Surgical robotic endoscope temperature control system and method

Abstract

The present specification relates to the technical field of medical robots, and specifically discloses a surgical robot endoscope temperature control system and method, wherein the system comprises: a heating device arranged at a proximal end heating area of a stab card of a surgical robot, for heating the proximal end heating area; a first temperature sensor for detecting a first temperature signal of the proximal end heating area; a controller connected with the heating device and the first temperature sensor, for acquiring the first temperature signal detected by the first temperature sensor, and controlling the heating device to heat the proximal end heating area according to the first temperature signal, so as to control the temperature of an endoscope lens when the endoscope lens is located in the proximal end heating area; and a sealing device arranged in the stab card, for closing in the case that the first temperature signal does not satisfy a preset condition, so as to prevent the endoscope lens from passing through the stab card into an operation object wound. The above system can effectively control the temperature of the endoscope lens, and ensure that the endoscope does not fog when inserted into the body.

Description

Technical Field

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

[0002] Endoscopes are used for certain cavity examinations and surgeries. Endoscopes can include laparoscopes, hysteroscopes, urethroscopes, etc. The ambient temperature in the operating room is generally kept constant at around 25 degrees Celsius, so the endoscope lens temperature is also around 25 degrees Celsius. However, the patient's internal temperature is generally around 37 degrees Celsius, and the humidity in the abdominal cavity is high due to body fluids, often resulting in fogging of the endoscope lens immediately after insertion.

[0003] Currently, the common method to solve the fogging problem is to wrap the endoscope in hot water before surgery and then heat it. However, soaking in hot water makes the temperature uncontrollable, which may damage the electronic and optical components of the endoscope due to excessive heat, and may also cause burns to tissues inside the body due to excessive heat.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This specification provides an embodiment of a surgical robot endoscope temperature control system and method to solve the problem of the inability to effectively control the temperature of the endoscope lens in the prior art.

[0006] This specification provides an embodiment of a surgical robot endoscope temperature control system, including:

[0007] A heating device is installed in the proximal heating area of ​​the surgical robot's trocar, for heating the proximal heating area;

[0008] A first temperature sensor is disposed in the proximal heating region for detecting a first temperature signal in the proximal heating region;

[0009] A controller, connected to the heating device and the first temperature sensor, is used to acquire a first temperature signal detected by the first temperature sensor and control the heating device to heat the proximal heating area according to the first temperature signal, so as to control the temperature of the endoscope lens when the endoscope lens is located in the proximal heating area.

[0010] A sealing device is provided inside the puncture card to close when the first temperature signal does not meet a preset condition, thereby preventing the endoscope lens from passing through the puncture card and entering the wound of the object being operated on.

[0011] In one embodiment, the heating device includes a heating film disposed on the distal inner wall of the stamp card; or

[0012] The heating device includes a heating wire disposed on the inner wall of the distal end of the stamp card.

[0013] In one embodiment, the surgical robot endoscope temperature control system further includes:

[0014] A second temperature sensor, communicatively connected to the controller, is located in the distal region of the stamp card and is used to detect a second temperature signal of the object being operated on. The controller is also used to acquire the second temperature signal detected by the second temperature sensor and control the heating device to heat the proximal heating region based on the first temperature signal and the second temperature signal.

[0015] In one embodiment, the surgical robot endoscope temperature control system further includes an adapter and a temperature control device;

[0016] The adapter is used to connect the first temperature sensor, the second temperature sensor, and the heating device to the temperature control device; the temperature control device is communicatively connected to the controller.

[0017] The temperature control device is used to receive a first temperature signal detected by the first temperature sensor and a second temperature signal detected by the second temperature sensor, and is also used to amplify and compare the first temperature signal and the second temperature signal to generate a temperature comparison signal, and send the temperature comparison signal to the controller;

[0018] The temperature control device is also used to receive a heating command generated by the controller based on the temperature comparison signal, and to control the heating device to perform heating in response to the heating command.

[0019] In one embodiment, the temperature control device includes: an excitation amplifier circuit, an analog-to-analog converter circuit, a microprocessor, and a heating drive circuit;

[0020] The excitation amplification circuit is used to amplify the first temperature signal and the second temperature signal to obtain the amplified first temperature signal and the second temperature signal; it is also used to send the amplified first temperature signal and the second temperature signal to the analog conversion circuit.

[0021] The analog-to-digital conversion circuit is used to perform analog-to-digital conversion on the amplified first temperature signal and the second temperature signal to obtain the analog-to-digital converted first temperature signal and second temperature signal, and to send the analog-to-digital converted first temperature signal and second temperature signal to the microprocessor.

[0022] The microprocessor is used to compare the first temperature signal and the second temperature signal after analog-to-digital conversion, generate a temperature comparison signal, and send the temperature comparison signal to the controller;

[0023] The microprocessor is also configured to receive a heating command generated by the controller in response to the temperature comparison signal, and output a PWM wave to the heating drive circuit based on the heating command; the heating drive circuit is configured to output current to control the heating device to heat under the control of the PWM wave.

[0024] In one embodiment, the sealing device is disposed at the end of the proximal heating region of the puncture card near the wound of the object being operated on, and is communicatively connected to the controller, for use to prevent or allow the endoscope lens to pass through the puncture card and enter the wound of the object being operated on under the control of the controller.

[0025] In one embodiment, the sealing device includes a sealing sheet, a first electromagnet, and a second electromagnet;

[0026] The sealing sheet is made of permanent magnet material and is located at the end of the proximal heating area of ​​the puncture card near the wound of the patient. When the endoscope lens is inserted into the proximal heating area of ​​the puncture card, the controller controls the first electromagnet and the second electromagnet to be energized and attracted to the sealing sheet to prevent the endoscope lens from being inserted into the wound of the patient. When the endoscope lens has finished heating, the controller controls the first electromagnet to be de-energized, and the sealing sheet is attracted by the second electromagnet, so that the endoscope lens can pass through the puncture card and enter the wound of the patient.

