drive control unit under the control of the host; the pump provides power for the cleaning module.

[0009] As a preferred technical solution, the outer permanent magnet is a radially magnetized cylindrical, annular or rectangular parallelepiped magnet.

[0010] As a preferred technical solution, the magnetically controlled wire drive control unit is approximately a hollow cylinder, and a shell is provided on the outer surface; a protrusion is provided on the side of the shell for embedding the inner permanent magnet;

[0011] Two sets of worm gears, worms and stepper motors for driving the worm gears and worms are placed inside the magnetically controlled wire drive control unit. The two sets of worm gears are connected to two coils wound with thin wires through two rotating shafts. The coils rotate driven by the rotating shafts as the turbine rotates. The rotating shafts are coupled to bearings fixed on the housing. By controlling the forward and reverse rotation of the stepper motor, the driving coils convey the thin wires forward or pull them backward, thereby realizing the bending and deformation of the two degrees of freedom of the flexible joint, namely, up and down and left and right. An inertial measurement unit is installed inside the magnetically controlled wire drive control unit, and the inertial measurement unit is used to obtain the position and posture of the magnetically controlled wire drive control unit.

[0012] As a preferred technical solution, the inner permanent magnet is a radially magnetized cylindrical, annular or rectangular parallelepiped magnet.

[0013] As a preferred technical solution, the flexible joint has a double helix structure similar to a screw rod, with one protruding end fixed at the opening of the magnetically controlled wire drive unit. Four small through holes are arranged around the flexible joint, and the thin wire of the coil passes through these small through holes and is fixed at the end of the flexible joint. At the same time, four large through holes are also arranged around the flexible joint for the data cables of the endoscope and light source and the water pipes of the cleaning module to pass through.

[0014] As a preferred technical solution, the endoscope is installed at the end of the flexible joint, and an endoscope light source for providing lighting is also fixed at the end of the flexible joint. The endoscope light source adopts a cold light source that meets the minimally invasive standard.

[0015] As a preferred technical solution, the stepper motor controller is connected to the host and the stepper motor via a data line; after the host analyzes and processes the collected information, it controls the movement of the stepper motor by issuing commands to the stepper motor controller.

[0016] Another aspect of the present invention provides a control method for a flexible endoscope system based on the magnetic control and wire drive principle, comprising the following steps:

[0017] Initializing the magnetically controlled wire drive control unit by controlling the multi-degree-of-freedom manipulator to determine the initial position and initial posture of the magnetically controlled wire drive control unit;

[0018] The inertial measurement unit inside the magnetically controlled wire drive control unit is used to record the acceleration and angular velocity measured during the movement, and the acceleration and angular velocity are respectively integrated twice and once to obtain the estimated real-time position and attitude information of the magnetically controlled wire drive control unit;

[0019] According to the real-time position and posture information of the magnetically controlled wire drive control unit, the multi-degree-of-freedom manipulator controls the external magnet to keep it in a roughly consistent relative position and posture relationship with the internal magnet;

[0020] The controller that controls the stepper motor is operated to place the target area within the field of view of the endoscope. When the target area is captured by the endoscope, the flexible joint will automatically calculate the ideal bending and deformation degree of the flexible joint through the visual servo algorithm to achieve intelligent adjustment of the field of view of the endoscope.

[0021] As a preferred technical solution, the initial position is directly obtained by the initially set position, and the initial posture is obtained by combining the roll angle, pitch angle and initially specified yaw angle obtained by the acceleration measured by the inertial measurement unit inside the magnetically controlled wire drive control unit.

[0022] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0023] (1) The endoscope system in the body of the present invention adopts a magnetic anchoring method to position and perform translational and rotational movements with a certain degree of freedom, and does not need to occupy the card space during the operation. On the one hand, it can significantly reduce the diameter of the single-channel surgical incision and improve the minimally invasive nature of the single-channel surgery; on the other hand, it can promote the formation of an effective operating triangle for surgical instruments and improve the operability of the single-channel surgery.

