Flexible endoscope configuration method, device, equipment and storage medium

Abstract

The present application discloses a flexible endoscope configuration method, device, equipment and storage medium applied to the field of flexible endoscope control robot control technology. In the method, the automatic control claw is docked with the thumbwheel of the operating part to realize the automatic determination of the type of the flexible endoscope, and after the docking is successful, the position of the thumbwheel motor, the maximum bending angle of the head end and the maximum hysteresis are automatically calibrated to complete the configuration of the flexible endoscope. The method of automatically configuring the flexible endoscope is adopted, and there is no need for manual input of parameters and information, so as to realize the rapid configuration of the flexible endoscope, which is helpful for the rapid use of the flexible endoscope control robot to operate the flexible endoscope, and can also avoid the problem of data deviation caused by manual input of data, improve the accuracy and convenience of the configuration, and improve the accuracy and stability of the flexible endoscope operated by the flexible endoscope control robot.

Description

Technical Field

[0001] The present application relates to the field of flexible endoscope manipulation robot control technology, and specifically to a flexible endoscope configuration method, device, equipment and storage medium. Background Art

[0002] A flexible endoscope is a flexible medical endoscope, usually used for examination and surgery of the respiratory and digestive tracts. The flexible endoscope mainly includes an operating part, an insertion part, and a head. The flexible endoscope requires medical personnel to hold the endoscope body and operate the dial and buttons included in the operating part to control the head located in the human body to achieve examination and treatment.

[0003] With the development of robot technology, a flexible endoscope control robot is produced to assist medical personnel in controlling the flexible endoscope. The flexible endoscope control robot usually includes a console, a robotic arm, a conveying device, an operating device and other structures. Medical personnel install the flexible endoscope on the flexible endoscope control robot and configure the flexible endoscope. Medical personnel control the robotic arm, the conveying device and the operating device and other structures through the console to operate the flexible endoscope and achieve higher precision operation.

[0004] When medical staff configure the flexible endoscope, they need to configure relevant parameters of the flexible endoscope and manually adjust the position of the flexible endoscope relative to the flexible endoscope control robot. The configuration process is relatively cumbersome and the operating cost is high. Summary of the invention

[0005] In view of this, the present application provides a flexible endoscope configuration method, device, equipment and storage medium, which can realize automatic configuration of the flexible endoscope and reduce the operating cost of configuring the flexible endoscope.

[0006] The technical solutions provided by this application are as follows:

[0007] In a first aspect, the present application provides a flexible endoscope configuration method, the method is applied to a flexible endoscope manipulation robot, the flexible endoscope manipulation robot comprises an operating part adapter, a conveying part and a binocular camera, the operating part adapter comprises a paddle motor and a claw, the paddle motor is used to drive the claw to rotate, the claw is used to dock with the operating part paddle of the flexible endoscope, the conveying part is used to control the insertion part of the flexible endoscope, the binocular camera is used to collect a position image of the head end of the flexible endoscope, the method comprises:

[0008] Controlling the thumbwheel motor to rotate until it is determined that the clamping claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope;

[0009] Controlling the conveying portion to clamp the insertion portion of the flexible endoscope to obtain a clamping distance of the conveying portion;

[0010] Determine the diameter range of the flexible endoscope using the clamping distance, and use the target type matching the diameter range as the type of the flexible endoscope;

[0011] Controlling the rotation of the thumbwheel motor so that the thumbwheel of the operating part of the flexible endoscope is respectively at a positive limit position, a negative limit position and a zero position, and determining the corresponding position of the thumbwheel motor, and determining the positive maximum bending angle and the negative maximum bending angle of the head end of the flexible endoscope according to the position image of the head end of the flexible endoscope collected by the binocular camera;

[0012] The rotation of the thumbwheel motor is controlled so that the tip end of the flexible endoscope moves from the position of the maximum positive bending angle through the zero position in a negative direction, and moves from the position of the maximum negative bending angle through the zero position in a positive direction, and the maximum hysteresis of the thumbwheel motor is determined by the position image of the tip end of the flexible endoscope captured by the binocular camera, and the maximum hysteresis is the position difference between the position of the thumbwheel motor when the tip end of the flexible endoscope reaches the zero position and the position of the thumbwheel motor when the tip end of the flexible endoscope starts to move.

[0013] In a possible implementation, the control of the thumbwheel motor to rotate makes the thumbwheel of the operating part of the flexible endoscope respectively in a positive limit position, a negative limit position and a zero position, and determines the corresponding position of the thumbwheel motor, and determines the positive maximum bending angle and the negative maximum bending angle of the head end of the flexible endoscope respectively according to the position image of the head end of the flexible endoscope collected by the binocular camera, including:

[0014] Controlling the rotation of the thumbwheel motor so that the torque of the thumbwheel of the operating part of the flexible endoscope reaches a positive torque, determining the positive motor position of the thumbwheel motor, obtaining a first image of the head end of the flexible endoscope through the binocular camera, and determining the positive maximum bending angle of the head end according to the first image;

[0015] Controlling the rotation of the thumbwheel motor so that the torque of the thumbwheel of the operating portion of the flexible endoscope reaches a negative torque, determining the negative motor position of the thumbwheel motor, obtaining a second image of the head end of the flexible endoscope through the binocular camera, and determining the negative maximum bending angle of the head end according to the second image;

[0016] The thumbwheel motor is controlled to rotate so that the torque of the thumbwheel of the operating part of the flexible endoscope reaches the zero-position torque, and a third image of the head end of the flexible endoscope is captured by the binocular camera. If it is determined according to the third image that the head end is not bent, the zero-position motor position of the thumbwheel motor is determined.

[0017] In a possible implementation, the control of the thumbwheel motor to rotate so that the tip of the flexible endoscope moves from the position of the maximum positive bending angle through the zero position in the negative direction, and moves from the position of the maximum negative bending angle through the zero position in the positive direction, and the maximum hysteresis of the thumbwheel motor is determined through the position image of the tip of the flexible endoscope captured by the binocular camera, including:

[0018] Control the thumbwheel motor so that the head end portion rotates from the position of the positive maximum bending angle through the zero position to the position of the negative bending angle, determine the first moment when the head end portion starts to rotate to the position of the negative bending angle after reaching the zero position through the binocular camera, and determine the first motor position of the thumbwheel motor at the first moment;

[0019] Controlling the thumbwheel motor so that the flexible endoscope rotates from the position of the negative maximum bending angle through the zero position to the position of the positive bending angle, determining a second moment when the flexible endoscope starts to rotate toward the position of the positive bending angle after reaching the zero position through a binocular camera, and determining a second motor position of the thumbwheel motor at the second moment;

[0020] Determine the position difference between the first motor position and the zero position motor position of the thumbwheel motor to obtain a positive maximum hysteresis, wherein the zero position motor position of the thumbwheel motor is the position of the thumbwheel motor when the head end of the flexible endoscope is at the zero position;

[0021] The position difference between the second motor position and the zero position motor position of the thumbwheel motor is determined to obtain a negative maximum hysteresis.

[0022] In a possible implementation, determining the diameter range of the flexible endoscope by using the clamping distance includes:

[0023] The diameter range of the flexible endoscope is determined by using the clamping distance and a preset diameter deviation value.

[0024] In a possible implementation, the binocular camera is also used to capture an image of the insertion portion of the flexible endoscope extended from the delivery portion;

[0025] The method further comprises:

[0026] Acquiring an image of the insertion portion of the flexible endoscope from which the delivery portion extends through the binocular camera;

[0027] determining an identification diameter of the insertion portion of the flexible endoscope according to the image;

[0028] Determining the diameter range of the flexible endoscope by using the clamping distance includes:

[0029] The diameter range of the flexible endoscope is determined according to the clamping distance and the identification diameter.