[0027] In one embodiment, the sealing device includes a sealing sheet and a limiting block;

[0028] The sealing sheet is made of permanent magnet material and is located at the end of the proximal heating area of ​​the puncture card near the wound of the object being operated on; the limiting block is made of metal material and is located adjacent to the sealing sheet; when the endoscope lens is heated, the limiting block deflects, so that when the heating is completed, the endoscope lens pushes open the sealing sheet, passes through the puncture card, and enters the wound of the object being operated on, and the sealing sheet is attracted to the inner wall of the puncture card after being pushed open.

[0029] In one embodiment, the controller is further configured to generate an opening command or a sealing command based on the temperature comparison signal, and send the opening command or sealing command to the microprocessor;

[0030] Accordingly, the temperature control device also includes a sealing control circuit; the microprocessor is further configured to receive an opening command or a sealing command generated by the controller based on the temperature comparison signal, and output a PWM wave to the sealing control circuit in response to the opening command or sealing command, so that the sealing control circuit drives the sealing device to open or seal, thereby allowing or preventing the endoscope lens from passing through the puncture card and entering the wound of the object being operated on.

[0031] In one embodiment, the surgical robot endoscope temperature control system further includes:

[0032] A heat insulation device is installed in the wound area of ​​the object being operated on by the puncture card to prevent the heat from the proximal heating area from being transferred to the wound of the object being operated on.

[0033] This specification also provides an embodiment of a method for temperature control of a surgical robot endoscope, including:

[0034] A first temperature signal detected by a first temperature sensor is acquired; the first temperature sensor is disposed in the proximal heating area of ​​the surgical robot's trocar and is used to detect the first temperature signal in the proximal heating area.

[0035] The heating device is controlled to heat the proximal heating area according to the first temperature signal, so as to control the temperature of the endoscope lens; the heating device is disposed in the proximal heating area and is used to heat the endoscope lens when the endoscope lens is located in the proximal heating area;

[0036] If the first temperature signal does not meet the preset conditions, the sealing device is controlled to close to prevent the endoscope lens from passing through the puncture card and entering the wound of the operating object; the sealing device is located inside the puncture card.

[0037] In one embodiment, acquiring a first temperature signal detected by a first temperature sensor includes:

[0038] Upon detecting that the endoscope is connected to the imaging robotic arm of the surgical robot, a position control command is generated to control the endoscope lens to move to the proximal heating area of ​​the puncture card;

[0039] When the endoscope lens is located in the proximal heating area, a first temperature signal detected by the first temperature sensor is acquired.

[0040] In one embodiment, after controlling the heating device to heat the proximal heating region according to the first temperature signal, the method further includes:

[0041] When the first temperature signal meets the preset conditions, the sealing device is controlled to open, so as to allow the endoscope lens to pass through the puncture card and enter the wound of the object being operated on.

[0042] This specification also provides an embodiment of a surgical robot endoscope temperature control device, comprising:

[0043] The acquisition module is used to acquire a first temperature signal detected by a first temperature sensor; the first temperature sensor is set in the proximal heating area of ​​the surgical robot's trocar, and is used to detect the first temperature signal in the proximal heating area;

[0044] The control module is used to control the heating device to heat the proximal heating area according to the first temperature signal, so as to control the temperature of the endoscope lens; the heating device is disposed in the proximal heating area and is used to heat the endoscope lens when the endoscope lens is located in the proximal heating area;

[0045] A closure module is used to control the sealing device to close when the first temperature signal does not meet the preset conditions, so as to prevent the endoscope lens from passing through the puncture card and entering the wound of the operating object; the sealing device is disposed inside the puncture card.

[0046] This specification also provides a medical device, including a processor and a memory for storing processor-executable instructions, wherein the processor executes the instructions to implement the steps of the surgical robot endoscope temperature control method described in any of the above embodiments.

[0047] This specification also provides a computer-readable storage medium storing computer instructions that, when executed, implement the steps of the surgical robot endoscope temperature control method described in any of the above embodiments.

[0048] This specification provides an embodiment of a surgical robot endoscope temperature control system, including a heating device, a first temperature sensor, a controller, and a sealing device. The heating device is disposed in the proximal heating region of the trocar of the surgical robot, and is used to heat the proximal heating region, which is the area of ​​the trocar away from the wound of the operating object. The first temperature sensor is disposed in the proximal heating region and is used to detect a first temperature signal of the proximal heating region. The controller is connected to the heating device and the first temperature sensor, and is used to acquire the first temperature signal detected by the first temperature sensor, and control the heating device to heat the proximal heating region according to the first temperature signal, so as to control the temperature of the endoscope lens when the endoscope lens is located in the proximal heating region. The sealing device is disposed in the trocar and is used to close when the first temperature signal does not meet a preset condition, so as to prevent the endoscope lens from passing through the trocar and entering the wound of the operating object. In the above solution, a heating device is installed on the robot trocar. When the endoscope enters the trocar, the heating device can be controlled by the controller to heat the endoscope. In addition, a first temperature sensor is installed inside the trocar to detect the temperature of the endoscope. The controller monitors the temperature based on the first temperature signal detected by the first temperature sensor, realizing a closed-loop control system for temperature monitoring, which can improve the accuracy of temperature control. Moreover, the sealing device closes when the first temperature signal does not meet the preset conditions, which can prevent the endoscope lens from passing through the trocar and entering the wound of the patient when the temperature does not meet the requirements. This can further ensure that the endoscope does not fog up when inserted into the human body, and will not damage the endoscope or burn the tissue of the patient due to excessive temperature. Attached Figure Description

[0049] The accompanying drawings, which are included to provide a further understanding of this specification and form part of it, do not constitute a limitation thereof. In the drawings:

[0050] Figure 1 A schematic diagram illustrating the application scenario of the surgical robot endoscope temperature control system in the embodiments of this specification is shown;

[0051] Figure 2 A schematic diagram of a patient surgical platform according to one embodiment of this specification is shown;

[0052] Figure 3 A schematic diagram of the stamp card installation in one embodiment of this specification is shown;

[0053] Figure 4 A schematic diagram of the surgical robot endoscope temperature control system according to one embodiment of this specification is shown;

