Endoscope control method, endoscope, and surgical robot

Abstract

This application relates to an endoscope control method, an endoscope, a surgical robot, a computer device, a storage medium, and a computer program product. The method includes: acquiring pressure data experienced by the endoscope during movement within a natural body cavity; detecting the relationship between the pressure data and a pre-set threshold condition; when the pressure data meets the threshold condition, acquiring the pressure direction corresponding to the pressure data on the endoscope; acquiring the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope; and generating corresponding pressure feedback from the control terminal based on the mapping relationship, the pressure direction, and the pressure data. This method, through control feedback from the control terminal, allows the operator to effectively perceive the contact force experienced by the endoscope surface within the body's natural body cavity, effectively reducing damage to the natural body cavity during endoscopic procedures.

Description

Technical Field

[0001] This application relates to the field of medical device control technology, and in particular to an endoscope control method, an endoscope, and a surgical robot. Background Technology

[0002] With the development of computer technology and medical imaging technology, the application of electronic endoscopes has become widespread. Based on their ability to change direction in clinical practice, electronic endoscopes are divided into rigid endoscopes and flexible endoscopes. Flexible endoscopes mainly perform examinations, diagnoses, and treatments through the body's natural cavities. For example, gastroscopes, colonoscopes, laryngoscopy, and bronchoscopes enter the body primarily through the digestive, respiratory, and urinary tracts. Traditional flexible endoscopes cannot effectively sense the contact forces experienced by the endoscope surface within the body's natural cavities, making them more difficult for surgeons to operate and potentially causing unnecessary damage to these cavities. Summary of the Invention

[0003] Therefore, it is necessary to provide an endoscopic control method, endoscope, and surgical robot that can reduce the damage to natural cavities caused by endoscopic operations, in order to address the above-mentioned technical problems.

[0004] Firstly, this application provides an endoscopic control method. The method includes:

[0005] Acquire pressure data of the endoscope as it moves through natural orifices;

[0006] The relationship between the pressure data and the preset threshold conditions is detected. When the pressure data meets the threshold conditions, the pressure direction corresponding to the pressure data on the endoscope is obtained.

[0007] Obtain the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope;

[0008] Based on the mapping relationship, pressure direction, and pressure data, pressure feedback is generated for the corresponding control end.

[0009] In one embodiment, acquiring pressure data experienced by the endoscope during movement within a natural cavity includes:

[0010] Initialize multiple pressure sensors on the endoscope so that they display the same pressure value when not affected by external forces.

[0011] Number the multiple pressure sensors to obtain the sensor numbers;

[0012] Obtain the sensor number of the pressure sensor and the pressure value sensed by the pressure sensor when the endoscope moves in the natural cavity.

[0013] In one embodiment, the relationship between the detected pressure data and a preset threshold condition is analyzed. When the pressure data meets the threshold condition, the pressure direction corresponding to the pressure data on the endoscope is obtained, including:

[0014] Acquire pressure values ​​from pressure data and detect the relationship between pressure values ​​and preset thresholds;

[0015] When the pressure value is greater than or equal to the threshold, obtain the sensor number from the pressure data;

[0016] Based on the sensor number, the position of the pressure sensor on the endoscope is obtained;

[0017] Based on the position of the pressure sensor on the endoscope, the pressure direction corresponding to the pressure data on the endoscope is determined.

[0018] In one embodiment, pressure feedback is generated for the corresponding control terminal based on the mapping relationship, pressure direction, and pressure data, including:

[0019] When the control end is controlling the endoscope, a movement resistance is applied to the control end based on the mapping relationship; the movement resistance is positively correlated with the pressure value in the pressure data; the direction of the movement resistance is opposite to the direction of the pressure.

[0020] In one embodiment, pressure feedback is generated for the corresponding control terminal based on the mapping relationship, pressure direction, and pressure data, including:

[0021] When the control terminal is controlling the endoscope, vibration feedback is generated when the control terminal moves based on the mapping relationship; the vibration feedback includes vibration frequency and vibration intensity; the vibration feedback is positively correlated with the pressure value.

[0022] Secondly, this application also provides an endoscope. The endoscope includes:

[0023] The end cap is used to support the beam guide and to acquire image data.

[0024] The snake-like structure, connected to the end cap, is used to control the bending of the endoscope;

[0025] The pressure sensor, located on the snake bone, is used to collect pressure data on the snake bone as it moves through natural cavities.

[0026] The flexible circuit board is electrically connected to the pressure sensor to acquire pressure data collected by the pressure sensor and to perform signal processing on the pressure data.

[0027] In one embodiment, the snake skeleton includes multiple interconnected joints; pressure sensors are located on the joints.

[0028] In one embodiment, each joint is provided with a rivet point, and adjacent joints are connected by the rivet points.

[0029] In one embodiment, the endoscope further includes control wires; each joint has a guide wire hole through which the control wires pass to control the bending of the multiple joints.

