Device delivery device, storage medium and program product

Abstract

The embodiment of the present application discloses an instrument delivery device, a storage medium and a program product. The device is used to perform the following steps: determining the first moment of inertia and the first damping coefficient of the driving mechanism corresponding to the instrument; controlling the instrument to be delivered in the working channel of the endoscope in a first time period, and obtaining the corresponding first current value; determining the first delivery curvature based on the first moment of inertia, the first damping coefficient and the first current value; determining the second delivery curvature based on the first delivery curvature; and controlling the instrument to be delivered in the working channel in a second time period based on the second delivery curvature. It can be seen that in the embodiment of the present application, the delivery curvature of the subsequent time period is predicted by the moment of inertia, the damping coefficient and the current value. In this way, by predicting the delivery curvature of the instrument, the prediction of the bending state of the working channel is achieved, and then the instrument is controlled to continue to be delivered based on the predicted delivery curvature, which can improve the stability and reliability of the instrument delivery.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and more specifically, to an equipment delivery device, a storage medium, and a program product. Background Art

[0002] Natural cavities such as the digestive tract and respiratory tract are common sites for the occurrence of human diseases. Since the lesions are inside the natural cavities of the human body, they need to be examined by endoscopy or treated surgically.

[0003] Traditional endoscopic examinations or surgeries require people to use both hands to hold the scope, operate knobs, and manually transport the scope to complete the operation. At the same time, different types of instruments need to be used in accordance with the intraoperative procedure. The use of instruments is cumbersome and requires the coordinated operation of multiple people.

[0004] With the development of robot-assisted technology, the application of robots and digital technology in hospitals has become more prominent. The corresponding driving mechanism can provide driving force for the instrument to achieve the delivery of the instrument. However, the current instrument delivery method ignores the influence of the damping of the driving mechanism, resulting in deviations in the control of instrument delivery, and poor stability and reliability of instrument delivery. Moreover, the bending state of the working channel cannot be predicted, which further leads to poor stability and reliability of instrument delivery. Summary of the invention

[0005] In view of this, the embodiments of the present application disclose a device delivery method, device and storage medium to improve the stability and reliability of device delivery.

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

[0007] In a first aspect, an embodiment of the present application provides a device delivery method, the method comprising:

[0008] Determining a first moment of inertia and a first damping coefficient of a drive mechanism corresponding to the device;

[0009] Controlling the instrument to be transported in the working channel of the endoscope during a first time period, and obtaining a corresponding first current value;

[0010] Determine a first conveying curvature based on the first moment of inertia, the first damping coefficient, and the first current value, where the first conveying curvature is a conveying curvature corresponding to the device in a first time period;

[0011] determining a second conveying curvature based on the first conveying curvature, wherein the second conveying curvature is obtained by predicting the conveying curvature of a time period after the first time period based on the first conveying curvature;

[0012] In a second time period, the instrument is controlled to be delivered in the working channel based on the second delivery curvature.

[0013] In a possible implementation, the determining a first moment of inertia and a first damping coefficient of a driving mechanism corresponding to the device includes:

[0014] Controlling the rotating body of the driving mechanism to rotate at a uniform speed to obtain a corresponding second damping coefficient;

[0015] Controlling the rotating body to rotate with uniform acceleration to obtain a corresponding second moment of inertia;

[0016] Performing discretization processing on the motor control model corresponding to the driving mechanism to obtain the motor control model after discretization processing;

[0017] Constructing an objective function based on the motor control model after the discrete processing, wherein the objective function is used to characterize the relationship between the current and the moment of inertia and the damping coefficient;

[0018] Based on the second damping coefficient and the second moment of inertia, the objective function is iteratively solved using a damped Newton method to obtain the first moment of inertia and the first damping coefficient.

[0019] In a possible implementation, the method further includes:

[0020] Acquire a second current value corresponding to the driving mechanism within a third time period;

[0021] The method of iteratively solving the objective function based on the second damping coefficient and the second moment of inertia by using the damped Newton method to determine the first moment of inertia and the first damping coefficient includes:

[0022] Determining an allowable error value using the second damping coefficient and the second moment of inertia;

[0023] Based on the allowable error value and the second current value, the objective function is iteratively solved using a damped Newton method to obtain the first moment of inertia and the first damping coefficient.