[0054] Figure 5This specification shows a schematic diagram of the arrangement of the first temperature sensor and the heating device on the stamp card in one embodiment of the present specification;

[0055] Figure 6 This specification shows a schematic diagram of the arrangement of the first temperature sensor and the heating device on the stamp card in one embodiment of the present specification;

[0056] Figure 7 A schematic diagram of the arrangement of the temperature control device in one embodiment of this specification is shown;

[0057] Figure 8 A schematic diagram of the sealing device according to one embodiment of this specification is shown;

[0058] Figure 9 A schematic diagram of the sealing device according to one embodiment of this specification is shown;

[0059] Figure 10 A schematic diagram of the temperature control device in one embodiment of this specification is shown;

[0060] Figure 11 A circuit diagram of a temperature control device according to one embodiment of this specification is shown;

[0061] Figure 12 A circuit diagram of a temperature control device according to one embodiment of this specification is shown;

[0062] Figure 13 This specification shows a temperature change curve under the control of a temperature control device in one embodiment of the present specification;

[0063] Figure 14 A flowchart of a surgical robot endoscope temperature control method according to one embodiment of this specification is shown;

[0064] Figure 15 A surgical flowchart of a surgical robot endoscopic temperature control method according to one embodiment of this specification is shown;

[0065] Figure 16 A flowchart illustrating the controller controlling the height of the endoscope in one embodiment of this specification is shown;

[0066] Figure 17 A flowchart of a surgical robot endoscope temperature control method according to one embodiment of this specification is shown;

[0067] Figure 18 This specification shows an interactive diagram of the card and endoscope connected in one embodiment;

[0068] Figure 19 This specification shows an interactive diagram of the heating process upon completion in one embodiment.

[0069] Figure 20 A structural block diagram of a surgical robot endoscope temperature control device according to one embodiment of this specification is shown;

[0070] Figure 21 A schematic diagram of the structure of a medical device according to one embodiment of this specification is shown. Detailed Implementation

[0071] The principles and spirit of this specification will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are given merely to enable those skilled in the art to better understand and implement this specification, and are not intended to limit the scope of this specification in any way. Rather, these embodiments are provided to make this disclosure more thorough and complete, and to fully convey the scope of this disclosure to those skilled in the art.

[0072] Those skilled in the art will recognize that the embodiments described in this specification can be implemented as a system, apparatus, method, or computer program product. Therefore, the disclosure of this specification can be specifically implemented in the following forms: entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0073] This specification provides an embodiment of a surgical robot endoscope temperature control system. Figure 1 This diagram illustrates an application scenario of the surgical robot endoscope temperature control system described in this embodiment. The surgical robot endoscope temperature control system in this embodiment can be applied to surgical robot systems such as laparoscopic surgery systems, hysteroscopic surgery systems, and urethroscopic surgery systems. Figure 1 The laparoscopic surgical system will be used as an example for explanation. Figure 1 As shown, a laparoscopic surgical system may include: an instrument table 10, a physician control platform 20, auxiliary equipment 30, an operating table 40, an image platform 50, and a patient surgical platform 60. A medical surgical robot may include a physician control platform 20, a patient surgical platform 60, and an image processing platform 50.

[0074] The patient surgical platform 60 may include an instrument arm, a camera arm, and a movable trolley. The patient surgical platform 60 acts as the slave end, and a tamper is used to connect the robotic arm to the patient. Instruments and endoscopes are inserted into the abdominal cavity via the tamper. The physician controls the instruments on the patient surgical platform 60 through the physician control platform 20 to move the instruments into the target area for lesion removal. The instruments on the patient surgical platform 60 can move synchronously with the physician's hands, allowing for preoperative movement of the entire machine and intraoperative positioning adjustments.

[0075] Please refer to Figure 2 This diagram illustrates a scenario of a patient surgical platform as described in an embodiment of this specification. Figure 2As shown, the patient surgical platform may include: a movable trolley 61, an adjusting arm 62, a tool arm 63, a trocar 64, and an operating table 65. Figure 2 As shown, the trocar 64 is positioned at the end of the robotic arm on the patient's surgical platform. Instruments and endoscopes are inserted into the abdomen via the trocar 64 for surgical procedures.

[0076] Please continue to refer to this. Figure 3 The diagram illustrates the installation of the stamp card in an embodiment of this specification. Figure 3 As shown, the trocars can be divided into two categories: a standard trocar 641 and a temperature-controlled trocar 642. The surgical arm can enter the abdominal cavity through the standard trocar 641 to perform surgery, while the endoscope can enter the abdominal cavity through the temperature-controlled trocar 642 to acquire images. During surgery, the patient 66 can lie on the operating table 65, and both the standard trocar 641 and the temperature-controlled trocar 642 will contact the patient 66.

[0077] Figure 4 A schematic diagram of the surgical robot endoscope temperature control system according to one embodiment of this specification is shown. Figure 4 As shown, the surgical robot endoscope temperature control system 100 includes a heating device 101, a first temperature sensor 102, a controller 103, and a sealing device 108.

[0078] The heating device 101 can be located in the proximal heating region of the trocar 64 of the surgical robot. The heating device 101 can be used to heat the proximal heating region. The proximal heating region can be the area of ​​the trocar 64 near the robotic arm, or, in other words, the area of ​​the trocar 64 away from the surgical wound. The surgical object refers to the object to which the surgical robot performs the surgical operation, which can be a patient.

[0079] In some embodiments of this specification, the heating device may include a heating film disposed on the distal inner wall of the stamp card. Please refer to... Figure 5 This diagram illustrates the arrangement of the first temperature sensor and the heating device on the stamp card in an embodiment of this specification. Figure 5 As shown, the heating device 101 is installed on the top of the card for heating. In this embodiment, a graphene heating film can be used for heating. The graphene heating film has the advantages of fast heating, energy saving and environmental protection, and uniform temperature distribution.