[0030] In a possible implementation, the diameter of the target type of flexible endoscope belongs to the diameter range of the flexible endoscope.

[0031] In a possible implementation, controlling the thumbwheel motor to rotate until it is determined that the claw is successfully docked with the thumbwheel of the operating portion of the flexible endoscope includes:

[0032] Controlling the thumbwheel motor to rotate according to a target motor speed to obtain a resistance between the clamping claw and the thumbwheel of the operating part of the flexible endoscope;

[0033] If the resistance satisfies the docking condition, it is determined that the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope, and the docking condition is determined according to a target resistance range, and the target resistance range is the resistance range between the claw and the thumbwheel of the operating part of the flexible endoscope when the claw is rotated when the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope;

[0034] If the resistance does not meet the docking condition, determine the target motor speed, execute the control of the thumbwheel motor to rotate according to the target motor speed, obtain the resistance between the claw and the thumbwheel of the operating part of the flexible endoscope, and the subsequent steps.

[0035] In a possible implementation, obtaining the resistance between the clamping claw and the thumbwheel of the operating portion of the flexible endoscope includes:

[0036] Obtaining resistance between a plurality of the clamping claws and the thumbwheel of the operating part of the flexible endoscope obtained by multiple samplings during the current process of controlling the thumbwheel motor to rotate;

[0037] The resistance between the plurality of the clamping claws and the thumbwheel of the operating portion of the flexible endoscope is average filtered to obtain the resistance for controlling the rotation of the thumbwheel motor this time.

[0038] In a possible implementation, the docking condition is that the resistance of consecutive target times of rotation all falls within the target resistance range.

[0039] In a second aspect, the present application provides a flexible endoscope configuration device, which is applied to a flexible endoscope manipulation robot, wherein the flexible endoscope manipulation robot comprises an operating part adapter, a conveying part, and a binocular camera, wherein the operating part adapter comprises a paddle motor and a claw, wherein the paddle motor is used to drive the claw to rotate, and the claw is used to dock with the operating part paddle of the flexible endoscope, wherein the conveying part is used to control the insertion part of the flexible endoscope, and the binocular camera is used to collect a position image of the head end of the flexible endoscope, wherein the device comprises:

[0040] A first control unit is used to control the thumbwheel motor to rotate until it is determined that the clamping claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope;

[0041] a second control unit, configured to control the conveying unit to clamp the insertion portion of the flexible endoscope, and obtain a clamping distance of the conveying unit;

[0042] a type determination unit, configured to determine a diameter range of the flexible endoscope using the clamping distance, and to use a target type matching the diameter range as the type of the flexible endoscope;

[0043] a position determination unit, used for controlling the rotation of the thumbwheel motor so that the thumbwheel of the operating part of the flexible endoscope is respectively at a positive limit position, a negative limit position and a zero position, and determining the corresponding position of the thumbwheel motor, and determining the positive maximum bending angle and the negative maximum bending angle of the head end of the flexible endoscope according to the position image of the head end of the flexible endoscope collected by the binocular camera;

[0044] A hysteresis determination unit is used to control the rotation of the thumbwheel motor so that the tip end of the flexible endoscope moves from the position of the positive maximum bending angle through the zero position in a negative direction, and moves from the position of the negative maximum bending angle through the zero position in a positive direction, and determines the maximum hysteresis of the thumbwheel motor through the position image of the tip end of the flexible endoscope captured by the binocular camera, and the maximum hysteresis is the position difference between the position of the thumbwheel motor when the tip end of the flexible endoscope reaches the zero position and the position of the thumbwheel motor when the tip end of the flexible endoscope starts to move.

[0045] In a possible implementation manner, the position determination unit is specifically configured to:

[0046] Controlling the rotation of the thumbwheel motor so that the torque of the thumbwheel of the operating part of the flexible endoscope reaches a positive torque, determining the positive motor position of the thumbwheel motor, obtaining a first image of the head end of the flexible endoscope through the binocular camera, and determining the positive maximum bending angle of the head end according to the first image;

[0047] Controlling the rotation of the thumbwheel motor so that the torque of the thumbwheel of the operating portion of the flexible endoscope reaches a negative torque, determining the negative motor position of the thumbwheel motor, obtaining a second image of the head end of the flexible endoscope through the binocular camera, and determining the negative maximum bending angle of the head end according to the second image;

[0048] The thumbwheel motor is controlled to rotate so that the torque of the thumbwheel of the operating part of the flexible endoscope reaches the zero-position torque, and a third image of the head end of the flexible endoscope is captured by the binocular camera. If it is determined according to the third image that the head end is not bent, the zero-position motor position of the thumbwheel motor is determined.

[0049] In a possible implementation manner, the hysteresis determination unit is specifically configured to:

[0050] Control the thumbwheel motor so that the head end portion rotates from the position of the positive maximum bending angle through the zero position to the position of the negative bending angle, determine the first moment when the head end portion starts to rotate to the position of the negative bending angle after reaching the zero position through the binocular camera, and determine the first motor position of the thumbwheel motor at the first moment;

[0051] Controlling the thumbwheel motor so that the flexible endoscope rotates from the position of the negative maximum bending angle through the zero position to the position of the positive bending angle, determining a second moment when the flexible endoscope starts to rotate toward the position of the positive bending angle after reaching the zero position through a binocular camera, and determining a second motor position of the thumbwheel motor at the second moment;

[0052] Determine the position difference between the first motor position and the zero position motor position of the thumbwheel motor to obtain a positive maximum hysteresis, wherein the zero position motor position of the thumbwheel motor is the position of the thumbwheel motor when the head end of the flexible endoscope is at the zero position;

[0053] The position difference between the second motor position and the zero position motor position of the thumbwheel motor is determined to obtain a negative maximum hysteresis.

[0054] In a possible implementation, the type determination unit is used to determine the diameter range of the flexible endoscope using the clamping distance, including:

[0055] The type determination unit is used to determine the diameter range of the flexible endoscope by using the clamping distance and a preset diameter deviation value.

[0056] In a possible implementation, the binocular camera is also used to capture an image of the insertion portion of the flexible endoscope extended from the delivery portion;

[0057] The device also includes:

[0058] An image acquisition unit, used for acquiring an image of the insertion portion of the flexible endoscope extending from the delivery portion through the binocular camera;

[0059] an identification diameter determination unit, configured to determine an identification diameter of an insertion portion of the flexible endoscope according to the image;

[0060] The type determination unit is used to determine the diameter range of the flexible endoscope using the clamping distance, including:

[0061] The type determination unit is used to determine the diameter range of the flexible endoscope according to the clamping distance and the identification diameter.

[0062] In a possible implementation, the diameter of the target type of flexible endoscope belongs to the diameter range of the flexible endoscope.

[0063] In a possible implementation manner, the first control unit is specifically configured to:

[0064] Controlling the thumbwheel motor to rotate according to a target motor speed to obtain a resistance between the clamping claw and the thumbwheel of the operating part of the flexible endoscope;

[0065] If the resistance satisfies the docking condition, it is determined that the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope, and the docking condition is determined according to a target resistance range, and the target resistance range is the resistance range between the claw and the thumbwheel of the operating part of the flexible endoscope when the claw is rotated when the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope;

[0066] If the resistance does not meet the docking condition, determine the target motor speed, execute the control of the thumbwheel motor to rotate according to the target motor speed, obtain the resistance between the claw and the thumbwheel of the operating part of the flexible endoscope, and the subsequent steps.

[0067] In a possible implementation, the first control unit is used to obtain the resistance between the clamping claw and the thumbwheel of the operating part of the flexible endoscope, including:

[0068] The first control unit is used to obtain the resistance between the multiple claws and the dial wheel of the operating part of the flexible endoscope obtained by multiple sampling during the process of controlling the rotation of the dial motor this time; and perform mean filtering on the resistance between the multiple claws and the dial wheel of the operating part of the flexible endoscope to obtain the resistance of the current control of the rotation of the dial motor.