[0030] In one embodiment, the endoscope also includes a protective element that is fitted over the snake bone.

[0031] Thirdly, this application also provides a surgical robot. The surgical robot includes:

[0032] As described in any of the above embodiments, the endoscope is used to move within a natural cavity and to acquire image data within the natural cavity and pressure data experienced by the endoscope during its movement within the natural cavity.

[0033] The control terminal is used to acquire pressure data experienced by the endoscope during its movement in the natural cavities; detect the relationship between the pressure data and a pre-set threshold condition; when the pressure data meets the threshold condition, acquire the pressure direction corresponding to the pressure data on the endoscope; acquire the mapping relationship between the control direction of the control terminal and the direction of endoscope movement; and generate corresponding pressure feedback for the control terminal based on the mapping relationship, pressure direction, and pressure data.

[0034] The drive unit is used to control the movement of the endoscope based on the control signals from the control terminal.

[0035] In one embodiment, the surgical robot also includes a display device for displaying image data of natural cavities acquired by the endoscope.

[0036] Fourthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method described in any of the above embodiments.

[0037] Fifthly, this application also provides a computer device readable storage medium. The computer device readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the method described in any of the above embodiments.

[0038] Sixthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the methods described in any of the above embodiments.

[0039] The aforementioned endoscopic control method, endoscope, and surgical robot first acquire pressure data experienced by the endoscope during its movement within natural body cavities. Then, they detect the relationship between the pressure data and a pre-set threshold condition. When the pressure data meets the threshold condition, the pressure direction corresponding to the pressure data on the endoscope is acquired. Further, the mapping relationship between the control direction at the control end and the endoscope's movement direction is obtained. Finally, based on the mapping relationship, pressure direction, and pressure data, corresponding pressure feedback is generated at the control end. This application, through control feedback at the control end, allows operators to effectively perceive the contact force experienced by the endoscope surface within the body's natural cavities, effectively reducing damage to natural cavities during endoscopic procedures. Attached Figure Description

[0040] Figure 1 This is a diagram illustrating the application environment of an endoscopic control method in one embodiment.

[0041] Figure 2 This is a schematic diagram of the endoscope structure in one embodiment;

[0042] Figure 3 This is a side view of a joint in one embodiment;

[0043] Figure 4 A top view of a joint with a pressure sensor in one embodiment;

[0044] Figure 5(a) is a schematic diagram of a structure in one embodiment where the control end is a control arm;

[0045] Figure 5(b) is a schematic diagram of a structure in one embodiment where the control end is a handle;

[0046] Figure 5(c) is a schematic diagram of a structure in one embodiment where the control end is a rocker arm;

[0047] Figure 6 This is a flowchart illustrating an endoscope control method in one embodiment;

[0048] Figure 7 Here is a block diagram of the electrical principle of a pressure sensor in one embodiment;

[0049] Figure 8 This is a schematic diagram illustrating the data acquisition principle of a pressure sensor in one embodiment;

[0050] Figure 9(a) is a schematic diagram of the mapping relationship between the movement direction of the control arm and the bending direction of the endoscope in one embodiment;

[0051] Figure 9(b) is a schematic diagram of the mapping relationship between the movement direction of the left joystick of the handle and the bending direction of the endoscope in one embodiment;

[0052] Figure 9(c) is a schematic diagram of the mapping relationship between the rocker arm movement direction and the endoscope bending direction in one embodiment;

[0053] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] The endoscopic control method provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown.

[0056] Furthermore, the endoscopic control method provided in this application embodiment can be applied to, for example... Figure 2 The endoscope shown includes a head 202, a serpentine frame 204, a pressure sensor 206, and a flexible circuit board 208. The head 202 supports the beam guide and acquires image data. The serpentine frame 204 is connected to the head 202 and controls the bending of the endoscope. The pressure sensor 206 is located on the serpentine frame 204 and acquires pressure data experienced by the serpentine frame 204 as it moves within the natural cavity. The pressure sensor 206 can be a strain gauge. The flexible circuit board 208 is electrically connected to the pressure sensor 206 and acquires the pressure data collected by the pressure sensor 206, performing signal processing on the pressure data.

[0057] In some embodiments, such as Figure 2 As shown, the snake bone 204 includes multiple connected joints 210.

[0058] In some embodiments, the pressure sensor 206 is located on the joint 210, and multiple pressure sensors 206 may be provided on each joint 210.

[0059] In some embodiments, such as Figure 2 As shown, the endoscope is also covered with a protective element 212, which is fitted over the snake bone 204. The protective element 212 can be made of waterproof material such as rubber, and is used to protect the pressure sensor 206 on the joint 210 from contact with liquid.

[0060] In some embodiments, such as Figure 3 As shown, each joint 210 is provided with a rivet point 301, and adjacent joints 210 are connected through the rivet points 301.

[0061] In some embodiments, such as Figure 4 As shown, the endoscope also includes control wires. Each joint 210 has a guide wire hole 401, through which the control wire passes to control the bending of the multiple joints 210.