[0080] In some embodiments of this specification, the heating device includes a heating wire disposed on the distal inner wall of the stamp card. Please refer to... Figure 6 This diagram illustrates the arrangement of the first temperature sensor and the heating device on the stamp card in an embodiment of this specification. Figure 6As shown, the heating device 101 is installed on the top of the stamp card for heating. This embodiment uses a conventional resistance heating wire for heating. The heating wire and the heating film differ mainly in materials and laying methods, thus having different characteristics. The heating wire has advantages such as simple processing, low cost, and the ability to be laid according to different shapes and structures.

[0081] Please continue to refer to this. Figure 4 A first temperature sensor 102 can be disposed in the proximal heating region to detect a first temperature signal in the proximal heating region. A controller 103 can be connected to the heating device 101 and the first temperature sensor 102. The controller 103 can acquire the first temperature signal detected by the first temperature sensor 102. The controller 103 can control the heating device 101 to heat the proximal heating region based on the first temperature signal, thereby controlling the temperature of the endoscope lens when the endoscope lens is located within the proximal heating region.

[0082] The controller 103 can acquire the first temperature signal detected by the first temperature sensor 102 in real time. In one embodiment, the controller 103 can be the main controller in a surgical robot. The controller 103 can control the heating device 101 to heat the endoscope lens in real time until the detected first temperature signal meets a preset condition. In one embodiment, the abdominal cavity temperature of the patient can be used as a reference, and heating can be stopped when the temperature value corresponding to the first temperature signal is close to the abdominal cavity temperature.

[0083] The sealing device 108 can be disposed within the stamp card. For example... Figure 4 As shown, the sealing device 108 can be positioned between the first temperature sensor and the wound of the patient. The sealing device 108 can be used to close when the first temperature signal does not meet a preset condition, thereby preventing the endoscope lens from passing through the trocar and entering the wound of the patient. In one embodiment, if the first temperature signal indicates that the temperature value is not within a preset range, the sealing device can close to prevent the endoscope lens from passing through the trocar and entering the wound of the patient. In another embodiment, if the first temperature signal indicates that the temperature value is higher than a first preset temperature or lower than a second preset temperature, the sealing device can close to prevent the endoscope from passing through the trocar and entering the wound of the patient.

[0084] In the above embodiments, a heating device is installed on the robot trocar. When the endoscope enters the trocar, the heating device can be controlled by the controller to heat the endoscope. In addition, a first temperature sensor is installed inside the trocar to detect the temperature of the endoscope. The controller monitors the temperature based on the first temperature signal detected by the first temperature sensor, realizing a closed-loop control system for temperature monitoring, which can improve the accuracy of temperature control. Furthermore, the sealing device closes when the first temperature signal does not meet the preset conditions, which can prevent the endoscope lens from passing through the trocar and entering the wound of the patient. This can further ensure that the endoscope does not fog up when inserted into the human body, and will not damage the endoscope or burn the tissue of the patient due to excessive temperature.

[0085] Please continue to refer to this. Figure 4 In some embodiments of this specification, the surgical robot endoscope temperature control system may further include a second temperature sensor 104. The second temperature sensor 104 is communicatively connected to the controller 103 and is located in the distal region of the trocar 64. The second temperature sensor 104 can be used to detect a second temperature signal of the surgical object. The distal region is the area of ​​the trocar 64 away from the robotic arm, or in other words, the area of ​​the trocar 64 close to the wound of the surgical object. In one embodiment, the second temperature sensor may be located in the region of the trocar located inside the wound of the surgical object, i.e., inside the tissue of the surgical object. The controller 103 can also be used to acquire the second temperature signal detected by the second temperature sensor 104 and control the heating device 101 to heat the proximal heating region based on the first temperature signal and the second temperature signal. That is, closed-loop temperature control is achieved based on a preset temperature difference and the actual temperature difference value collected by the sensor. In this embodiment, a second temperature sensor is set at the proximal end of the puncture card to detect the temperature signal of the wound of the operating object. This allows the controller to perform temperature control based on the temperature signal of the wound of the operating object and the temperature signal of the endoscope lens, which can further improve the accuracy of temperature control and prevent the endoscope lens from fogging up after entering the patient's wound.

[0086] Please continue to refer to this. Figure 4 In some embodiments of this specification, the surgical robot endoscope temperature control system may further include an adapter 105 and a temperature control device 106. For example... Figure 4 As shown, the adapter 105 can be used to connect the first temperature sensor 102, the second temperature sensor 104, and the heating device 101 to the temperature control device 106. This connection can include structural connections, electrical connections, and communication connections. The temperature control device 106 can communicate with the controller 103.

[0087] The temperature control device 106 can be used to receive a first temperature signal detected by the first temperature sensor 102 and a second temperature signal detected by the second temperature sensor 104. The temperature control device 106 can also amplify and compare the first and second temperature signals to generate a temperature comparison signal, and send the temperature comparison signal to the controller 103. The controller 103 can generate a heating command based on the temperature comparison signal and send the heating command to the temperature control device 106.

[0088] The temperature control device 106 can also be used to receive a heating command generated by the controller 103 based on the temperature comparison signal, and control the heating device 101 to perform heating in response to the heating command.

[0089] The adapter 105 can be used for connection to the robot, including structural and electrical connections. The electrical connections include power supply for the heating device and signals from two sensors. The heating device 101, the first temperature sensor 102, and the second temperature sensor 104 are simultaneously connected to the temperature control device 106 on the robot arm via the adapter 105 and communicate with the robot's controller 103.

[0090] Please refer to Figure 7 This diagram illustrates the arrangement of the temperature control device in an embodiment of this specification. Figure 7 As shown, the temperature control device 106 can be arranged inside the robotic arm, connected to the temperature control card 64 via a cable, and connected to the robot's controller 103 via a communication cable. Figure 7 The left side shows a partial enlarged view of the temperature control device 106. In this embodiment, by inserting the endoscope into the corresponding robotic arm, power is supplied to the heating device 101 of the corresponding robotic arm's tamper 64 to heat it, thereby achieving temperature feedback, and the controller 103 implements closed-loop temperature control.