[0069] In a possible implementation, the docking condition is that the resistance of consecutive target times of rotation all falls within the target resistance range.

[0070] In a third aspect, the present application provides a flexible endoscope manipulation robot, comprising: a processor, a memory, and a system bus;

[0071] The processor and the memory are connected via the system bus;

[0072] The memory is used to store one or more programs, and the one or more programs include instructions. When the instructions are executed by the processor, the processor executes the method described in the first aspect and any one of the first aspects.

[0073] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the method described in the first aspect and any one of the first aspects.

[0074] It can be seen that this application has the following beneficial effects:

[0075] The present application provides a method for configuring a flexible endoscope for a flexible endoscope control robot, which controls the rotation of a thumbwheel motor to automatically connect the clamping claw and the thumbwheel of the flexible endoscope operating part; determines the type of the flexible endoscope by clamping the insertion part of the flexible endoscope through the conveying part; controls the rotation of the thumbwheel motor to automatically determine the position of the thumbwheel motor and the maximum bending angle of the head end, as well as the maximum hysteresis when the thumbwheel of the operating part is in the positive limit, negative limit and zero position respectively. In this way, the clamping claw can be automatically controlled to connect with the thumbwheel of the operating part, and the type of the flexible endoscope can be automatically determined. After the connection is successful, the position of the thumbwheel motor, the maximum bending angle of the head end, and the maximum hysteresis are automatically calibrated to complete the configuration of the flexible endoscope. The method of automatically configuring the flexible endoscope is adopted, which eliminates the need for manual input of parameters and information, reduces configuration costs, and achieves rapid configuration of the flexible endoscope. It is helpful to quickly use the flexible endoscope control robot to operate the flexible endoscope. In addition, it can also avoid the problem of data deviation caused by manual input of data, improve the accuracy and convenience of configuration, and enhance the accuracy and stability of using the flexible endoscope control robot to operate the flexible endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 A schematic diagram of the structure of a flexible endoscope provided in an embodiment of the present application;

[0077] Figure 2 A schematic diagram of the structure of a flexible endoscope manipulation robot provided in an embodiment of the present application;

[0078] Figure 3 A schematic diagram of the structure of a robotic arm provided in an embodiment of the present application;

[0079] Figure 4 A schematic diagram of the structure of the conveying unit provided in an embodiment of the present application;

[0080] Figure 5 A schematic diagram of the structure of the operating unit adapter provided in an embodiment of the present application;

[0081] Figure 6A schematic diagram of a flow chart of a flexible endoscope configuration method provided in an embodiment of the present application;

[0082] Figure 7 A flowchart of a method for determining successful docking provided in an embodiment of the present application;

[0083] Figure 8 A schematic diagram of a process for controlling the rotation of a thumbwheel motor provided in an embodiment of the present application;

[0084] Fig. 9 A schematic diagram of a first image provided in an embodiment of the present application;

[0085] Fig.10 A schematic diagram of a second image provided in an embodiment of the present application;

[0086] Fig.11 A schematic diagram of a third image provided in an embodiment of the present application;

[0087] Fig.12 A schematic structural diagram of a flexible endoscope configuration device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0088] In order to facilitate the understanding and explanation of the technical solutions provided by the embodiments of the present application, the background technology of the present application will be described below.

[0089] Flexible endoscopes are commonly used medical devices for examining and treating natural cavities in the human body. Figure 1 As shown, this figure is a schematic diagram of the structure of a flexible endoscope provided in an embodiment of the present application. The flexible endoscope includes an operating part 101, an insertion part 102 and a head end 103. Among them, the operating part 101 includes a large dial wheel 1011, a small dial wheel 1012, an endoscope workstation interface 1013, a function button 1014, a suction valve button 1015, a water vapor valve button 1016 and an instrument channel 1017. The operating part 101 is used to control the movement of the head end 103 and to insert the instrument. In the process of using the flexible endoscope for inspection or surgery, the flexible endoscope is controlled to move or perform gas injection, water injection and other operations by controlling the dial wheel and buttons. When the head end 103 reaches the lesion or the position where a biopsy is required, the instrument is inserted through the instrument channel 1017, and the instrument is controlled to complete the operation.

[0090] The flexible endoscope control robot includes a robot trolley, two multi-freedom robotic arms, a conveying device and an operating device, a doctor-side console and a matching workstation. The medical staff installs the operating part of the flexible endoscope on the operating device, and manually docks the various dials and buttons included in the operating part with the operating device. The medical staff installs the insertion part of the flexible endoscope on the conveying device. The medical staff inputs the parameters of the flexible endoscope from the doctor-side console to determine the type and limit of the flexible endoscope. The process of medical staff configuring the flexible endoscope is relatively cumbersome and requires a lot of operating costs.

[0091] Based on this, the embodiment of the present application provides a method for configuring a flexible endoscope applied to a flexible endoscope control robot, which controls the rotation of the thumbwheel motor to first realize automatic docking of the clamping claw and the thumbwheel of the flexible endoscope operating part; the type of the flexible endoscope is determined by clamping the insertion part of the flexible endoscope through the conveying part; the thumbwheel motor is controlled to rotate, and the position of the thumbwheel motor corresponding to the thumbwheel of the operating part is automatically determined when the thumbwheel of the operating part is in the positive limit, negative limit and zero position, and the maximum bending angle of the head end, as well as the maximum hysteresis. In this way, the clamping claw can be automatically controlled to dock with the thumbwheel of the operating part, and the type of the flexible endoscope can be automatically determined. After the docking is successful, the position of the thumbwheel motor, the maximum bending angle of the head end and the maximum hysteresis are automatically calibrated to complete the configuration of the flexible endoscope. The method of automatically configuring the flexible endoscope can realize rapid configuration of the flexible endoscope, ensure the correct configuration of the flexible endoscope, and improve the efficiency and accuracy of calibrating parameters such as the maximum bending angle and the maximum hysteresis.

[0092] In order to facilitate understanding of the technical solution provided in the embodiment of the present application, the flexible endoscope configuration method provided in the embodiment of the present application is described below with reference to the accompanying drawings.

[0093] First, the soft endoscope manipulation robot is introduced. Figure 2 As shown in FIG. 2 , the figure is a schematic diagram of the structure of the flexible endoscope manipulation robot provided in an embodiment of the present application. The flexible endoscope manipulation robot 200 includes an operating table 201, a trolley 202, a workstation 203, a control terminal 204, and a binocular camera 205. The binocular camera 205 is used to collect the position image of the head end of the flexible endoscope. The trolley 202 includes two mechanical arms, namely, a mechanical arm 2021 and a mechanical arm 2022. The mechanical arm 2021 and the mechanical arm 2022 are shown in FIG. Figure 3 As shown. The robot arm 2021 includes a conveying unit 20211. The conveying unit 20211 is shown in FIG. Figure 4As shown. The conveying unit 20211 is used to clamp the insertion unit of the flexible endoscope and convey the flexible endoscope based on the instructions output by the control terminal 204. The robot arm 2022 includes an operating unit 20221. The operating unit 20221 is used to operate the operating unit of the flexible endoscope based on the instructions output by the control terminal 204 to achieve the control of the flexible endoscope. The operating unit 20221 includes an operating unit adapter. The operating unit adapter is shown in FIG. Figure 5 As shown. The operating part adapter is used to install the operating part of the flexible endoscope. The operating part adapter includes a clamping claw and a dial motor. The dial motor is used to drive the clamping claw to rotate. The clamping claw is used to dock with the dial of the operating part of the flexible endoscope. In this way, the dial motor drives the clamping claw to rotate, so that the dial of the operating part of the flexible endoscope rotates, thereby realizing the control of the head end of the flexible endoscope.