[0024] In a possible implementation manner, based on the allowable error value and the second current value, using the damped Newton method to iteratively solve the objective function to obtain the first moment of inertia and the first damping coefficient includes:

[0025] Processing the second current value by using a weight corresponding to the second current value and a recursive average filtering method to obtain a third current value;

[0026] Based on the allowable error value and the third current value, the objective function is iteratively solved using a damped Newton method to obtain the first moment of inertia and the first damping coefficient.

[0027] In a possible implementation manner, the first time period includes a plurality of delivery cycles, the first delivery curvatures are multiple, and the first current values ​​are multiple;

[0028] The determining a first conveying curvature based on the first moment of inertia, the first damping coefficient and the first current value comprises:

[0029] Determine a curvature calculation formula based on the first moment of inertia, the first damping coefficient, a friction model, and a motor control model corresponding to the drive mechanism;

[0030] Based on the curvature calculation formula and the plurality of first current values, a plurality of the first transport curvatures corresponding to the plurality of the transport cycles are determined.

[0031] In a possible implementation, determining the second conveying curvature based on the first conveying curvature includes:

[0032] Based on the plurality of first conveying curvatures and the conveying positions corresponding to the plurality of first conveying curvatures, fitting to obtain a curvature prediction function;

[0033] A second conveying curvature is determined based on the curvature prediction function.

[0034] In a possible implementation, in the second time period, controlling the device to be transported in the working channel based on the second transport curvature includes:

[0035] determining a fourth current value based on the second conveying curvature and the maximum conveying force limit value;

[0036] During a second time period, the instrument is controlled to be delivered within the working channel based on the fourth current value.

[0037] In a possible implementation, the method further includes:

[0038] Controlling the rotating body of the driving mechanism to rotate at a uniform speed to a first position, and obtaining a corresponding third damping coefficient, a first noise value, and a first friction force;

[0039] Controlling the rotating body to rotate at a uniform speed to a second position, and obtaining a corresponding fourth damping coefficient, a second noise value, and a second friction force;

[0040] Based on the third damping coefficient and the fourth damping coefficient, a first judgment result is obtained, wherein the first judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member satisfies a first friction force condition;

[0041] Based on the first noise value, the second noise value and the noise threshold, a second judgment result is obtained, wherein the second judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member meets the noise condition;

[0042] Based on the first friction force, the second friction force and the friction threshold, a third judgment result is obtained, wherein the third judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member satisfies the second friction force condition;

[0043] Based on the first judgment result, the second judgment result and the third judgment result, it is determined whether the installation between the rotating body and the mechanical transmission member is effective.

[0044] In a second aspect, an embodiment of the present application provides an instrument delivery device, the device comprising:

[0045] A determination module, used to determine a first moment of inertia and a first damping coefficient of a driving mechanism corresponding to the device;

[0046] an acquisition module, used to control the delivery of the instrument in the working channel of the endoscope during a first time period and to acquire a corresponding first current value;

[0047] The determination module is further used to determine a first conveying curvature based on the first moment of inertia, the first damping coefficient and the first current value, wherein the first conveying curvature is a conveying curvature corresponding to the device in a first time period;

[0048] The determination module is further used to determine a second conveying curvature based on the first conveying curvature, where the second conveying curvature is obtained by predicting the conveying curvature of a time period after the first time period based on the first conveying curvature;

[0049] The control module is used to control the delivery of the instrument in the working channel based on the second delivery curvature during a second time period.

[0050] The instrument delivery device has the function of implementing the instrument delivery method in the first aspect or any possible implementation of the first aspect. The function can be implemented by hardware or by hardware executing corresponding software, and the hardware or software includes one or more modules corresponding to the above functions.

[0051] The beneficial effects shown in this aspect are similar to those of the first aspect, and are described in detail in the first aspect, and will not be repeated here.