[0091] Please continue to refer to this. Figure 4 In some embodiments of this specification, the sealing device 108 may be disposed at the end of the proximal heating region of the trocar 64 near the wound of the patient being treated, and is communicatively connected to the controller 103. The sealing device 108 can be used, under the control of the controller 103, to prevent or allow the endoscope lens to pass through the trocar 64 and enter the wound of the patient being treated. By providing a sealing device, the endoscope lens can be prevented from entering the wound before being heated to the temperature of the wound, thereby preventing fogging.

[0092] In one embodiment, when the temperature value corresponding to the first temperature signal is within a preset temperature range, the controller 103 controls the sealing device 108 to open, allowing the endoscope lens to pass through the sealing device 108 and then through the puncture card to enter the wound. When the temperature value corresponding to the first temperature signal is not within the preset temperature range, the controller 103 controls the sealing device 108 to close, preventing the endoscope lens from passing through the sealing device 108.

[0093] In another embodiment, if the difference between the temperature value corresponding to the first temperature signal and the temperature value corresponding to the second temperature signal is within a preset range, the controller 103 controls the sealing device 108 to open, allowing the endoscope lens to pass through the sealing device 108 and then through the puncture card to enter the wound. If the difference between the temperature value corresponding to the first temperature signal and the temperature value corresponding to the second temperature signal is not within the preset temperature range, the controller 103 controls the sealing device 108 to close, preventing the endoscope lens from passing through the sealing device 108.

[0094] After the sealing device is opened to allow the endoscope lens to pass through it, the sealing device can also provide an airtight seal for the endoscope lens to perform endoscopic surgical procedures.

[0095] Please refer to Figure 8 The diagram shows a schematic representation of the sealing device in an embodiment of this specification. Figure 8 As shown, in some embodiments of this specification, the sealing device includes a sealing sheet 183, a first electromagnet 181, and a second electromagnet 182.

[0096] The sealing plate 183, made of permanent magnet material, is disposed at the end of the proximal heating region of the puncture card 64 near the wound of the patient. When the endoscope lens is inserted into the proximal heating region of the puncture card, the controller energizes the first electromagnet 181 and the second electromagnet 182, causing them to engage with the sealing plate 183 to prevent the endoscope lens from being inserted into the wound. When the endoscope lens has finished heating, the controller 103 de-energizes the first electromagnet 181, and the sealing plate 183 is attracted by the second electromagnet 182, allowing the endoscope lens to pass through the puncture card 64 and enter the wound of the patient.

[0097] Please refer to Figure 9 The diagram shows a schematic representation of the sealing device in an embodiment of this specification. Figure 9 As shown, in some embodiments of this specification, the sealing device includes a sealing sheet 183 and a limiting block 184.

[0098] The sealing strip 183 is made of permanent magnet material and is disposed at the end of the proximal heating area of ​​the puncture card near the wound of the object being operated on. The limiting block 184 is made of metal material and is disposed adjacent to the sealing strip 183. Figure 9 The diagram shows the structure of the limiting block. When the heating device heats up, the temperature rises, and due to the difference in the coefficients of thermal expansion of different metals, the limiting block 184 deflects.

[0099] When the endoscope lens is heated, the limiting block 184 deflects, causing the endoscope lens to push open the sealing sheet 183 and pass through the puncture card to enter the wound of the operating object when the heating is completed. After the sealing sheet 183 is pushed open, it is adsorbed to the inner wall of the puncture card 64.

[0100] Please refer to Figure 10 The diagram shows a schematic representation of the temperature control device in an embodiment of this specification. Figure 10 As shown, in some embodiments of this specification, the temperature control device may include: an excitation amplifier circuit, an analog-to-analog converter circuit, a microprocessor (MCU), and a heating drive circuit.

[0101] The excitation amplification circuit can be used to amplify the first temperature signal and the second temperature signal to obtain amplified first temperature signal and second temperature signal. The excitation amplification circuit can also be used to send the amplified first temperature signal and second temperature signal to the analog conversion circuit.

[0102] The analog-to-digital conversion circuit can be used to perform analog-to-digital conversion on the amplified first temperature signal and the second temperature signal to obtain the analog-to-digital converted first temperature signal and the second temperature signal, and send the analog-to-digital converted first temperature signal and the second temperature signal to the microprocessor.

[0103] The microprocessor can compare the first and second temperature signals after analog-to-digital conversion to generate a temperature comparison signal, and send the temperature comparison signal to the controller. The microprocessor can also receive a heating command generated by the controller in response to the temperature comparison signal, and output a PWM wave to the heating drive circuit based on the heating command. The heating drive circuit outputs current to control the heating device under the control of the PWM wave.

[0104] In some embodiments of this specification, the controller may also be used to generate an opening command or a sealing command based on the temperature comparison signal, and send the opening command or sealing command to the microprocessor.

[0105] Please continue to refer to this. Figure 10The temperature control device may further include a sealing control circuit. The microprocessor may also receive an opening command or a sealing command generated by the controller based on the temperature comparison signal. In response to the opening command or sealing command, the microprocessor may output a PWM wave to the sealing control circuit, causing the sealing control circuit to drive the sealing device to open or close, thereby allowing or preventing the endoscope lens from passing through the puncture card into the wound of the object being operated on.

[0106] Please refer to Figure 11 The diagram shows a circuit diagram of the temperature control device in an embodiment of this specification. Figure 11 As shown, the first and second temperature sensors, after being amplified and processed by a power supply, send the signals to an ADC for analog-to-digital conversion before reaching the MCU. The MCU compares the signals from the two sensors, processes them, and transmits the processed signals to the host computer via a communication chip. Upon receiving a heating command from the host computer, the temperature control device outputs a PWM wave to control the drive circuit, which in turn outputs a stable current to control the heating device. The control can adjust the duty cycle of the PWM wave in real time based on the temperature difference between the two sensors, thereby controlling the heating speed and achieving constant temperature. The sealing control circuit can use PWM control with current feedback. The sealing control circuit is divided into two channels, controlling the first and second electromagnets respectively. When the MCU detects that the temperature difference between the two temperature sensors is within a small range within a certain time, it outputs a heating completion signal to the controller. The two temperature sensors can also trigger a temperature alarm; when the temperature of the card is too high, an over-temperature alarm signal is sent to the controller.