[0094] See also Figure 6 As shown in FIG. 1 , this figure is a flow chart of a flexible endoscope configuration method provided in an embodiment of the present application. Figure 6 As shown, a flexible endoscope configuration method provided in an embodiment of the present application includes S601-S605.

[0095] S601: Control the thumbwheel motor to rotate until it is determined that the clamping claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope.

[0096] The embodiments of the present application do not limit the method of triggering the flexible endoscope manipulation robot to automatically configure the flexible endoscope. In one possible implementation, the flexible endoscope manipulation robot obtains the flexible endoscope configuration instruction, triggering the automatic configuration of the flexible endoscope. The flexible endoscope configuration instruction is a configuration instruction triggered after the user installs the flexible endoscope on the flexible endoscope manipulation robot. After the user installs the operating part of the flexible endoscope on the operating part adapter and the insertion part of the flexible endoscope on the conveying part, it can be considered that the installation of the flexible endoscope is completed, and the user triggers the flexible endoscope configuration instruction at the control end, triggering the flexible endoscope manipulation robot to configure the flexible endoscope.

[0097] The embodiment of the present application does not limit the method of obtaining the flexible endoscope configuration instruction. As an example, the user triggers the generation of the flexible endoscope configuration instruction by clicking the trigger control of the configuration instruction displayed on the display interface of the flexible endoscope control robot. The flexible endoscope control robot obtains the flexible endoscope configuration instruction.

[0098] It should be noted that step S601 is used to dock the claw with the dial of the operating part of the flexible endoscope. Steps S602 and S603 are used to determine the type of the flexible endoscope. Steps S604 and S605 are used to determine the limit, zero position and maximum hysteresis. Among them, the execution order between S601 and S602 and S603 is not limited. S601 can be executed first, or S602 and S603 can be executed first, or S601, S602 and S603 can be executed at the same time. S601 needs to be executed earlier than S604 and S605. The execution order between S604 and S605 and S602 and S603 is not limited. S604 and S605 can be executed first, or S602 and S603 can be executed first, or S604 and S605, S602 and S603 can be executed at the same time.

[0099] The thumbwheel of the operating part of the flexible endoscope has a docking structure, and when the claw moves to a suitable position, the claw will dock with the thumbwheel through the docking structure. The docking structure is, for example, a groove adapted to the claw.

[0100] After the user installs the operating part of the flexible endoscope on the operating part adapter, the dial of the operating part of the flexible endoscope may not be connected with the claw of the operating part adapter, so the claw rotates but cannot drive the dial of the operating part of the flexible endoscope to rotate.

[0101] During the configuration of the flexible endoscope, it is necessary to control the rotation of the thumbwheel motor to drive the claw to rotate until the claw successfully docks with the thumbwheel of the operating part of the flexible endoscope. In a possible implementation, the thumbwheel motor is controlled to rotate continuously in one direction, and the resistance between the claw and the thumbwheel is collected. If the resistance is greater than a certain threshold, it means that the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope.

[0102] As an example, see Figure 7 As shown, Figure 7 A flowchart of a method for determining successful docking provided in an embodiment of the present application. The embodiment of the present application provides a possible implementation method of controlling the rotation of the thumbwheel motor until it is determined that the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope, including S701-S703:

[0103] S701: Control the thumbwheel motor to rotate according to the target motor speed to obtain the resistance between the clamping claw and the thumbwheel of the operating part of the flexible endoscope.

[0104] The target motor speed is used to control the rotation speed of the thumbwheel motor. The target motor speed is predetermined before the thumbwheel motor is controlled to rotate. If it is the first time that the thumbwheel motor is controlled to rotate at the target motor speed, the preset value can be used as the target motor speed. If it is not the first time that the thumbwheel motor is controlled to rotate at the target motor speed, the target motor speed is determined after the last time the thumbwheel motor was controlled to rotate at the target motor speed and the claw failed to dock with the thumbwheel of the operating part of the flexible endoscope. For details, please refer to the detailed description of S703.

[0105] S702: If the resistance meets the docking condition, it is determined that the claw is successfully docked with the dial of the operating part of the flexible endoscope.

[0106] The docking condition is used to determine whether the claw is successfully docked with the dial of the operating part of the flexible endoscope. The docking condition is determined according to the target resistance range. The target resistance range is the resistance range between the claw and the dial of the operating part of the flexible endoscope when the claw is successfully docked with the dial of the operating part of the flexible endoscope. The target resistance range can be preset. As an example, the minimum value of the target resistance range is the difference between the target resistance and the preset distance value. The maximum value of the target resistance range is the sum of the target resistance and the preset distance value.

[0107] As an example, the docking condition is that the resistance belongs to the target resistance range. In the process of controlling the rotation of the thumbwheel motor, if the resistance obtained belongs to the target resistance range, it is determined that the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope.

[0108] As another example, the docking condition is that the resistance of the rotation of the target number of times is within the target resistance range. That is to say, the resistance obtained during the continuous rotation of the target number of times is within the target resistance range, and only then is it determined that the claw is successfully docked with the dial of the operating part of the flexible endoscope. The target number of times is a preset value. For example, the target number of times is 3 times. In this way, the problem of erroneous determination of successful docking due to errors in the resistance obtained can be avoided, the accuracy of determining successful docking can be improved, and effective automated configuration of the flexible endoscope can be achieved.

[0109] In addition, in a possible implementation, each time the thumbwheel motor is controlled to rotate, the resistance between multiple claws and the thumbwheel of the operating part of the flexible endoscope is collected. The resistance between the multiple claws and the thumbwheel of the operating part of the flexible endoscope is averaged and filtered to obtain the resistance of the current control of the thumbwheel motor rotation. The resistance of this rotation obtained in this way more accurately reflects the resistance between the claw and the thumbwheel of the operating part of the flexible endoscope, avoiding the influence of the judgment of the docking process due to the erroneous resistance obtained by individual collection, and improving the effectiveness and accuracy of determining the success of docking.

[0110] S703: If the resistance does not meet the docking condition, determine the target motor speed, and return to execute S701: control the thumbwheel motor to rotate according to the target motor speed, obtain the resistance between the claw and the thumbwheel of the operating part of the flexible endoscope, and subsequent steps.

[0111] If the resistance does not meet the docking condition, it means that the claw and the thumbwheel of the operating part of the flexible endoscope are not docked successfully. Determine the target motor speed for next use.

[0112] In one possible implementation, the target motor speed is a preset value that is set in advance. In another possible implementation, the target motor speed is the sum of the target motor speed used for the last rotation of the thumbwheel motor and the preset step size. In yet another possible implementation, the target motor speed is determined based on the resistance between the clamping claw and the thumbwheel of the operating part of the flexible endoscope obtained historically. For example, the PID (Proportion Integral Differential) algorithm is used to process the resistance obtained by historically rotating the thumbwheel motor and the target resistance to obtain the target motor speed. The target resistance is the resistance between the clamping claw and the thumbwheel of the operating part of the flexible endoscope when docking is successful. Specifically, the formula for determining the target motor speed used for the next rotation of the thumbwheel motor using the PID algorithm is as follows:

[0113] (1)

[0114] (2)

[0115] (3)

[0116] Where e represents the error. is the target resistance, is the resistance obtained by rotating the paddle wheel motor this time. def is the error integral. The resistance obtained by turning the dial motor last time. It is the time difference between this rotation of the paddle wheel motor and the last rotation of the paddle wheel motor. The target motor speed to be used for the next rotation of the thumbwheel motor. is the scale parameter. is the differential parameter.

[0117] The target motor speed determined by the PID algorithm is more flexible and meets the needs of rotating the paddle motor next time, thereby improving control efficiency and control speed.

[0118] In addition, formula (2) can be replaced by formula (4).