[0024] (2) The in-body endoscope system of the present invention adopts a wired design, and transmits the data obtained by the sensor and the endoscope back to the host outside the body through the data cable for analysis and processing. It is compact in size and can pass through the poke card of a traditional endoscope. Therefore, it can be used in both single-channel surgical environments and traditional multi-channel surgical environments. Without reducing operability, the number of poke cards required for traditional thoracoscopic and laparoscopic surgery is reduced.

[0025] (3) The endoscope system in the body of the present invention includes a flexible joint, which can achieve bending and deformation with two degrees of freedom under the drive of a stepper motor, so that the endoscope can aim at the target area. At the same time, the magnetically controlled wire drive control unit is equipped with a six-axis inertial measurement unit, which can be used to measure the position and posture of the magnetically controlled wire drive unit, so that the relative position and posture relationship between the internal and external permanent magnets remains roughly consistent, so that the permanent magnet in the body is not easy to fall off.

[0026] (4) The in vitro workstation of the present invention changes the position of the external magnet by controlling the robotic arm, thereby avoiding manual operation of the external permanent magnet and reducing the workload of surgery. At the same time, it cooperates with visual servoing to better assist surgeons in performing surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 It is a structural diagram of the in vitro magnetic control system of the present invention.

[0029] Figure 2 It is a structural diagram of the flexible endoscope in the body of the present invention.

[0030] Figure 3 It is a structural diagram of the magnetically controlled wire drive control unit of the present invention.

[0031] Figure 4 It is a structural diagram of the flexible joint of the present invention.

[0032] Figure 5 It is a structural diagram of the in vitro workstation of the present invention.

[0033] Figure 6 The present invention is a flow chart of a flexible endoscope system control system based on the magnetic control and wire drive principles.

[0034] Explanation of the accompanying numbers: 1-multi-degree-of-freedom robotic arm; 2-external permanent magnet; 3-magnetic shielding device; 4-magnetically controlled wire drive control unit; 5-flexible joint; 6-endoscope; 7-endoscope light source; 8-cleaning module; 9-housing; 10-internal permanent magnet; 11-worm gear; 12-worm; 13-stepping motor; 14-rotating shaft; 15-coil; 16-bearing; 17-thin wire; 18-inertial measurement unit; 19-stepping motor controller; 20-display; 21-host; 22-pump; 23-data cable; 24-water pipe; 25-small through hole; 26-large through hole. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0036] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0037] This embodiment provides a flexible endoscope system based on the principle of magnetic control and wire drive, which mainly includes a flexible endoscope in the body, a magnetic control system outside the body, and a workstation; under the control of the workstation, the multi-degree-of-freedom manipulator outside the body realizes the overall translation and rotation movement of the magnetic control wire drive control unit and the endoscope through the interaction between the external permanent magnet at the end of the actuator and the internal permanent magnet on the magnetic control wire drive control unit in the body. At the same time, the host in the workstation controls the stepper motor controller to send commands to the stepper motor in the magnetic control wire drive control unit to bend the flexible joint and change the posture of the endoscope in the body to adjust the endoscope field of view.

[0038] See also Figure 1 In one embodiment, the external magnetic control system includes a multi-degree-of-freedom robotic arm 1, an external permanent magnet 2 fixed to the end of the multi-degree-of-freedom robotic arm actuator, and a magnetic shielding device 3 arranged on the surface of the external permanent magnet 2.

[0039] Furthermore, the outer permanent magnet 2 is a radially magnetized cylindrical, annular or cuboid magnet with a diameter of 30 mm and a height of 5 mm. At the same time, the outer permanent magnet is provided with a magnetic shielding device 3. It can be understood that the size of the outer permanent magnet 2 is a preferred solution of this embodiment, and the size does not constitute a limitation on the technical solution of the present invention. Other outer permanent magnets that can be applied to the present invention are also applicable to the present invention.

[0040] See also Figure 2 In one embodiment, the flexible endoscope in the body includes a magnetically controlled wire drive control unit 4 for posture control, a flexible joint 5 for performing posture change, and an endoscope 6, a light source 7 and a cleaning module 8 arranged at the end of the flexible joint 5; one protruding end of the flexible joint 5 is connected to the opening of the magnetically controlled wire drive control unit 4, and the other end is fixed with the endoscope 6, the endoscope light source 7 and the cleaning module 8.