[0107] Please refer to Figure 12 This diagram illustrates the operational flow of the temperature control device as described in the embodiments of this specification. Figure 12 As shown, the temperature control device can detect whether the tamper and endoscope are connected. Once the endoscope is detected as connected to the robotic arm, it begins collecting temperature data from both sensors. Heating is initiated when the temperature of the first sensor is less than the temperature of the second sensor; heating is stopped when the temperature of the first sensor becomes greater than or equal to the temperature of the second sensor after a period of heating. The temperature control device can upload this information to the controller. Before the surgery begins, if the temperature of the first sensor is less than the temperature of the second sensor, heating is restarted to achieve a constant temperature.

[0108] Please refer to Figure 13 The diagram illustrates the temperature change curves under the control of the temperature control device in the embodiments of this specification. Figure 13As shown, when the difference between the temperature values ​​from the second and first temperature sensors exceeds a predetermined value, the microprocessor outputs a command to start the heater. When the temperature difference between the first and second temperature sensor values ​​is less than the predetermined value, the microprocessor outputs a command to shut down the heating device. Ultimately, thermal equilibrium is reached, achieving a constant temperature.

[0109] Please continue to refer to this. Figure 4 In some embodiments of this specification, the surgical robot endoscopic temperature control system may further include a heat insulation device 107. The heat insulation device 107 may be disposed in the surgical wound area of ​​the trocar 64 to prevent heat transfer from the proximal heating area to the surgical wound. In this embodiment, the heating device avoids the wound area and the abdominal cavity, and the wound area is isolated using heat insulation material to prevent tissue burns and scab formation due to high temperatures.

[0110] This specification also provides a method for temperature control of surgical robot endoscopes in its embodiments. Figure 14 A flowchart of a surgical robot endoscopic temperature control method according to one embodiment of this specification is shown. While this specification provides method operation steps or apparatus structures as illustrated in the following embodiments or figures, more or fewer operation steps or module units may be included in the method or apparatus based on conventional or non-inventive effort. In steps or structures where there is no logically necessary causal relationship, the execution order of these steps or the module structure of the apparatus is not limited to the execution order or module structure described in the embodiments and figures of this specification. When the method or module structure is applied in a practical device or end product, it can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed processing environment) according to the method or module structure shown in the embodiments or figures.

[0111] Specifically, such as Figure 14 As shown, the surgical robot endoscope temperature control method provided in one embodiment of this specification may include the following steps:

[0112] Step S141: Obtain the first temperature signal detected by the first temperature sensor; the first temperature sensor is set in the proximal heating area of ​​the surgical robot's trocar, and is used to detect the first temperature signal of the proximal heating area.

[0113] The methods described in the embodiments of this specification can be applied to the controller in the surgical robot endoscope temperature control system of any of the above embodiments. The controller can acquire a first temperature signal detected by a first temperature sensor. The first temperature sensor can be located in the proximal heating region of the surgical robot's trocar. The first temperature sensor can be used to detect the first temperature signal in the proximal heating region. The proximal heating region can be the area of ​​the trocar near the robotic arm.

[0114] Step S142: The heating device is controlled to heat the proximal heating area according to the first temperature signal in order to control the temperature of the endoscope lens; the heating device is disposed in the proximal heating area and is used to heat the endoscope lens when the endoscope lens is located in the proximal heating area.

[0115] The controller can control the heating device to heat the proximal heating area based on the first temperature signal, thereby controlling the temperature of the endoscope lens. The heating device can be located in the proximal heating area to heat the endoscope lens when it is located within the proximal heating area.

[0116] Step S143: If the first temperature signal does not meet the preset conditions, control the sealing device to close to prevent the endoscope lens from passing through the puncture card and entering the wound of the operating object; the sealing device is disposed inside the puncture card.

[0117] The controller can determine whether the first temperature signal meets preset conditions. In one embodiment, if the temperature value corresponding to the first temperature signal is within a preset temperature range, the preset conditions are determined to be met; otherwise, the preset conditions are not met. In another embodiment, if the temperature value corresponding to the first temperature signal is greater than or equal to a preset temperature, the preset conditions are determined to be met.

[0118] When the first temperature signal meets a preset condition, the controller can control the sealing device to close, preventing the endoscope lens from passing through the trocar and entering the wound of the patient. The sealing device is disposed within the trocar. In one embodiment, the sealing device may be disposed between the first temperature sensor and the wound of the patient. In another embodiment, the sealing device may be disposed at the end of the proximal heating region of the trocar near the wound of the patient.

[0119] In some embodiments of this specification, acquiring the first temperature signal detected by the first temperature sensor may include: generating a position control command when it is detected that the endoscope is connected to the imaging robotic arm of the surgical robot, to control the endoscope lens to move to the proximal heating area of ​​the puncture card; and acquiring the first temperature signal detected by the first temperature sensor when the endoscope lens is located in the proximal heating area. In this way, when it is detected that the endoscope is connected to the imaging robotic arm, the endoscope lens can be controlled to move to the proximal heating area of ​​the puncture card for heating.

[0120] In some embodiments of this specification, after controlling the heating device to heat the proximal heating region according to the first temperature signal, the method may further include: controlling the sealing device to open when the first temperature signal meets a preset condition, so as to allow the endoscope lens to pass through the trocar and enter the wound of the operating object; the sealing device is disposed at the end of the proximal heating region of the trocar near the wound of the operating object. Through the above method, the sealing device can be controlled to open or close, thereby allowing or preventing the endoscope lens from entering the wound of the operating object.

[0121] Please refer to Figure 15 The diagram illustrates the surgical flowchart of the surgical robot endoscopic temperature control method according to embodiments of this specification. Figure 15 As shown, after preoperative preparation, an abdominal incision is made. After the incision, a temperature-adjustable trocar is connected, and the endoscope and the trocar are mounted on the same robotic arm. Once the endoscope is connected to the robotic arm, the controller adjusts the endoscope lens height to be positioned within the heating zone of the temperature-adjustable trocar for heating, thus preventing fogging. After heating is complete, the electromagnet is de-energized, opening the sealing plate and allowing the endoscope lens to enter, after which the surgery begins.