[0062] This application also provides a surgical robot, which includes... Figure 2 The surgical robot shown includes an endoscope, a control unit, and a drive unit. The endoscope moves within a natural cavity and acquires image data and pressure data experienced by the endoscope during movement. The endoscope may contain, but is not limited to, pressure sensors and image sensors, with the pressure sensor being a strain gauge. The control unit acquires the pressure data experienced by the endoscope during movement and detects the relationship between the pressure data and a pre-set threshold condition. When the pressure data meets the threshold condition, the control unit acquires the pressure direction corresponding to the pressure data on the endoscope, establishes a mapping relationship between the control direction of the control unit and the movement direction of the endoscope, and then generates corresponding pressure feedback based on the mapping relationship, pressure direction, and pressure data. The control unit may take the form of, but is not limited to, a control handle, a control joystick, or a control arm. The drive unit controls the movement of the endoscope based on the control signals from the control unit.

[0063] The pressure sensor acquires pressure data experienced by the endoscope as it moves through the natural body cavity and sends it to the control unit. The control unit detects the relationship between the pressure data and a pre-set threshold condition. When the pressure data meets the threshold condition, it acquires the pressure direction corresponding to the pressure data on the endoscope. Then, it obtains the mapping relationship between the control direction and the endoscope's movement direction. Finally, based on the mapping relationship, pressure direction, and pressure data, the control unit can generate corresponding pressure feedback.

[0064] In this embodiment, as shown in FIG5(a), the surgical robot may further include a display screen and a switching device, wherein the switching device may be a foot pedal for switching the input signals for controlling instruments and controlling the endoscope. The display screen may be a liquid crystal display screen or an e-ink display screen.

[0065] In this embodiment, as shown in Figures 5(b) and 5(c), the control terminal may take the form of, but is not limited to, a control handle, a control joystick, and a control arm. As shown in Figure 5(b), when the control terminal is a control handle, the switching device can be a button, and the direction button, left joystick, and right joystick are used to control the bending direction of the endoscope. As shown in Figure 5(c), when the control terminal is a joystick structure, the switching device can be a control button, and the joystick is used to control the bending direction of the endoscope.

[0066] In one embodiment, such as Figure 6 As shown, an endoscope control method is provided. Taking the application of this method to a surgical robot as an example, the method includes the following steps 602 to 608.

[0067] Step 602: Obtain pressure data of the endoscope as it moves in the natural cavity.

[0068] In this embodiment, multiple pressure sensors on the endoscope collect pressure data as the endoscope moves within the natural cavity, and transmit the collected pressure data to a control terminal. The pressure sensors can transmit this data to the control terminal via a flexible circuit board. The pressure data transmitted by the pressure sensors to the control terminal may include, but is not limited to, pressure values ​​and a unique identifier for the pressure sensor. The unique identifier for the pressure sensor may be represented by a number, characters, or other similar format.

[0069] In this embodiment, based on the unique identifier of the pressure sensor, the control terminal can determine the location of the pressure sensor on the endoscope and determine the pressure at different locations on the endoscope.

[0070] In another embodiment, the database corresponding to the control terminal can store the location information of multiple pressure sensors on the endoscope, such as which joint they are installed in or which side of the joint they are installed on. In this way, when the pressure data collected by the pressure sensor is received, the control terminal can also determine the specific location corresponding to the pressure, laying the foundation for the accuracy of subsequent threshold comparison.

[0071] In this embodiment, the pressure sensor can be a strain gauge. For example... Figure 7 As shown, after the strain gauge senses pressure, the flexible circuit board can perform signal processing such as signal amplification and analog-to-digital conversion on the pressure data transmitted by the strain gauge based on a Wheatstone bridge, obtaining the processed pressure data, and then transmitting the processed pressure data to the control terminal. The flexible circuit board can be a flexible PCB (Printed Circuit Board). The Wheatstone bridge is suitable for detecting minute changes in resistance, and the resistance change of the strain gauge can also be measured using this circuit. Figure 8 As shown, a Wheatstone bridge consists of four resistors (R1, R2, R3, R4). If R1 = R2 = R3 = R4, the output voltage e will always be 0 regardless of the input voltage; this state is called a balanced state. If the balance is disrupted, an output voltage corresponding to the change in resistance will be generated.

[0072] Specifically, the formula for calculating the output voltage is shown in formula (1):

[0073]

[0074] Where ε is the strain, K is the proportionality constant, E is the input voltage, and e is the output voltage. The formula for calculating ε is shown in formula (2):

[0075]

[0076] Where R is the original resistance value of the strain gauge in Ω, and ΔR is the resistance change caused by elongation or compression in Ω.

[0077] Step 604: Detect the relationship between the pressure data and the preset threshold conditions. When the pressure data meets the threshold conditions, obtain the pressure direction corresponding to the pressure data on the endoscope.

[0078] In this embodiment, the preset threshold conditions can be preset by the user according to the type of natural cavity.