[0119] (4)

[0120] It is the statistical value of the resistance obtained in the process of rotating the paddle wheel motor this time. For example, it is obtained by performing mean filtering on the resistance obtained in the process of rotating the dial motor this time. It is the statistical value of the resistance obtained in the last process of rotating the paddle wheel motor.

[0121] The thumbwheel motor is controlled to rotate according to the target motor speed again to obtain a new resistance to determine whether the docking is successful.

[0122] The above is an introduction to the process of docking the clamping claw with the dial of the operating part of the flexible endoscope. The following is an introduction to the process of determining the type of flexible endoscope.

[0123] S602: Control the conveying unit to clamp the insertion portion of the flexible endoscope to obtain a clamping distance of the conveying unit.

[0124] The clamping distance of the conveying portion can reflect the diameter of the flexible endoscope. According to the diameter of the flexible endoscope, the type of the flexible endoscope can be determined, and then the corresponding operation method is adopted based on the type of the flexible endoscope.

[0125] S603: Determine the diameter range of the flexible endoscope using the clamping distance, and use the target type that matches the diameter range as the type of the flexible endoscope.

[0126] According to the clamping distance, the diameter range of the flexible endoscope can be determined.

[0127] In a possible implementation, the diameter range of the flexible endoscope is determined using the clamping distance and the preset diameter deviation value. The preset diameter deviation value is a preset deviation value, which can be set based on experience. As an example, the preset diameter deviation value is the numerical value of the diameter length. The minimum value of the diameter range of the flexible endoscope is the difference between the clamping distance and the preset diameter deviation value. The maximum value of the diameter range of the flexible endoscope is the sum of the clamping distance and the preset diameter deviation value. As another example, the preset diameter deviation value is a proportional value. The preset diameter deviation value includes two proportional values, which are less than 100% and greater than 100%, respectively. Multiply the clamping distance by the proportional value less than 100% to obtain the minimum value of the diameter range of the flexible endoscope.

[0128] Multiply the clamping distance by a ratio value greater than 100% to obtain the maximum value of the diameter range of the flexible endoscope.

[0129] In another possible implementation, the binocular camera can also capture an image of the insertion portion of the flexible endoscope with the conveying portion extending out. The image of the insertion portion of the flexible endoscope with the conveying portion extending out, which is captured by the binocular camera, is subjected to image analysis to obtain an identification diameter of the insertion portion of the flexible endoscope. The embodiment of the present application does not limit the method of determining the identification diameter of the insertion portion by image analysis. As an example, a binary analysis is performed on the image, the edge contour is extracted, and the pixels occupied by the diameter of the insertion portion are determined. Then, the identification diameter of the insertion portion is determined based on the ratio between the pixels and the length of the actual object.

[0130] In addition to the clamping distance, the diameter range of the flexible endoscope is also determined by using the identification diameter. As an example, the preset diameter deviation value is the value of the diameter length. The minimum value of the clamping distance and the identification diameter is determined, and the difference between the minimum value and the preset diameter deviation value is calculated to obtain the minimum value of the diameter range of the flexible endoscope. The maximum value of the clamping distance and the identification diameter is determined, and the sum of the maximum value and the preset diameter deviation value is calculated to obtain the maximum value of the diameter range of the flexible endoscope.

[0131] Flexible endoscope diameter range The calculation formula is as follows:

[0132] (5)

[0133] in, is the clamping distance, To identify the diameter, is the preset diameter deviation value.

[0134] After the diameter range is determined, the target type matching the diameter range is used as the type of the flexible endoscope.

[0135] As an example, a matching relationship between the diameter range and the type is preset. According to the matching relationship between the diameter range and the type, a target type matching the diameter range is determined. As another example, the type of the flexible endoscope whose diameter belongs to the diameter range is the target type. The type of the flexible endoscope included in the diameter range is taken as the target type, and the type of the flexible endoscope installed on the flexible endoscope manipulation robot is determined as the target type.

[0136] In this way, the type of installed flexible endoscope can be automatically identified without the need for manual input of type-related parameters, thereby realizing an automated type identification process and reducing the cost of manual operation.

[0137] S604: Control the rotation of the thumbwheel motor so that the thumbwheel of the operating part of the flexible endoscope is respectively at the positive limit, negative limit and zero position, and determine the position of the corresponding thumbwheel motor, and determine the positive maximum bending angle and negative maximum bending angle of the head end of the flexible endoscope according to the position image of the head end of the flexible endoscope captured by the binocular camera.

[0138] After confirming that the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope, it is necessary to further determine the maximum bending angle and unbent position of the head end of the flexible endoscope, as well as the position of the corresponding thumbwheel motor. In this way, the relationship between the position of the thumbwheel motor and the bending degree and bending direction of the head end can be clearly determined.

[0139] The operating wheel of the flexible endoscope has a positive limit, a negative limit and a zero position. The positive limit is the maximum position that the operating wheel can reach when it rotates in the positive direction. The negative limit is the maximum position that the operating wheel can reach when it rotates in the negative direction. The zero position is the position of the operating wheel when the tip is not bent. The positive direction and the negative direction can be determined according to the operating requirements of the flexible endoscope.

[0140] In a possible implementation, the thumbwheel motor is controlled to rotate continuously in the positive and negative directions respectively, and the position image of the head end of the flexible endoscope is collected through a binocular camera. When the head end of the flexible endoscope no longer moves, the positive limit and negative phase of the flexible endoscope are determined, and the position of the corresponding thumbwheel motor is determined. Then the thumbwheel motor is controlled to rotate so that the head end of the flexible endoscope moves to a horizontal position, that is, a position where no bending occurs. The position image of the head end of the flexible endoscope is collected through a binocular camera, and when the head end of the flexible endoscope does not bend, the position of the corresponding thumbwheel motor is determined.

[0141] In another possible implementation, the positive torque, negative torque and zero position torque of the operating part dial wheel of the flexible endoscope are predetermined. The positive torque is the minimum torque reached when the operating part dial wheel is in the positive limit position. The negative torque is the minimum torque reached when the operating part dial wheel is in the negative limit position. The zero position torque is the maximum torque reached when the operating part dial wheel is in the zero position.

[0142] In the process of controlling the rotation of the thumbwheel motor, the position of the thumbwheel of the operating part is determined by detecting the torque of the thumbwheel of the operating part. The position to be reached each time the thumbwheel motor is controlled can be determined by using the PID algorithm based on the current torque of the thumbwheel of the operating part and the torque to be reached.

[0143] For details, see Figure 8 As shown, this figure is a schematic diagram of a process for controlling the rotation of a thumbwheel motor provided in an embodiment of the present application.

[0144] Control the rotation of the thumbwheel motor. Obtain the torque of the current thumbwheel of the operating part of the flexible endoscope. Determine whether the torque reaches the target torque. The target torque is a positive torque or a negative torque. If the torque of the thumbwheel of the operating part of the flexible endoscope does not reach the target torque, continue to control the thumbwheel motor to rotate. When the torque of the thumbwheel of the operating part of the flexible endoscope reaches the target torque, determine the motor position of the thumbwheel motor. The motor position of the thumbwheel motor is obtained by rotating a certain angle relative to the initial position of the thumbwheel motor. The positive motor position of the thumbwheel motor corresponds to the limit of the thumbwheel of the operating part. When the torque of the thumbwheel of the operating part of the flexible endoscope reaches the target torque, the position image of the head end of the flexible endoscope is collected by the binocular camera. Determine the maximum bending angle of the head end according to the position image.

[0145] When the target torque is the positive torque, the motor position of the thumbwheel motor is the positive motor position. When the torque of the thumbwheel of the operating part of the flexible endoscope reaches the positive torque, the position image of the head end of the flexible endoscope collected by the binocular camera is the first image. The positive maximum bending angle of the head end is determined according to the first image.