[0052] In a third aspect, an embodiment of the present application provides an instrument delivery device, comprising:

[0053] A memory for storing instructions;

[0054] A processor is used to execute the instructions in the memory to perform the device delivery method described in any one of the first aspects above.

[0055] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, comprising instructions, which, when executed on a computer, enables the computer to execute the device delivery method described in any one of the first aspects above.

[0056] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is executed on a terminal device, the terminal device executes the instrument delivery method described in any one of the first aspects above.

[0057] In a sixth aspect, the present application provides a chip system, which includes a processor for supporting the device to implement the functions involved in the above aspects, for example, sending or processing the data and / or information involved in the above methods. In one possible design, the chip system also includes a memory, which is used to store program instructions and data necessary for the device. The chip system can be composed of chips, or it can include chips and other discrete devices.

[0058] In the seventh aspect, an embodiment of the present application provides a chip, comprising one or more interface circuits and one or more processors; the interface circuit is used to receive signals from a memory of an electronic device and send signals to the processor, the signals including computer instructions stored in the memory; when the processor executes the computer instructions, the electronic device executes the device transmission method in the first aspect or any optional embodiment of the first aspect.

[0059] Based on the above technical solution, this application has the following beneficial effects:

[0060] The embodiment of the present application discloses a method, device and storage medium for conveying an instrument. The method includes: determining the first moment of inertia and the first damping coefficient of the driving mechanism corresponding to the instrument; controlling the instrument to be conveyed in the working channel of the endoscope in a first time period, and obtaining the corresponding first current value; determining the first conveying curvature based on the first moment of inertia, the first damping coefficient and the first current value; determining the second conveying curvature based on the first conveying curvature; and controlling the instrument to be conveyed in the working channel in a second time period based on the second conveying curvature. It can be seen that in the embodiment of the present application, the conveying curvature of the subsequent time period is predicted by the moment of inertia, the damping coefficient and the current value. In this way, by predicting the conveying curvature of the instrument, the prediction of the curvature state of the working channel is realized, and then the instrument is controlled to continue to be conveyed based on the predicted conveying curvature. In this way, the damping of the driving mechanism and the curvature state of the working channel are combined to jointly control the instrument to continue to be conveyed, which can improve the stability and reliability of the instrument conveying. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on the disclosed drawings.

[0062] Figure 1 A schematic diagram of the structure of an endoscope disclosed in an embodiment of the present application;

[0063] Figure 2 A schematic diagram of the structure of a device disclosed in an embodiment of the present application;

[0064] Figure 3 A schematic diagram of the structure of a driving mechanism disclosed in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of a conveying state of a device disclosed in an embodiment of the present application;

[0066] Figure 5 A flow chart of a device delivery method disclosed in an embodiment of the present application;

[0067] Figure 6 A schematic diagram of an endoscope entering the digestive tract disclosed in an embodiment of the present application;

[0068] Figure 7 A flow chart of another device delivery method disclosed in an embodiment of the present application;

[0069] Figure 8 A flowchart of another device delivery method disclosed in an embodiment of the present application;

[0070] Fig. 9 A schematic diagram of a tendon sheath drive disclosed in an embodiment of the present application;

[0071] Fig.10 A schematic diagram of another tendon sheath drive disclosed in an embodiment of the present application;

[0072] Fig.11 A schematic diagram of a conveying curvature changing with conveying position disclosed in an embodiment of the present application;

[0073] Fig.12 A flowchart of another device delivery method disclosed in an embodiment of the present application;

[0074] Fig.13 This is a schematic diagram of the structure of an instrument delivery device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0076] See also Figure 1 , is a schematic diagram of the structure of an endoscope disclosed in an embodiment of the present application. The endoscope 10 includes: an operating part 101, an insertion part 102, a bending section 103 and a head end 104. The operating part 101 includes: a workstation interface 1011, a small dial knob 1013, a large dial knob 1012, a handle 1014, a function button 1015, a suction valve button 1016, a water vapor valve button 1017, etc. There is an entrance 1051 of the working channel 105 below the handle 1014, and the working channel 105 passes through the insertion part 102, the bending section 103 and the head end 104, and reaches the outlet 1052 of the working channel. Among them, the workstation interface 1011 is used to dock with the workstation and read the image of the visual field under the microscope. The head end 104 is the rigid part of the front end of the endoscope, and the end face of the head end 104 is provided with a camera and an outlet 1052 of the working channel. The bending end 103 can generally be bent in four directions.