[0079] In this embodiment, the threshold conditions corresponding to the pressure sensors at different locations of the endoscope can be different in different natural cavities.

[0080] In another embodiment, the threshold conditions corresponding to the pressure sensors at different parts of the endoscope can also be the same. For example, the preset condition can be set to a pressure value greater than 2N (Newton). Then, when the pressure sensor senses a force greater than 2N, the collected pressure data can be transmitted to the control terminal. When the pressure sensor senses a force less than or equal to 2N, no data processing is performed.

[0081] Step 606: Obtain the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope.

[0082] In this embodiment, the form of the control terminal may include, but is not limited to, a control handle, a control joystick, and a control arm.

[0083] In this embodiment, the control terminal can control the tightening of the control wire via a driving component, thereby controlling the bending direction of the endoscope. There is a mapping relationship between the control direction of the control terminal and the movement (bending) direction of the endoscope.

[0084] In this embodiment, as shown in FIG9(a), when the switching device of the control end is a foot pedal and the control arm is used to control the bending direction of the endoscope, the bending direction of the endoscope can be controlled according to the moving direction of the control arm.

[0085] In this embodiment, as shown in Figure 9(b), when the control end is a control handle, the switching device is a button, and when the left joystick is used to control the bending direction of the endoscope, the bending direction of the endoscope can be controlled based on the movement direction of the left joystick.

[0086] In this embodiment, as shown in Figure 9(c), when the control end is a rocker structure and the switching device is a control button, and the rocker is used to control the bending direction of the endoscope, the bending direction of the endoscope can be controlled based on the movement direction of the rocker.

[0087] Step 608: Based on the mapping relationship, pressure direction, and pressure data, generate pressure feedback for the corresponding control end.

[0088] In this embodiment, pressure feedback may include, but is not limited to, resistance feedback and vibration feedback. Resistance feedback refers to generating a corresponding resistance value and direction based on the pressure value and direction corresponding to the pressure data, or the pressure value and position. Vibration feedback refers to generating a corresponding vibration frequency and intensity based on the pressure value and direction corresponding to the pressure data, or the pressure value and position.

[0089] In this embodiment, the resistance value in the resistance feedback, the vibration intensity in the vibration feedback, or the vibration frequency in the vibration feedback can be correlated with the magnitude of the pressure value in the pressure data (e.g., positive correlation, negative correlation, etc.).

[0090] In this embodiment, the resistance direction in the resistance feedback can be related to the pressure direction or pressure location (e.g., the opposite).

[0091] In the aforementioned endoscopic control method, pressure data experienced by the endoscope during its movement within natural body cavities is first acquired. Then, the relationship between the pressure data and a pre-set threshold condition is detected. When the pressure data meets the threshold condition, the pressure direction corresponding to the pressure data on the endoscope is acquired. Further, the mapping relationship between the control direction at the control end and the endoscope's movement direction is obtained. Finally, based on the mapping relationship, pressure direction, and pressure data, corresponding pressure feedback is generated at the control end. This application, through control feedback at the control end, allows operators to effectively perceive the contact force experienced by the endoscope surface within the body's natural body cavities, effectively reducing damage to natural body cavities during endoscopic procedures.

[0092] In some embodiments, acquiring pressure data experienced by the endoscope during movement in a natural cavity includes: initializing multiple pressure sensors on the endoscope so that the pressure values ​​displayed by the multiple pressure sensors are the same when not affected by external forces; numbering the multiple pressure sensors to obtain sensor numbers; acquiring the sensor numbers of the pressure sensors during the movement of the endoscope in the natural cavity, and the pressure values ​​sensed by the pressure sensors.

[0093] In this embodiment, the pressure sensor can be a strain gauge.

[0094] In this embodiment, before the endoscope enters the natural cavity, the control terminal needs to initialize multiple pressure sensors on the endoscope so that the pressure values ​​displayed by the multiple pressure sensors are the same when they are not affected by external forces, such as 0N, 1N, etc.

[0095] In this embodiment, the number of the pressure sensor corresponds to the joint where the pressure sensor is located and the position of the pressure sensor on the joint.

[0096] In some embodiments, the relationship between pressure data and a preset threshold condition is detected. When the pressure data meets the threshold condition, the pressure direction corresponding to the pressure data on the endoscope is obtained, including: obtaining the pressure value in the pressure data, detecting the relationship between the pressure value and a preset threshold, obtaining the sensor number in the pressure data when the pressure value is greater than or equal to the threshold, obtaining the position of the pressure sensor on the endoscope based on the sensor number, and determining the pressure direction corresponding to the pressure data on the endoscope based on the position of the pressure sensor on the endoscope.

[0097] In this embodiment, the threshold condition for acquiring pressure data is determined by the control terminal based on the value of the pressure sensor after initialization. For example, if the control terminal needs to acquire pressure data when the pressure is greater than 2N, and the pressure value displayed by the pressure sensor after initialization is 1N when it is not affected by external force, then pressure data should be acquired when the pressure sensor value is greater than 3N.