[0122] Please refer to Figure 16 This document illustrates a flowchart of a controller adjusting the height of an endoscope in an embodiment of this specification. Figure 16 As shown, when the controller detects that the temperature adjustment stamp is connected to an arm of the endoscope, the controller controls the corresponding joint motor of the corresponding arm to control the height of the endoscope, so that the endoscope lens is in the heating area of ​​the temperature adjustment stamp, and outputs a heating command to the temperature control device to start heating.

[0123] Please refer to Figure 17 A flowchart of the surgical robot endoscope temperature control method in the embodiments of this specification is shown. Figure 17 As shown, after the temperature-adjusting stamp and the robotic arm are connected, the endoscope is mounted on the robotic arm. The surgical robot's controller controls the corresponding joint motors of the robotic arm to control the endoscope height, positioning the endoscope lens within the heating area of ​​the temperature-adjusting stamp. It also outputs a heating command to the temperature control device. The temperature acquisition module compares the temperature difference between temperature sensor 1 and temperature sensor 2, outputting current to the heating device for heating. When heating is complete, the electromagnet controls the sealing plate to open, and the temperature control device outputs feedback to the robot's main controller via network communication. The main controller then notifies the user that heating is complete and surgery can proceed.

[0124] Please refer to Figure 18 This diagram illustrates the interaction between the card and the endoscope after connection in an embodiment of this specification. Figure 18As shown in some embodiments of this specification, the method may further include: after the temperature control card and the endoscope are connected, the controller controls the image platform display to prompt the user through the UI interface: the endoscope has been connected. After the robot controller controls the height of the endoscope, it controls the heating to start and controls the image platform display to prompt the user through the UI interface: heating of the endoscope has started.

[0125] Please refer to Figure 19 This diagram illustrates the interaction when heating is complete in an embodiment of this specification. Figure 19 As shown in some embodiments of this specification, the method may further include: when heating is complete, the controller controls the image platform display to prompt the user through a UI interface: the endoscope heating is complete and surgery can proceed.

[0126] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. For details, please refer to the foregoing descriptions of the relevant processing embodiments; they will not be repeated here.

[0127] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0128] Based on the same inventive concept, this specification also provides a surgical robot endoscope temperature control device, as described in the following embodiments. Since the principle behind the problem-solving of the surgical robot endoscope temperature control device is similar to that of the surgical robot endoscope temperature control method, the implementation of the surgical robot endoscope temperature control device can refer to the implementation of the surgical robot endoscope temperature control method, and repeated details will not be elaborated further. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated. Figure 20 This is a structural block diagram of a surgical robot endoscope temperature control device according to an embodiment of this specification, such as... Figure 20 As shown, it includes: acquisition module 201, control module 202 and closure module 203. The structure is described below.

[0129] The acquisition module 201 is used to acquire the first temperature signal detected by the first temperature sensor; the first temperature sensor is set in the proximal heating area of ​​the surgical robot's trocar, and is used to detect the first temperature signal in the proximal heating area.

[0130] The control module 202 is used to control the heating device to heat the proximal heating area according to the first temperature signal, so as to control the temperature of the endoscope lens; the heating device is disposed in the proximal heating area and is used to heat the endoscope lens when the endoscope lens is located in the proximal heating area.

[0131] The closing module 203 is used to control the sealing device to close when the first temperature signal does not meet the preset conditions, so as to prevent the endoscope lens from passing through the puncture card and entering the wound of the operating object; the sealing device is disposed inside the puncture card.

[0132] In some embodiments of this specification, the acquisition module may be specifically used for:

[0133] Upon detecting that the endoscope is connected to the imaging robotic arm of the surgical robot, a position control command is generated to control the endoscope lens to move to the proximal heating area of ​​the puncture card;

[0134] When the endoscope lens is located in the proximal heating area, a first temperature signal detected by the first temperature sensor is acquired.

[0135] In some embodiments of this specification, the device may further include an opening module, which may be specifically used for:

[0136] After the heating device is controlled to heat the proximal heating area according to the first temperature signal, the sealing device is controlled to open when the first temperature signal meets the preset conditions, so as to allow the endoscope lens to pass through the puncture card and enter the wound of the operating object; the sealing device is located at the end of the proximal heating area of ​​the puncture card near the wound of the operating object.

[0137] As can be seen from the above description, the embodiments of this specification achieve the following technical effects: A heating device is set on the robot trocar. When the endoscope enters the trocar, the heating device can be controlled by the controller to heat the endoscope. In addition, a first temperature sensor is also set in the trocar to detect the temperature of the endoscope. The controller monitors the temperature based on the first temperature signal detected by the first temperature sensor, realizing a closed-loop control for temperature monitoring, which can improve the accuracy of temperature control. Moreover, the sealing device closes when the first temperature signal does not meet the preset conditions, which can prevent the endoscope lens from passing through the trocar and entering the wound of the operating object. This can further ensure that the endoscope does not fog up when inserted into the human body, and will not damage the endoscope or burn the tissue of the operating object due to excessive temperature.

[0138] This specification also provides a medical device, which can be found in the following description. Figure 21 The diagram shown illustrates the medical device structure based on the surgical robot endoscopic temperature control method provided in the embodiments of this specification. Specifically, the medical device may include an input device 211, a processor 212, and a memory 213. The memory 213 stores processor-executable instructions. When the processor 212 executes the instructions, it implements the steps of the surgical robot endoscopic temperature control method described in any of the above embodiments.

[0139] In this embodiment, the input device can specifically be one of the main devices for information exchange between the user and the computer system. The input device may include a keyboard, mouse, camera, scanner, light pen, handwriting input tablet, voice input device, etc.; the input device is used to input raw data and programs for processing these data into the computer. The input device can also receive data transmitted from other modules, units, and devices. The processor can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. The memory can specifically be a memory device used to store information in modern information technology. The memory can include multiple layers; in digital systems, anything that can store binary data can be considered memory; in integrated circuits, a circuit without physical form but with storage function is also called memory, such as RAM, FIFO, etc.; in a system, a storage device with physical form is also called memory, such as a memory stick, TF card, etc.