[0146] As an example, see Fig. 9 As shown, this figure is a schematic diagram of a first image provided by an embodiment of the present application. The maximum positive bending angle is the angle between the direction after the head end is bent and the horizontal direction.

[0147] When the target torque is a negative torque, the motor position of the thumbwheel motor is a negative motor position. When the torque of the thumbwheel of the operating part of the flexible endoscope reaches a negative torque, the position image of the head end of the flexible endoscope collected by the binocular camera is the second image. The negative maximum bending angle of the head end is determined according to the second image.

[0148] As an example, see Fig.10 As shown, this figure is a schematic diagram of a second image provided by an embodiment of the present application. The negative maximum bending angle is the angle between the direction after the head end is bent and the horizontal direction.

[0149] It should be noted that the embodiment of the present application does not limit the order of controlling the operating wheel of the flexible endoscope to be in the positive limit and the negative limit. As an example, the operating wheel of the flexible endoscope is first controlled to be in the positive limit, and then the operating wheel of the flexible endoscope is controlled to be in the negative limit. As another example, the operating wheel of the flexible endoscope is first controlled to be in the negative limit, and then the operating wheel of the flexible endoscope is controlled to be in the positive limit.

[0150] By controlling the dial of the operating part of the flexible endoscope to be in the positive limit and the negative limit, the bending range of the head end is determined, and the corresponding relationship between the position of the dial motor and the bending direction of the head end is determined. In this way, the relationship between the position of the dial motor and the bending degree and bending direction of the head end is determined, and then the adjustment of the head end is realized by controlling the position of the dial motor.

[0151] See also Figure 8 As shown, after determining the maximum bending angle of the head end, that is, after determining that the operating part dial is at the negative limit and the positive limit, the operating part dial is placed at the zero position. Control the dial motor to rotate and obtain the torque of the current operating part dial of the flexible endoscope. Determine whether the torque has reached the zero position torque. When the torque of the operating part dial of the flexible endoscope reaches the zero position torque, a third image of the head end of the flexible endoscope is captured by the binocular camera. Determine whether the head end is bent based on the third image. If it is determined that the head end is not bent based on the third image, determine that the operating part dial of the flexible endoscope is at the zero position, and determine the zero position motor position of the dial motor. The zero position motor position of the dial motor corresponds to the zero position of the operating part dial. See Fig.11 As shown, this figure is a schematic diagram of a third image provided by an embodiment of the present application. Among them, the head end is not bent, and this position can also be called the zero position of the head end or the initial position of the head end.

[0152] If it is determined according to the third image that the head end is bent, the direction of the bend is identified, and the rotation of the thumbwheel motor is controlled to adjust in the opposite direction of the bend, and the torque of the thumbwheel of the operating part of the flexible endoscope reaches the zero torque. The third image of the head end of the flexible endoscope is captured by a binocular camera. The bending condition of the head end can be determined according to the third image. If it is determined according to the third image that the head end is not bent, it is determined that the torque of the thumbwheel of the operating part of the flexible endoscope is at zero position, and the zero position motor position of the thumbwheel motor is determined. If it is determined according to the third image that the head end is bent, the above method is still used for adjustment until it is determined according to the third image that the head end is not bent.

[0153] In this way, the positive limit, negative limit and zero position of the head end can be automatically determined without manual operation, thereby reducing the cost of configuring the flexible endoscope.

[0154] S605: Control the rotation of the thumbwheel motor so that the tip of the flexible endoscope moves from the position of the maximum positive bending angle through the zero position in the negative direction, and moves from the position of the maximum negative bending angle through the zero position in the positive direction, and determines the maximum hysteresis of the thumbwheel motor through the position image of the tip of the flexible endoscope captured by the binocular camera.

[0155] During the bending process, the head end will accumulate a certain amount of bending, which may cause the head end to be unable to bend continuously during the process of passing through the zero position after bending, and may get stuck when passing through the horizontal position, that is, the unbent position. For example, when the control wheel motor rotates, driving the operating wheel of the flexible endoscope to rotate, so that the head end of the flexible endoscope rotates from the position of the maximum bending angle in the positive direction to the negative direction, when it reaches the zero position, although the operating wheel of the flexible endoscope is rotating, the head end of the flexible endoscope does not rotate in the negative direction accordingly. The same problem exists when rotating in the positive direction. When the control wheel motor rotates, driving the operating wheel of the flexible endoscope to rotate, so that the head end of the flexible endoscope rotates from the position of the maximum bending angle in the negative direction to the positive direction, when it reaches the zero position, although the operating wheel of the flexible endoscope is rotating, the head end of the flexible endoscope does not rotate in the positive direction accordingly.

[0156] The tip of the flexible endoscope starts to move from the position of the maximum bending angle, passes through the zero position, and the position difference between the position of the dial motor when the tip of the flexible endoscope starts to move is called the maximum hysteresis. The hysteresis obtained when the tip of the flexible endoscope starts to move from the position of the maximum bending angle in the positive direction and passes through the zero position is the maximum positive hysteresis. The hysteresis obtained when the tip of the flexible endoscope starts to move from the position of the maximum bending angle in the negative direction and passes through the zero position is the maximum negative hysteresis.

[0157] Determining the maximum hysteresis amount will help to accurately control the bending of the tip and achieve accurate control of the flexible endoscope.

[0158] After determining the positive limit, negative limit and zero position of the operating part dial, determine the maximum hysteresis. Control the dial motor to rotate so that the head end of the flexible endoscope moves from the positive maximum bending angle in the negative direction through the zero position, and moves from the negative maximum bending angle in the positive direction through the zero position. The position image of the head end of the flexible endoscope is collected by a binocular camera. According to the position image, it is possible to determine the moment when the flexible endoscope reaches the zero position, and to determine the moment when the flexible endoscope starts to bend again from the zero position. According to the position of the dial motor at the two determined moments, the maximum hysteresis is determined.

[0159] Specifically, the thumbwheel motor is controlled so that the tip of the flexible endoscope rotates from the positive maximum bending angle through the zero position to the negative bending angle, and the binocular camera is used to determine the first moment when the tip reaches the zero position and starts to rotate to the negative bending angle, and the first motor position of the thumbwheel motor at the first moment is determined. The position difference between the first motor position and the zero position motor position of the thumbwheel motor is determined to obtain the positive maximum hysteresis.

[0160] For example, the maximum positive hysteresis for:

[0161] (6)

[0162] in, is the first motor position, is the zero position of the jog wheel motor. The jog wheel motor is controlled so that the head end rotates from the negative maximum bending angle through the zero position to the positive bending angle. The second moment when the head end reaches the zero position and starts to rotate to the positive bending angle is determined by the binocular camera. The second motor position of the jog wheel motor at the second moment is determined. The position difference between the second motor position and the zero position of the jog wheel motor is determined to obtain the negative maximum hysteresis.

[0163] For example, the negative maximum hysteresis for:

[0164] (7)

[0165] in, is the second motor position, It is the zero motor position of the thumbwheel motor.

[0166] In this way, the maximum hysteresis is automatically determined by controlling the rotation of the dial motor to control the rotation of the head end, and using the binocular camera to collect the position image of the head end rotation. The automatically determined maximum hysteresis is more accurate, which can avoid errors caused by human input and improve the efficiency of calibrating the maximum hysteresis.

[0167] Based on the flexible endoscope configuration method provided by the above method embodiment, the embodiment of the present application also provides a flexible endoscope configuration device, which is applied to a flexible endoscope control robot, and the flexible endoscope control robot includes an operating part adapter, a conveying part, and a binocular camera, and the operating part adapter includes a dial motor and a claw, the dial motor is used to drive the claw to rotate, the claw is used to dock with the operating part dial of the flexible endoscope, the conveying part is used to control the insertion part of the flexible endoscope, and the binocular camera is used to collect the position image of the head end of the flexible endoscope. The flexible endoscope configuration device will be described below in conjunction with the accompanying drawings.