[0098] In this embodiment, the pressure data may include a data identifier containing only the pressure sensor number. Since the pressure sensor number corresponds to the joint where the pressure sensor is located and its position on the joint, the control unit can determine the joint where the pressure sensor is located and its specific position on the joint by identifying the data identifier in the pressure data.

[0099] In this embodiment, the direction of pressure on the pressure sensor can be determined based on the joint where the pressure sensor is located and the specific position of the pressure sensor on the joint.

[0100] In some embodiments, pressure feedback is generated for the corresponding control terminal based on the mapping relationship, pressure direction, and pressure data. This includes applying movement resistance to the control terminal when it is controlling the endoscope, based on the mapping relationship. The movement resistance is positively correlated with the pressure value in the pressure data, and the direction of the movement resistance is opposite to the pressure direction.

[0101] In this embodiment, the relationship between the pressure sensor number and the joint where the pressure sensor is located and the specific position of the pressure sensor on the joint can be looked up using a mapping table.

[0102] In this embodiment, the control unit can determine the specific location of the pressure sensor on the endoscope (which joint and which direction it is located on) based on the mapping table and the unique identifier representing the pressure sensor number in the pressure data. Based on the specific location of the pressure sensor on the endoscope, the pressure direction corresponding to the pressure data can be determined. Then, based on the mapping relationship, the control unit generates a movement resistance that is opposite to the pressure direction.

[0103] In this embodiment, the pressure changes linearly. The control terminal can generate resistance based on the pressure value in the pressure data. The resistance is the same as or linearly related to the pressure value. By simulating the resistance, the operator can perceive the magnitude of the pressure on the endoscope.

[0104] In some embodiments, pressure feedback for the corresponding control terminal is generated based on the mapping relationship, pressure direction, and pressure data. This includes: when the control terminal is controlling the endoscope, vibration feedback is generated as the control terminal moves, based on the mapping relationship. The vibration feedback includes vibration frequency and vibration intensity, and the vibration feedback is positively correlated with the pressure value.

[0105] In this embodiment, the pressure changes linearly, and the control unit can generate corresponding vibration feedback based on the pressure value in the pressure data. The vibration intensity (e.g., amplitude) can be positively correlated with the pressure value, allowing the operator to perceive the magnitude of the pressure applied to the endoscope by simulating the vibration intensity.

[0106] In this embodiment, the vibration frequency can also be positively correlated with the pressure value.

[0107] In this embodiment, by acquiring pressure changes and pressure feedback, the control terminal can use software to plan the endoscope operation in real time and adjust the angle of the endoscope entering the cavity, thereby realizing the automatic path planning of the surgical robot and providing information for the robot's automatic surgery. The endoscope can be used to plan its path in the natural cavity based on the acquired information.

[0108] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0109] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 10As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The database stores data such as the mapping between the control direction and the endoscope movement direction, and pressure data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements an endoscope control method.

[0110] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0111] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: acquiring pressure data experienced by an endoscope during movement in a natural cavity; detecting the relationship between the pressure data and a preset threshold condition; when the pressure data meets the threshold condition, acquiring the pressure direction corresponding to the pressure data on the endoscope; acquiring the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope; and generating pressure feedback for the corresponding control terminal based on the mapping relationship, the pressure direction, and the pressure data.

[0112] In one embodiment, when the processor executes the computer program, it also acquires pressure data of the endoscope as it moves in the natural cavity. This may include: initializing multiple pressure sensors on the endoscope so that the pressure values ​​displayed by the multiple pressure sensors are the same when they are not affected by external forces; numbering the multiple pressure sensors to obtain sensor numbers; and acquiring the sensor numbers of the pressure sensors and the pressure values ​​sensed by the pressure sensors when the endoscope moves in the natural cavity.

[0113] In one embodiment, when the processor executes the computer program, it further implements the detection of the relationship between pressure data and a preset threshold condition. When the pressure data meets the threshold condition, it obtains the pressure direction corresponding to the pressure data on the endoscope. This may include: obtaining the pressure value in the pressure data, detecting the relationship between the pressure value and the preset threshold, obtaining the sensor number in the pressure data when the pressure value is greater than or equal to the threshold, obtaining the position of the pressure sensor on the endoscope based on the sensor number, and determining the pressure direction corresponding to the pressure data on the endoscope based on the position of the pressure sensor on the endoscope.

[0114] In one embodiment, when the processor executes the computer program, it further generates pressure feedback for the corresponding control terminal based on the mapping relationship, pressure direction, and pressure data. This may include: when the control terminal is controlling the endoscope, applying movement resistance to the control terminal based on the mapping relationship. The movement resistance is positively correlated with the pressure value in the pressure data, and the direction of the movement resistance is opposite to the pressure direction.