[0140] The specific functions and effects of the medical device in this embodiment can be explained by comparison with other embodiments, and will not be repeated here.

[0141] This specification also provides a computer storage medium based on a surgical robot endoscope temperature control method in its embodiments. The computer storage medium stores computer program instructions that, when executed, implement the steps of the surgical robot endoscope temperature control method described in any of the above embodiments.

[0142] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0143] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer storage medium can be explained by comparison with other embodiments, and will not be repeated here.

[0144] Obviously, those skilled in the art will understand that the modules or steps of the embodiments described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of this specification are not limited to any particular combination of hardware and software.

[0145] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this specification should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents.

[0146] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to the embodiments described herein by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A surgical robot endoscope temperature control system, characterized in that, include: A heating device is installed in the proximal heating area of ​​the trocar of the surgical robot for heating the proximal heating area when the endoscope enters the trocar; A first temperature sensor is disposed in the proximal heating region for detecting a first temperature signal in the proximal heating region; A second temperature sensor is disposed in the distal region of the stamp card to detect a second temperature signal of the object being operated on. The controller is connected to the heating device, the first temperature sensor, and the second temperature sensor, and is used to acquire the first temperature signal detected by the first temperature sensor and the second temperature signal detected by the second temperature sensor, and control the heating device to heat the proximal heating area according to the difference between the first temperature signal and the second temperature signal, so as to control the temperature of the endoscope lens when the endoscope lens is located in the proximal heating area. A sealing device is disposed within the puncture card and communicates with the controller. The controller is further configured to control the sealing device to close when the difference between the first temperature signal and the second temperature signal exceeds a preset temperature difference range, so as to prevent the endoscope lens from passing through the puncture card and entering the wound of the operating object. When the difference between the first temperature signal and the second temperature signal is within the preset temperature difference range, the controller controls the sealing device to open, so as to allow the endoscope lens to pass through the puncture card and enter the wound of the operating object.

2. The surgical robot endoscope temperature control system according to claim 1, characterized in that, It also includes an adapter and a temperature control device; The adapter is used to connect the first temperature sensor, the second temperature sensor, and the heating device to the temperature control device; the temperature control device is communicatively connected to the controller. The temperature control device is used to receive a first temperature signal detected by the first temperature sensor and a second temperature signal detected by the second temperature sensor, and is also used to amplify and compare the first temperature signal and the second temperature signal to generate a temperature comparison signal, and send the temperature comparison signal to the controller; The temperature control device is also used to receive a heating command generated by the controller based on the temperature comparison signal, and to control the heating device to perform heating in response to the heating command.

3. The surgical robot endoscope temperature control system according to claim 1, characterized in that, The sealing device is located at the end of the proximal heating area of ​​the puncture card, near the wound of the object being operated on.

4. The surgical robot endoscope temperature control system according to claim 3, characterized in that, The sealing device includes a sealing sheet, a first electromagnet, and a second electromagnet. The sealing sheet is made of permanent magnet material and is disposed at the end of the proximal heating area of ​​the puncture card near the wound of the patient. When the endoscope lens is inserted into the proximal heating area of ​​the puncture card, the controller controls the first electromagnet and the second electromagnet to be energized and attracted to the sealing sheet to prevent the endoscope lens from being inserted into the wound of the patient. When the endoscope lens has finished heating, the controller controls the first electromagnet to be de-energized, and the sealing sheet is attracted by the second electromagnet, so that the endoscope lens can pass through the puncture card and enter the wound of the patient.

5. The surgical robot endoscope temperature control system according to claim 3, characterized in that, The sealing device includes a sealing sheet and a limiting block; The sealing sheet is made of permanent magnet material and is located at the end of the proximal heating area of ​​the puncture card near the wound of the object being operated on; the limiting block is made of metal material and is located adjacent to the sealing sheet; when the endoscope lens is heated, the limiting block deflects, so that when the heating is completed, the endoscope lens pushes open the sealing sheet, passes through the puncture card, and enters the wound of the object being operated on, and the sealing sheet is attracted to the inner wall of the puncture card after being pushed open.

6. The surgical robot endoscope temperature control system according to claim 1, characterized in that, Also includes: A heat insulation device is installed in the wound area of ​​the object being operated on by the puncture card to prevent the heat from the proximal heating area from being transferred to the wound of the object being operated on.

7. A method for temperature control of a surgical robot endoscope, characterized in that, include: The system acquires a first temperature signal detected by a first temperature sensor and a second temperature signal detected by a second temperature sensor. The first temperature sensor is located in the proximal heating region of the surgical robot's trocar and is used to detect the first temperature signal in the proximal heating region. The second temperature sensor is located in the distal region of the trocar and is used to detect the second temperature signal of the object being operated on. The heating device is controlled to heat the proximal heating region based on the difference between the first temperature signal and the second temperature signal, so as to control the temperature of the endoscope lens; the heating device is disposed in the proximal heating region and is used to heat the endoscope lens when the endoscope lens is located in the proximal heating region; If the difference between the first temperature signal and the second temperature signal exceeds a preset temperature difference range, the sealing device is controlled to close to prevent the endoscope lens from passing through the puncture card and entering the wound of the operating object. If the difference between the first temperature signal and the second temperature signal is within the preset temperature difference range, the sealing device is controlled to open to allow the endoscope lens to pass through the puncture card and enter the wound of the operating object. The sealing device is disposed inside the puncture card.

8. The surgical robot endoscope temperature control method according to claim 7, characterized in that, Acquiring the first temperature signal detected by the first temperature sensor includes: Upon detecting that the endoscope is connected to the imaging robotic arm of the surgical robot, a position control command is generated to control the endoscope lens to move to the proximal heating area of ​​the puncture card; When the endoscope lens is located in the proximal heating area, a first temperature signal detected by the first temperature sensor is acquired.

9. A medical device, characterized in that, It includes a processor and a memory for storing processor-executable instructions, wherein the processor, when executing the instructions, implements the steps of the method according to any one of claims 7 to 8.

10. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the steps of the method according to any one of claims 7 to 8.

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