[0168] See also Fig.12 As shown in FIG. 1 , this figure is a schematic diagram of the structure of a flexible endoscope configuration device provided in an embodiment of the present application. Fig.12 As shown, the flexible endoscope configuration device comprises:

[0169] The first control unit 1201 is used to control the thumbwheel motor to rotate until it is determined that the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope;

[0170] A second control unit 1202 is used to control the conveying unit to clamp the insertion portion of the flexible endoscope to obtain a clamping distance of the conveying unit;

[0171] A type determination unit 1203 is used to determine the diameter range of the flexible endoscope using the clamping distance, and to use the target type matching the diameter range as the type of the flexible endoscope;

[0172] The position determination unit 1204 is used to control the rotation of the thumbwheel motor so that the thumbwheel of the operating part of the flexible endoscope is respectively at a positive limit position, a negative limit position and a zero position, and determine the corresponding position of the thumbwheel motor, and determine the positive maximum bending angle and the negative maximum bending angle of the head end of the flexible endoscope according to the position image of the head end of the flexible endoscope collected by the binocular camera;

[0173] The hysteresis determination unit 1205 is used to control the rotation of the thumbwheel motor so that the tip end of the flexible endoscope moves from the position of the positive maximum bending angle through the zero position in the negative direction, and moves from the position of the negative maximum bending angle through the zero position in the positive direction. The maximum hysteresis of the thumbwheel motor is determined by the position image of the tip end of the flexible endoscope captured by the binocular camera. The maximum hysteresis is the position difference between the position of the thumbwheel motor when the tip end of the flexible endoscope reaches the zero position and the position of the thumbwheel motor when the tip end of the flexible endoscope starts to move.

[0174] In a possible implementation, the location determination unit 1204 is specifically configured to:

[0175] Controlling the rotation of the thumbwheel motor so that the torque of the thumbwheel of the operating part of the flexible endoscope reaches a positive torque, determining the positive motor position of the thumbwheel motor, obtaining a first image of the head end of the flexible endoscope through the binocular camera, and determining the positive maximum bending angle of the head end according to the first image;

[0176] Controlling the rotation of the thumbwheel motor so that the torque of the thumbwheel of the operating portion of the flexible endoscope reaches a negative torque, determining the negative motor position of the thumbwheel motor, obtaining a second image of the head end of the flexible endoscope through the binocular camera, and determining the negative maximum bending angle of the head end according to the second image;

[0177] The thumbwheel motor is controlled to rotate so that the torque of the thumbwheel of the operating part of the flexible endoscope reaches the zero-position torque, and a third image of the head end of the flexible endoscope is captured by the binocular camera. If it is determined according to the third image that the head end is not bent, the zero-position motor position of the thumbwheel motor is determined.

[0178] In a possible implementation, the hysteresis determination unit 1205 is specifically configured to:

[0179] Control the thumbwheel motor so that the head end portion rotates from the position of the positive maximum bending angle through the zero position to the position of the negative bending angle, determine the first moment when the head end portion starts to rotate to the position of the negative bending angle after reaching the zero position through the binocular camera, and determine the first motor position of the thumbwheel motor at the first moment;

[0180] Controlling the thumbwheel motor so that the flexible endoscope rotates from the position of the negative maximum bending angle through the zero position to the position of the positive bending angle, determining a second moment when the flexible endoscope starts to rotate toward the position of the positive bending angle after reaching the zero position through a binocular camera, and determining a second motor position of the thumbwheel motor at the second moment;

[0181] Determine the position difference between the first motor position and the zero position motor position of the thumbwheel motor to obtain a positive maximum hysteresis, wherein the zero position motor position of the thumbwheel motor is the position of the thumbwheel motor when the head end of the flexible endoscope is at the zero position;

[0182] The position difference between the second motor position and the zero position motor position of the thumbwheel motor is determined to obtain a negative maximum hysteresis.

[0183] In a possible implementation, the type determination unit 1203 is used to determine the diameter range of the flexible endoscope using the clamping distance, including:

[0184] The type determination unit 1203 is used to determine the diameter range of the flexible endoscope by using the clamping distance and a preset diameter deviation value.

[0185] In a possible implementation, the binocular camera is also used to capture an image of the insertion portion of the flexible endoscope extended from the delivery portion;

[0186] The device also includes:

[0187] An image acquisition unit, used for acquiring an image of the insertion portion of the flexible endoscope extending from the delivery portion through the binocular camera;

[0188] an identification diameter determination unit, configured to determine an identification diameter of an insertion portion of the flexible endoscope according to the image;

[0189] The type determination unit 1203 is used to determine the diameter range of the flexible endoscope using the clamping distance, including:

[0190] The type determination unit 1203 is used to determine the diameter range of the flexible endoscope according to the clamping distance and the identification diameter.

[0191] In a possible implementation, the diameter of the target type of flexible endoscope belongs to the diameter range of the flexible endoscope.

[0192] In a possible implementation, the first control unit 1201 is specifically configured to:

[0193] Controlling the thumbwheel motor to rotate according to a target motor speed to obtain a resistance between the clamping claw and the thumbwheel of the operating part of the flexible endoscope;

[0194] If the resistance satisfies the docking condition, it is determined that the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope, and the docking condition is determined according to a target resistance range, and the target resistance range is the resistance range between the claw and the thumbwheel of the operating part of the flexible endoscope when the claw is rotated when the claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope;

[0195] If the resistance does not meet the docking condition, determine the target motor speed, execute the control of the thumbwheel motor to rotate according to the target motor speed, obtain the resistance between the claw and the thumbwheel of the operating part of the flexible endoscope, and the subsequent steps.

[0196] In a possible implementation, the first control unit 1201 is used to obtain the resistance between the clamping claw and the thumbwheel of the operating part of the flexible endoscope, including:

[0197] The first control unit 1201 is used to obtain the resistance between the multiple claws and the thumbwheel of the operating part of the flexible endoscope obtained by multiple samplings during the process of controlling the rotation of the thumbwheel motor this time; and perform mean filtering on the resistance between the multiple claws and the thumbwheel of the operating part of the flexible endoscope to obtain the resistance of the rotation of the thumbwheel motor this time.

[0198] In a possible implementation, the docking condition is that the resistance of consecutive target times of rotation all falls within the target resistance range.

[0199] Based on a flexible endoscope configuration method provided by the above method embodiment, the present application provides a flexible endoscope control robot, including: a processor, a memory, and a system bus;

[0200] The processor and the memory are connected via the system bus;

[0201] The memory is used to store one or more programs, and the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes the flexible endoscope configuration method described in any of the above embodiments.

[0202] Based on a flexible endoscope configuration method provided by the above method embodiment, the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the flexible endoscope configuration method described in any of the above embodiments.

[0203] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0204] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0205] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0206] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0207] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for configuring a flexible endoscope, characterized in that: The method is applied to a flexible endoscope manipulation robot, the flexible endoscope manipulation robot comprises an operating part adapter, a conveying part and a binocular camera, the operating part adapter comprises a dial motor and a claw, the dial motor is used to drive the claw to rotate, the claw is used to dock with the operating part dial of the flexible endoscope, the conveying part is used to control the insertion part of the flexible endoscope, the binocular camera is used to collect a position image of the head end of the flexible endoscope, and the method comprises: Controlling the thumbwheel motor to rotate until it is determined that the clamping claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope; Controlling the conveying portion to clamp the insertion portion of the flexible endoscope to obtain a clamping distance of the conveying portion; Determine the diameter range of the flexible endoscope using the clamping distance, and use the target type matching the diameter range as the type of the flexible endoscope; Controlling the rotation of the thumbwheel motor so that the thumbwheel of the operating part of the flexible endoscope is respectively at a positive limit position, a negative limit position and a zero position, and determining the corresponding position of the thumbwheel motor, and determining the positive maximum bending angle and the negative maximum bending angle of the head end of the flexible endoscope according to the position image of the head end of the flexible endoscope collected by the binocular camera; The rotation of the thumbwheel motor is controlled so that the tip end of the flexible endoscope moves from the position of the maximum positive bending angle through the zero position in a negative direction, and moves from the position of the maximum negative bending angle through the zero position in a positive direction, and the maximum hysteresis of the thumbwheel motor is determined by the position image of the tip end of the flexible endoscope captured by the binocular camera, and the maximum hysteresis is the position difference between the position of the thumbwheel motor when the tip end of the flexible endoscope reaches the zero position and the position of the thumbwheel motor when the tip end of the flexible endoscope starts to move from the zero position.