[0115] In one embodiment, when the processor executes the computer program, it further generates pressure feedback for the corresponding control terminal based on the mapping relationship, pressure direction, and pressure data. This may include: when the control terminal is controlling the endoscope, providing vibration feedback as the control terminal moves based on the mapping relationship. The vibration feedback includes vibration frequency and vibration intensity, and the vibration feedback is positively correlated with the pressure value.

[0116] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it performs the following steps: acquiring pressure data experienced by an endoscope during movement in a natural cavity; detecting the relationship between the pressure data and a preset threshold condition; when the pressure data meets the threshold condition, acquiring the pressure direction corresponding to the pressure data on the endoscope; acquiring the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope; and generating pressure feedback for the corresponding control terminal based on the mapping relationship, the pressure direction, and the pressure data.

[0117] In one embodiment, when the computer program is executed by the processor, it also acquires pressure data as the endoscope moves in the natural cavity. This may include: initializing multiple pressure sensors on the endoscope so that the multiple pressure sensors display the same pressure value when not affected by external forces; numbering the multiple pressure sensors to obtain sensor numbers; and acquiring the sensor numbers of the pressure sensors and the pressure values ​​sensed by the pressure sensors as the endoscope moves in the natural cavity.

[0118] In one embodiment, when the computer program is executed by the processor, it further implements the detection of the relationship between pressure data and a preset threshold condition. When the pressure data meets the threshold condition, it obtains the pressure direction corresponding to the pressure data on the endoscope. This may include: obtaining the pressure value in the pressure data, detecting the relationship between the pressure value and the preset threshold, obtaining the sensor number in the pressure data when the pressure value is greater than or equal to the threshold, obtaining the position of the pressure sensor on the endoscope based on the sensor number, and determining the pressure direction corresponding to the pressure data on the endoscope based on the position of the pressure sensor on the endoscope.

[0119] In one embodiment, when the computer program is executed by the processor, it further generates pressure feedback for the corresponding control terminal based on the mapping relationship, pressure direction, and pressure data. This may include: when the control terminal is controlling the endoscope, applying movement resistance to the control terminal based on the mapping relationship. The movement resistance is positively correlated with the pressure value in the pressure data, and the direction of the movement resistance is opposite to the pressure direction.

[0120] In one embodiment, when the computer program is executed by the processor, it further generates pressure feedback for the corresponding control terminal based on the mapping relationship, pressure direction, and pressure data. This may include: when the control terminal is controlling the endoscope, providing vibration feedback as the control terminal moves based on the mapping relationship. The vibration feedback includes vibration frequency and vibration intensity, and the vibration feedback is positively correlated with the pressure value.

[0121] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: acquiring pressure data experienced by an endoscope during movement in a natural cavity; detecting the relationship between the pressure data and a preset threshold condition; when the pressure data meets the threshold condition, acquiring the pressure direction corresponding to the pressure data on the endoscope; acquiring the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope; and generating pressure feedback for the corresponding control terminal based on the mapping relationship, the pressure direction, and the pressure data.

[0122] In one embodiment, when the computer program is executed by the processor, it also acquires pressure data as the endoscope moves in the natural cavity. This may include: initializing multiple pressure sensors on the endoscope so that the multiple pressure sensors display the same pressure value when not affected by external forces; numbering the multiple pressure sensors to obtain sensor numbers; and acquiring the sensor numbers of the pressure sensors and the pressure values ​​sensed by the pressure sensors as the endoscope moves in the natural cavity.

[0123] In one embodiment, when the computer program is executed by the processor, it further implements the detection of the relationship between pressure data and a preset threshold condition. When the pressure data meets the threshold condition, it obtains the pressure direction corresponding to the pressure data on the endoscope. This may include: obtaining the pressure value in the pressure data, detecting the relationship between the pressure value and the preset threshold, obtaining the sensor number in the pressure data when the pressure value is greater than or equal to the threshold, obtaining the position of the pressure sensor on the endoscope based on the sensor number, and determining the pressure direction corresponding to the pressure data on the endoscope based on the position of the pressure sensor on the endoscope.

[0124] In one embodiment, when the computer program is executed by the processor, it further generates pressure feedback for the corresponding control terminal based on the mapping relationship, pressure direction, and pressure data. This may include: when the control terminal is controlling the endoscope, applying movement resistance to the control terminal based on the mapping relationship. The movement resistance is positively correlated with the pressure value in the pressure data, and the direction of the movement resistance is opposite to the pressure direction.

[0125] In one embodiment, when the computer program is executed by the processor, it further generates pressure feedback for the corresponding control terminal based on the mapping relationship, pressure direction, and pressure data. This may include: when the control terminal is controlling the endoscope, providing vibration feedback as the control terminal moves based on the mapping relationship. The vibration feedback includes vibration frequency and vibration intensity, and the vibration feedback is positively correlated with the pressure value.