[0077] See also Figure 2 , is a schematic diagram of the structure of an instrument disclosed in an embodiment of the present application, wherein the instrument 20 is a biopsy forceps, which adopts a disc-type solution. The biopsy forceps includes: an actuator 201, an instrument insertion tube 202, an instrument outlet 203, etc. Among them, the instrument 20 generally has multiple degrees of freedom such as instrument delivery, actuator opening and closing, and actuator rotation. The instrument delivery can be achieved by controlling the joint J1, the jaw opening and closing can be achieved by controlling the joint J2, and the instrument rotation can be achieved by controlling the joint J3.

[0078] See also Figure 3 , is a schematic diagram of the structure of a driving mechanism disclosed in an embodiment of the present application, wherein the driving structure 30 includes: a rotating body 301, an encoder 302, a servo motor 303, a mechanical transmission member 304, a fixed bracket 305, etc. The encoder 302 obtains the rotation angle of the rotating body 301, and obtains the conveying length according to the ratio of the rotation angle to the length according to the inherent internal rotation angle of the device 20.

[0079] See also Figure 4 , which is a schematic diagram of a conveying state of an instrument disclosed in an embodiment of the present application. The guide tube 40 serves as an introduction channel for the instrument 20, and the instrument 20 is connected to the entrance 1051 of the working channel of the endoscope 10 through the guide tube 40. The driving mechanism 30 can provide driving force to the instrument 20 to realize the conveying operation of the instrument 20 and the rotation or opening and closing of the actuator 201.

[0080] See also Figure 5 , a flow chart of a device delivery method disclosed in an embodiment of the present application, the method comprising:

[0081] S501. Determine a first moment of inertia and a first damping coefficient of a driving mechanism corresponding to the device.

[0082] It should be noted that the moment of inertia is a measure of the inertia of a rigid body when it rotates around an axis, and is an important physical quantity that describes the inertia of an object's rotational motion. The damping coefficient in the embodiment of the present application refers to the damping viscosity coefficient, which is a parameter that describes the ability of a material to resist flow and is used to describe the characteristics of a material that hinders the movement of an object. It can measure the frictional resistance between molecules or particles inside a material, usually in units of N·s / m^2 or Pa·s, and its size depends on the material properties and temperature.

[0083] In the embodiment of the present application, the first moment of inertia and the first damping coefficient can be determined by controlling the rotating body to perform corresponding movements.

[0084] S502: Control the instrument to be transported in the working channel of the endoscope during a first time period, and obtain a corresponding first current value.

[0085] In the embodiment of the present application, the servo motor can be controlled to generate driving force to drive the mechanical transmission part to drive the rotating body to move, thereby driving the inner and outer shells of the instrument to rotate relative to each other, and the instrument hose inside the instrument is sent out to realize the delivery of the instrument in the working channel of the endoscope. Among them, the instrument hose includes an actuator and an instrument insertion tube.

[0086] See also Figure 6 , which is a schematic diagram of an endoscope entering the digestive tract disclosed in an embodiment of the present application. In actual use, the doctor will operate the flexible endoscope to enter the human body and aim at the lesion area. Due to the complex structure of the human digestive tract, the insertion part and the bending section of the endoscope will have curved parts in the body. Then, based on the delivery instruction, the instrument hose is controlled to pass through the guide tube to enter the working channel of the endoscope and be transported in the working channel. Among them, the delivery instruction can be triggered by the doctor through an operating handle or an interactive interface, and the servo motor can be controlled to generate a driving force based on the delivery instruction.

[0087] S503 : Determine a first conveying curvature based on the first moment of inertia, the first damping coefficient, and the first current value.

[0088] The first conveying curvature is the conveying curvature corresponding to the instrument in the first time period, that is, the curvature corresponding to the conveying path of the instrument. It can be understood that since the instrument is conveyed in the working channel, the first conveying curvature can also represent the curvature corresponding to the working channel, that is, it can also represent the bending state of the working channel.