2. The method according to claim 1, characterized in that The control of the rotation of the thumbwheel motor makes the thumbwheel of the operating part of the flexible endoscope respectively in the positive limit position, the negative limit position and the zero position, and determines the corresponding position of the thumbwheel motor, and determines the positive maximum bending angle and the negative maximum bending angle of the head end of the flexible endoscope respectively according to the position image of the head end of the flexible endoscope collected by the binocular camera, including: Controlling the rotation of the thumbwheel motor so that the torque of the thumbwheel of the operating part of the flexible endoscope reaches a positive torque, determining the positive motor position of the thumbwheel motor, obtaining a first image of the head end of the flexible endoscope through the binocular camera, and determining the positive maximum bending angle of the head end according to the first image; Controlling the rotation of the thumbwheel motor so that the torque of the thumbwheel of the operating portion of the flexible endoscope reaches a negative torque, determining the negative motor position of the thumbwheel motor, obtaining a second image of the head end of the flexible endoscope through the binocular camera, and determining the negative maximum bending angle of the head end according to the second image; The thumbwheel motor is controlled to rotate so that the torque of the thumbwheel of the operating part of the flexible endoscope reaches the zero-position torque, and a third image of the head end of the flexible endoscope is captured by the binocular camera. If it is determined according to the third image that the head end is not bent, the zero-position motor position of the thumbwheel motor is determined.

3. The method according to claim 1, characterized in that The controlling the rotation of the thumbwheel motor so that the tip of the flexible endoscope moves from the position of the maximum positive bending angle through the zero position in the negative direction, and moves from the position of the maximum negative bending angle through the zero position in the positive direction, and the maximum hysteresis of the thumbwheel motor is determined through the position image of the tip of the flexible endoscope captured by the binocular camera, including: Control the thumbwheel motor so that the head end portion rotates from the position of the positive maximum bending angle through the zero position to the position of the negative bending angle, determine the first moment when the head end portion starts to rotate to the position of the negative bending angle after reaching the zero position through the binocular camera, and determine the first motor position of the thumbwheel motor at the first moment; Controlling the thumbwheel motor so that the flexible endoscope rotates from the position of the negative maximum bending angle through the zero position to the position of the positive bending angle, determining a second moment when the flexible endoscope starts to rotate toward the position of the positive bending angle after reaching the zero position through a binocular camera, and determining a second motor position of the thumbwheel motor at the second moment; Determine the position difference between the first motor position and the zero position motor position of the thumbwheel motor to obtain a positive maximum hysteresis, wherein the zero position motor position of the thumbwheel motor is the position of the thumbwheel motor when the head end of the flexible endoscope is at the zero position; The position difference between the second motor position and the zero position motor position of the thumbwheel motor is determined to obtain a negative maximum hysteresis.

4. The method according to claim 1, characterized in that: Determining the diameter range of the flexible endoscope by using the clamping distance includes: The diameter range of the flexible endoscope is determined by using the clamping distance and a preset diameter deviation value.

5. The method according to claim 1, characterized in that The binocular camera is also used to collect an image of the insertion portion of the flexible endoscope extending from the delivery portion; The method further comprises: Acquiring an image of the insertion portion of the flexible endoscope from which the delivery portion extends through the binocular camera; determining an identification diameter of the insertion portion of the flexible endoscope according to the image; Determining the diameter range of the flexible endoscope by using the clamping distance includes: The diameter range of the flexible endoscope is determined according to the clamping distance and the identification diameter.

6. The method according to claim 4 or 5, characterized in that: The diameter of the target type of flexible endoscope belongs to the diameter range of the flexible endoscope.

7. The method according to any one of claims 1 to 5, characterized in that: The controlling the thumbwheel motor to rotate until it is determined that the clamping claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope comprises: Controlling the thumbwheel motor to rotate according to a target motor speed to obtain a resistance between the clamping claw and the thumbwheel of the operating part of the flexible endoscope; If the resistance satisfies the docking condition, it is determined that the claw is successfully docked with the operating part dial wheel of the flexible endoscope, and the docking condition is determined according to a target resistance range, and the target resistance range is the resistance range between the claw and the operating part dial wheel of the flexible endoscope when the claw is rotated when the claw is successfully docked with the operating part dial wheel of the flexible endoscope; If the resistance does not meet the docking condition, determine the target motor speed, execute the control of the thumbwheel motor to rotate according to the target motor speed, obtain the resistance between the claw and the thumbwheel of the operating part of the flexible endoscope, and the subsequent steps.

8. The method according to claim 7, characterized in that The step of obtaining the resistance between the clamping claw and the operating part dial of the flexible endoscope includes: Obtaining resistance between a plurality of the clamping claws and the operating part thumbwheel of the flexible endoscope obtained by multiple samplings during the current process of controlling the thumbwheel motor to rotate; The resistance between the plurality of the clamping claws and the thumbwheel of the operating portion of the flexible endoscope is average filtered to obtain the resistance for controlling the rotation of the thumbwheel motor this time.

9. The method according to claim 7, characterized in that: The docking condition is that the resistance of the continuous target number of rotations all falls within the target resistance range.

10. A flexible endoscope configuration device, characterized in that: The device is applied to a flexible endoscope manipulation robot, which includes an operating part adapter, a conveying part, and a binocular camera. The operating part adapter includes a dial motor and a claw. The dial motor is used to drive the claw to rotate. The claw is used to dock with the operating part dial of the flexible endoscope. The conveying part is used to control the insertion part of the flexible endoscope. The binocular camera is used to collect the position image of the head end of the flexible endoscope. The device includes: A first control unit is used to control the thumbwheel motor to rotate until it is determined that the clamping claw is successfully docked with the thumbwheel of the operating part of the flexible endoscope; a second control unit, configured to control the conveying unit to clamp the insertion portion of the flexible endoscope, and obtain a clamping distance of the conveying unit; a type determination unit, configured to determine a diameter range of the flexible endoscope using the clamping distance, and to use a target type matching the diameter range as the type of the flexible endoscope; a position determination unit, used for controlling the rotation of the thumbwheel motor so that the thumbwheel of the operating part of the flexible endoscope is respectively at a positive limit position, a negative limit position and a zero position, and determining the corresponding position of the thumbwheel motor, and determining the positive maximum bending angle and the negative maximum bending angle of the head end of the flexible endoscope according to the position image of the head end of the flexible endoscope collected by the binocular camera; A hysteresis determination unit is used to control the rotation of the thumbwheel motor so that the tip end of the flexible endoscope moves from the position of the maximum positive bending angle through the zero position in a negative direction, and moves from the position of the maximum negative bending angle through the zero position in a positive direction, and determines the maximum hysteresis of the thumbwheel motor through the position image of the tip end of the flexible endoscope captured by the binocular camera, the maximum hysteresis being the position difference between the position of the thumbwheel motor when the tip end of the flexible endoscope reaches the zero position and the position of the thumbwheel motor when the tip end of the flexible endoscope starts to move from the zero position.

11. A flexible endoscope manipulation robot, characterized in that: include: Processor, memory, system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the method according to any one of claims 1 to 9.

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