[0126] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0127] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0128] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0129] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A surgical robot, characterized in that, Includes an endoscope for moving within a natural cavity and for acquiring image data within the natural cavity and pressure data experienced by the endoscope during its movement within the natural cavity; The control terminal is used to acquire pressure data of the endoscope when it moves in the natural cavity; detect the relationship between the pressure data and a preset threshold condition; when the pressure data meets the threshold condition, acquire the pressure direction corresponding to the pressure data on the endoscope; and acquire the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope. Based on the mapping relationship, the pressure direction, and the pressure data, pressure feedback corresponding to the control terminal is generated. A driving component is used to control the movement of the endoscope based on the control signal from the control terminal. The process of detecting the relationship between the pressure data and a preset threshold condition, and obtaining the pressure direction corresponding to the pressure data on the endoscope when the pressure data meets the threshold condition, includes: Obtain the pressure value from the pressure data and detect the relationship between the pressure value and a preset threshold. When the pressure value is greater than or equal to the threshold, the sensor number in the pressure data is obtained; Based on the sensor number, the position of the pressure sensor on the endoscope is obtained; Based on the position of the pressure sensor on the endoscope, the pressure direction corresponding to the pressure data on the endoscope is determined.

2. The surgical robot according to claim 1, characterized in that, The surgical robot also includes a display device for displaying image data of natural cavities acquired by the endoscope.

3. The surgical robot according to claim 1, characterized in that, The acquisition of pressure data experienced by the endoscope during movement within natural cavities includes: The multiple pressure sensors on the endoscope are initialized so that they display the same pressure value when not affected by external forces. The pressure sensors are numbered to obtain sensor numbers; Obtain the sensor number of the pressure sensor and the pressure value sensed by the pressure sensor when the endoscope moves in the natural cavity.

4. The surgical robot according to claim 3, characterized in that, The step of generating pressure feedback corresponding to the control terminal based on the mapping relationship, the pressure direction, and the pressure data includes: When the control terminal controls the endoscope, a movement resistance is applied to the control terminal based on the mapping relationship; wherein the movement resistance is positively correlated with the pressure value in the pressure data; and the direction of the movement resistance is opposite to the direction of the pressure.

5. The surgical robot according to claim 3, characterized in that, The step of generating pressure feedback corresponding to the control terminal based on the mapping relationship, the pressure direction, and the pressure data includes: When the control terminal controls the endoscope, vibration feedback is provided when the control terminal moves based on the mapping relationship; wherein, the vibration feedback includes vibration frequency and vibration intensity; the vibration feedback is positively correlated with the pressure value.

6. The surgical robot according to claim 1, characterized in that, The endoscope includes: The end cap is used to support the beam guide and to acquire image data. The snake bone, connected to the end cap, is used to control the bending of the endoscope; A pressure sensor, located on the snake bone, is used to collect pressure data on the snake bone as it moves through natural cavities. A flexible circuit board, electrically connected to the pressure sensor, is used to acquire pressure data collected by the pressure sensor and to perform signal processing on the pressure data.

7. The surgical robot according to claim 6, characterized in that, The snake skeleton includes multiple connected joints; the pressure sensor is located on the joint.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it performs the following steps: Acquire pressure data of the endoscope as it moves in a natural cavity; detect the relationship between the pressure data and a preset threshold condition; when the pressure data meets the threshold condition, acquire the pressure direction corresponding to the pressure data on the endoscope; acquire the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope. Based on the mapping relationship, the pressure direction, and the pressure data, pressure feedback corresponding to the control terminal is generated. When the processor executes the computer program, it implements the detection of the relationship between the pressure data and a preset threshold condition. When the pressure data meets the threshold condition, it acquires the pressure direction corresponding to the pressure data on the endoscope, including: Obtain the pressure value from the pressure data and detect the relationship between the pressure value and a preset threshold. When the pressure value is greater than or equal to the threshold, the sensor number in the pressure data is obtained; Based on the sensor number, the position of the pressure sensor on the endoscope is obtained; Based on the position of the pressure sensor on the endoscope, the pressure direction corresponding to the pressure data on the endoscope is determined.

9. The computer device according to claim 8, characterized in that, The acquisition of pressure data experienced by the endoscope during movement within the natural orifice, implemented by the processor when executing the computer program, includes: The multiple pressure sensors on the endoscope are initialized so that they display the same pressure value when not affected by external forces. The pressure sensors are numbered to obtain sensor numbers; Obtain the sensor number of the pressure sensor and the pressure value sensed by the pressure sensor when the endoscope moves in the natural cavity.

10. The computer device according to claim 9, characterized in that, The processor, when executing the computer program, generates pressure feedback corresponding to the control terminal based on the mapping relationship, the pressure direction, and the pressure data, including: When the control terminal controls the endoscope, a movement resistance is applied to the control terminal based on the mapping relationship; wherein the movement resistance is positively correlated with the pressure value in the pressure data; and the direction of the movement resistance is opposite to the direction of the pressure.