[0041] For further information, see Figure 3 The magnetron linear unit 4 is approximately a hollow cylinder with a protrusion on the side, and the shell material is photosensitive resin, with an inner diameter of 8 mm, an outer diameter of 9 mm, and a length of 50 mm. The protrusion of the magnetron linear drive control unit 4 is equipped with an inner permanent magnet 10, which is the same as the outer permanent magnet 2. The inner permanent magnet 10 is a radially magnetized cylindrical, annular or rectangular magnet with a diameter of 15 mm and a height of 5 mm.

[0042] Furthermore, the magnetically controlled wire drive control unit 4 includes two stepper motors 13 and two pairs of worm gears 11 and worm gears 12. The stepper motor 13 is connected to the worm gear 12. The turbine 11 is connected to the coil 15 through a rotating shaft 14. Two thin wires passing through the flexible joint 5 are wound on the coil 14. The stepper motor 13 drives the coil 15 to rotate through the worm gear 11 and worm gear 12, thereby driving the flexible joint 5 to bend. An inner permanent magnet 10 is placed on the protruding part of the magnetically controlled wire drive control unit 4, and through the interaction with the outer permanent magnet 2, the approximate translation and rotation movement of the entire magnetically controlled wire drive control unit is realized.

[0043] Furthermore, the magnetically controlled wire drive control unit 4 is internally provided with an inertial measurement unit 18, and the inertial measurement unit 18 is used to obtain the position and posture of the magnetically controlled wire drive control unit 4. In this embodiment, the inertial measurement unit 18 is an Epson M-V340 model, which can be used to measure acceleration and angular velocity in three vertical directions.

[0044] Furthermore, one end of the flexible joint 5 is fixed to the opening on one side of the magnetically controlled wire drive control unit 4, and the other end is embedded with an endoscope 6, a light source 7 and a cleaning module 8; under the action of the magnetic field generated by the in vitro magnetic control system, the magnetically controlled wire drive control unit 4 performs planar motion along the inner surface of the body cavity and rotational motion around the direction of the tangent plane perpendicular to the inner surface of the body cavity according to the measured posture of itself; the flexible joint 5 takes the connection with the magnetically controlled wire drive control unit 4 as the base point, and is subjected to the lateral force exerted by the thin wire, and rotates in two degrees of freedom, up and down and left and right; the endoscope 6 transmits the transmitted video data back to the workstation for analysis and processing.

[0045] See also Figure 4 The flexible joint 5 adopts a double helix structure similar to a screw rod, is 38 mm long, 8 mm in diameter, and is made of photosensitive resin. The protrusion is connected to the magnetron wire drive control unit 4, and the other end is connected to the endoscope 6, the endoscope light source 7, and the cleaning module 8. There are four small through holes 25 and four large through holes 26 around the flexible joint 5, for the thin wire 17, the data line 23, and the water pipe 24 to pass through respectively.

[0046] Furthermore, the endoscope 6 is installed at the end of the flexible joint 5, and an endoscope light source 7 for providing lighting is also fixed at the end of the flexible joint 5. The endoscope light source 7 adopts a cold light source that meets the standards of minimally invasive surgery.

[0047] See also Figure 5 In this embodiment, the in vitro workstation includes a display 20 and a host 21, and the host 21 is connected to the stepper motor controller 19, the endoscope 6, and the endoscope light source 7 through a data line 23. The host 21 analyzes and processes the collected information, sends a control signal to the stepper motor controller 13, drives the stepper motor 6 to move, causes the bending and deformation of the flexible joint, and thus realizes the field of view adjustment of the endoscope.

[0048] It can be understood that the workstation consists of a display that displays the endoscope image, a host for analyzing and processing the collected data and issuing control commands, a controller that controls the stepper motor, and a pump that provides power for the cleaning module. The host controls the movement of the external permanent magnet at the end of the robotic arm actuator, and controls the rotation of the stepper motor inside the magnetically controlled wire drive control unit through the controller. Based on the wire drive principle, the flexible joint produces corresponding bending and deformation, thereby controlling the position of the flexible endoscope in the body. In addition, the endoscope installed at the end of the flexible joint transmits the acquired video information to the host through a data cable for analysis and processing, and displays the image of the surgical environment on the monitor.