11. The computer device according to claim 9, characterized in that, The processor, when executing the computer program, generates pressure feedback corresponding to the control terminal based on the mapping relationship, the pressure direction, and the pressure data, including: When the control terminal controls the endoscope, vibration feedback is provided when the control terminal moves based on the mapping relationship; wherein, the vibration feedback includes vibration frequency and vibration intensity; the vibration feedback is positively correlated with the pressure value.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the following steps: Acquire pressure data of the endoscope as it moves in a natural cavity; detect the relationship between the pressure data and a preset threshold condition; when the pressure data meets the threshold condition, acquire the pressure direction corresponding to the pressure data on the endoscope; acquire the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope. Based on the mapping relationship, the pressure direction, and the pressure data, pressure feedback corresponding to the control terminal is generated. When the computer program is executed by the processor, it implements the detection of the relationship between the pressure data and a preset threshold condition. When the pressure data meets the threshold condition, it acquires the pressure direction corresponding to the pressure data on the endoscope, including: Obtain the pressure value from the pressure data and detect the relationship between the pressure value and a preset threshold. When the pressure value is greater than or equal to the threshold, the sensor number in the pressure data is obtained; Based on the sensor number, the position of the pressure sensor on the endoscope is obtained; Based on the position of the pressure sensor on the endoscope, the pressure direction corresponding to the pressure data on the endoscope is determined.

13. The computer-readable storage medium according to claim 12, characterized in that, The acquisition of pressure data experienced by the endoscope during movement within natural orifices, implemented when the computer program is executed by the processor, includes: The multiple pressure sensors on the endoscope are initialized so that they display the same pressure value when not affected by external forces. The pressure sensors are numbered to obtain sensor numbers; Obtain the sensor number of the pressure sensor and the pressure value sensed by the pressure sensor when the endoscope moves in the natural cavity.

14. The computer-readable storage medium according to claim 13, characterized in that, When the computer program is executed by the processor, it generates pressure feedback corresponding to the control terminal based on the mapping relationship, the pressure direction, and the pressure data, including: When the control terminal controls the endoscope, a movement resistance is applied to the control terminal based on the mapping relationship; wherein the movement resistance is positively correlated with the pressure value in the pressure data; and the direction of the movement resistance is opposite to the direction of the pressure.

15. The computer-readable storage medium according to claim 13, characterized in that, When the computer program is executed by the processor, it generates pressure feedback corresponding to the control terminal based on the mapping relationship, the pressure direction, and the pressure data, including: When the control terminal controls the endoscope, vibration feedback is provided when the control terminal moves based on the mapping relationship; wherein, the vibration feedback includes vibration frequency and vibration intensity; the vibration feedback is positively correlated with the pressure value.

16. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it performs the following steps: Acquire pressure data of the endoscope as it moves in a natural cavity; detect the relationship between the pressure data and a preset threshold condition; when the pressure data meets the threshold condition, acquire the pressure direction corresponding to the pressure data on the endoscope; acquire the mapping relationship between the control direction of the control terminal and the movement direction of the endoscope. Based on the mapping relationship, the pressure direction, and the pressure data, pressure feedback corresponding to the control terminal is generated. When the computer program is executed by the processor, it implements the detection of the relationship between the pressure data and a preset threshold condition. When the pressure data meets the threshold condition, it acquires the pressure direction corresponding to the pressure data on the endoscope, including: Obtain the pressure value from the pressure data and detect the relationship between the pressure value and a preset threshold. When the pressure value is greater than or equal to the threshold, the sensor number in the pressure data is obtained; Based on the sensor number, the position of the pressure sensor on the endoscope is obtained; Based on the position of the pressure sensor on the endoscope, the pressure direction corresponding to the pressure data on the endoscope is determined.

17. The computer program product according to claim 16, characterized in that, The acquisition of pressure data experienced by the endoscope during movement within natural orifices, implemented when the computer program is executed by the processor, includes: The multiple pressure sensors on the endoscope are initialized so that they display the same pressure value when not affected by external forces. The pressure sensors are numbered to obtain sensor numbers; Obtain the sensor number of the pressure sensor and the pressure value sensed by the pressure sensor when the endoscope moves in the natural cavity.

18. The computer program product according to claim 17, characterized in that, When the computer program is executed by the processor, it generates pressure feedback corresponding to the control terminal based on the mapping relationship, the pressure direction, and the pressure data, including: When the control terminal controls the endoscope, a movement resistance is applied to the control terminal based on the mapping relationship; wherein the movement resistance is positively correlated with the pressure value in the pressure data; and the direction of the movement resistance is opposite to the direction of the pressure.

19. The computer program product according to claim 17, characterized in that, When the computer program is executed by the processor, it generates pressure feedback corresponding to the control terminal based on the mapping relationship, the pressure direction, and the pressure data, including: When the control terminal controls the endoscope, vibration feedback is provided when the control terminal moves based on the mapping relationship; wherein, the vibration feedback includes vibration frequency and vibration intensity; the vibration feedback is positively correlated with the pressure value.

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