[0049] The working principle of the present invention is:

[0050] Under the control of the workstation, the multi-degree-of-freedom manipulator outside the body realizes the overall translation and rotation of the magnetic control line drive control unit and the endoscope through the interaction between the external permanent magnet at the end of the actuator and the internal permanent magnet on the magnetic control line drive control unit inside the body. At the same time, the host in the workstation controls the stepper motor controller to send commands to the stepper motor in the magnetic control line drive control unit to bend the flexible joint and change the posture of the endoscope inside the body to adjust the endoscope field of view.

[0051] See also Figure 6 The control method of the flexible endoscope system based on the magnetic control and wire drive principle in this embodiment includes the following steps:

[0052] First, the flexible endoscope system in the body is inserted into the inner surface of the human chest or abdominal cavity through a poking card and fixed. The magnetically controlled wire drive control unit is initialized by controlling the robotic arm to determine the initial position and posture of the magnetically controlled wire drive control unit. The initial position is directly obtained through the initial regulation, and the initial posture is obtained by combining the roll angle, pitch angle and the initially specified yaw angle obtained by the acceleration (gravitational acceleration) measured by the inertial measurement unit inside the magnetically controlled wire drive control unit. Then, the magnetically controlled wire drive control unit is moved to a suitable position suitable for surgery by manipulating the robotic arm. Since the surface of the human body cavity has a certain curvature, the posture of the magnetically controlled wire drive control unit will change accordingly with the curvature of the human body cavity wall during the movement. The inertial measurement unit inside the magnetically controlled wire drive control unit is used to record the acceleration and angular velocity measured during the movement, and the second and first integrations are performed on them respectively, so as to obtain the estimated real-time position and posture of the magnetically controlled wire drive control unit. According to the real-time position and posture information of the magnetically controlled wire drive control unit, the robot arm controls the external magnet to maintain a roughly consistent relative posture relationship with the internal magnet, so that the internal magnet will not fall off or damage human tissue during movement. Then, the controller that controls the stepper motor is operated to make the target area within the field of view of the endoscope. When the target area is captured by the endoscope, the flexible joint will automatically calculate the ideal bending and deformation degree of the flexible joint through the visual servo algorithm to achieve intelligent adjustment of the field of view of the endoscope.

[0053] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A flexible endoscope system based on the principle of magnetic control and wire drive, characterized in that: It includes a flexible endoscope inside the body, a magnetic control system and a workstation outside the body; The flexible endoscope in the body comprises a magnetically controlled wire drive control unit (4) for posture control, a flexible joint (5) for performing posture change, and an endoscope (6), a light source (7) and a cleaning module (8) arranged at the end of the flexible joint (5); one end of the flexible joint (5) is fixed to an opening on one side of the magnetically controlled wire drive control unit (4), and the other end is embedded with the endoscope (6), the light source (7) and the cleaning module (8); under the action of the magnetic field generated by the external magnetic control system, the magnetically controlled wire drive control unit (4) performs a planar motion along the inner surface of the body cavity and a rotational motion around a direction perpendicular to the tangent plane of the inner surface of the body cavity according to the measured posture of itself; the flexible joint (5) is subjected to the lateral force exerted by the thin wire with the connection with the magnetically controlled wire drive control unit (4) as the base point, and performs rotation in two degrees of freedom, up and down and left and right; the endoscope (6) transmits the transmitted video data back to the workstation for analysis and processing; The external magnetic control system comprises a multi-degree-of-freedom mechanical arm (1), an external permanent magnet (2) fixed to the end of the multi-degree-of-freedom mechanical arm actuator, and a magnetic shielding device (3) arranged on the surface of the external permanent magnet (2); The workstation comprises a controller (19), a display (20), a host (21) and a pump (22); the host (21) analyzes and processes the collected information and sends control signals to the stepper motor controller (19), the multi-degree-of-freedom mechanical arm (1), the endoscope (6) and the endoscope light source (7); the display (20) is responsible for providing video images, and the stepper motor controller (19) controls the movement of the stepper motor inside the magnetic control line drive control unit (4) under the control of the host (21); the pump (22) provides power for the cleaning module (8); The magnetically controlled line drive control unit (4) is approximately a hollow cylinder, with a shell (9) provided on the outer surface; a protrusion is provided on the side of the shell (9) for embedding an inner permanent magnet (10); The magnetically controlled wire drive control unit (4) contains two sets of worm wheels (11), a worm (12), and a stepper motor (13) for driving the worm wheels and the worm respectively. The two sets of worm wheels (11) are connected to two coils (15) wound with thin wires (17) via two rotating shafts (14). The coils (15) rotate under the drive of the rotating shafts (14) as the worm wheels (11) rotate. The rotating shafts are coupled to bearings (16) fixed on the housing (9). By controlling the forward and reverse rotation of the stepper motor (13), the coils (15) are driven to convey the thin wires (17) forward or pull them backward, thereby achieving bending and deformation of the flexible joint (5) in two degrees of freedom, vertically and horizontally. The magnetically controlled wire drive control unit (4) contains an inertial measurement unit (18), which is used to obtain the position and posture of the magnetically controlled wire drive control unit (4). The flexible joint (5) has a double helix structure similar to a lead screw, with one protruding end fixed at the opening of the magnetically controlled wire drive control unit (4). Four small through holes (25) are arranged around the flexible joint (5), and the thin wire of the coil (15) passes through these small through holes (25) and is fixed to the end of the flexible joint (5). At the same time, four large through holes (26) are also arranged around the flexible joint (5) for the data wires (23) of the endoscope (6) and the light source (7) and the water pipe (24) of the cleaning module (8) to pass through.

2. According to claim 1, the flexible endoscope system based on the magnetic control and wire drive principle is characterized in that: The outer permanent magnet (2) is a radially magnetized cylindrical, annular or rectangular parallelepiped magnet.

3. The flexible endoscope system based on the magnetic control and wire drive principle according to claim 1 is characterized in that: The inner permanent magnet (10) is a radially magnetized cylindrical, annular or rectangular parallelepiped magnet.

4. The flexible endoscope system based on the magnetic control and wire drive principle according to claim 1 is characterized in that: The endoscope (6) is mounted on the end of the flexible joint (5), and an endoscope light source (7) for providing lighting is also fixed on the end of the flexible joint (5), wherein the endoscope light source (7) adopts a cold light source that meets minimally invasive standards.

5. The flexible endoscope system based on the magnetic control and wire drive principle according to claim 1 is characterized in that: The stepper motor controller (19) is connected to the host (21) and the stepper motor (13) via a data line (23); after the host (21) analyzes and processes the collected information, it issues a command to the stepper motor controller (19) to control the movement of the stepper motor (13).

6. The control method of the flexible endoscope system based on the magnetic control and wire drive principle according to any one of claims 1 to 5, characterized in that: The steps include: Initialize the magnetically controlled wire drive control unit by controlling the multi-degree-of-freedom manipulator to determine the initial position and posture of the magnetically controlled wire drive control unit; The inertial measurement unit inside the magnetically controlled wire drive control unit is used to record the acceleration and angular velocity measured during the movement, and the acceleration and angular velocity are respectively integrated twice and once to obtain the real-time position and attitude estimation of the magnetically controlled wire drive control unit; According to the real-time position and posture information of the magnetically controlled wire drive control unit, the multi-degree-of-freedom manipulator controls the external magnet to keep it in a roughly consistent relative position and posture relationship with the internal magnet; The controller that controls the stepper motor is operated to place the target area within the field of view of the endoscope. When the target area is captured by the endoscope, the flexible joint will automatically calculate the ideal bending and deformation degree of the flexible joint through the visual servo algorithm to achieve intelligent adjustment of the field of view of the endoscope.

7. The control method according to claim 6, characterized in that: The initial position is directly obtained by the initially set position, and the posture is obtained by combining the roll angle, the pitch angle obtained by the acceleration measured by the inertial measurement unit inside the magnetically controlled wire drive control unit, and the initially specified yaw angle.

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