[0089] In one possible implementation, in an embodiment of the present application, the instrument is controlled to be transported within the working channel of the endoscope in a first time period, and the corresponding first angular velocity can also be obtained. Thereafter, the first transport curvature can be determined based on the first moment of inertia, the first damping coefficient, the first current value and the first angular velocity.

[0090] S504: Determine a second conveying curvature based on the first conveying curvature.

[0091] The second conveying curvature is obtained by predicting the conveying curvature of a time period after the first time period based on the first conveying curvature.

[0092] In the embodiment of the present application, the change trend of the conveying curvature can be obtained based on the conveying curvature in the previous time period, so that the conveying curvature in the subsequent time period can be predicted and the second conveying curvature can be determined.

[0093] S505. In a second time period, the device is controlled to be transported in the working channel based on a second transport curvature.

[0094] It should be noted that if the delivery curvature of the device is determined to be gradually increasing based on the first delivery curvature and the second delivery curvature, it can be determined that the greater the curvature of the working channel, the greater the driving force in the second time period needs to be, and the device can be controlled to be delivered in the working channel with a greater driving force. If the delivery curvature of the device is determined to be gradually decreasing based on the first delivery curvature and the second delivery curvature, it can be determined that the smaller the curvature of the working channel, the driving force in the second time period can remain unchanged or decrease, and the device can be controlled to be delivered in the working channel with the original driving force or a smaller driving force.

[0095] It can be seen that in the embodiment of the present application, the conveying curvature of the subsequent time period is predicted by the moment of inertia, damping coefficient and current value. In this way, by predicting the conveying curvature of the instrument, the prediction of the curvature state of the working channel is realized, and then the instrument is controlled to continue conveying based on the predicted conveying curvature. In this way, the damping of the drive mechanism and the curvature state of the working channel are combined to jointly control the instrument to continue conveying, which can improve the stability and reliability of the instrument delivery.

[0096] See also Figure 7 , is a flow chart of another device delivery method disclosed in an embodiment of the present application. In a possible implementation, S501 in the device delivery method provided in the above embodiment includes:

[0097] S701, controlling the rotating body of the driving mechanism to rotate at a uniform speed to obtain a corresponding second damping coefficient.

[0098] It should be noted that the rotating body has a drive motor, a driver and a printed circuit board with corresponding functions inside, wherein the driver controls the movement of the drive motor so that the driver drives the actuator to open and close and / or rotate.

[0099] The motor control model corresponding to the driving mechanism in the embodiment of the present application can be expressed as follows:

[0100]

[0101] in, represents the electromagnetic torque of the motor, J represents the moment of inertia, that is, the inertia from the servo motor to the joint J1, represents the angular velocity, represents the external load, i.e., the pushing force of the instrument or the resistance encountered during the instrument delivery process, B represents the damping coefficient, represents the torque constant of the servo motor, and I represents the current value of the servo motor.

[0102] In the embodiment of the present application, the servo motor can be controlled to drive the rotating body to rotate at a low and uniform speed, and the fifth current value of the motor and the corresponding fourth angular velocity are obtained. , , obtained through the above motor control model , so the fifth current value, the fourth angular velocity and the torque constant are substituted into It should be noted that the low speed is a relatively low speed, and the specific value of the low speed is not limited in the embodiment of the present application, and the value of the low speed can be set according to the actual situation.

[0103] S702, controlling the rotating body to rotate with uniform acceleration to obtain a corresponding second moment of inertia.

[0104] In the embodiment of the present application, the driving motor can be controlled to drive the rotating body to rotate at a uniform acceleration. , the moment of inertia under the i-th identification cycle is obtained through the above motor control model , α represents the angular acceleration, I i represents the current value corresponding to the i-th identification cycle, w m_i It represents the angular velocity corresponding to the i-th identification cycle, i is a positive integer. Among them, the fluctuation of the moment of inertia corresponding to multiple identification cycles is not large, and multiple moments of inertia under multiple identification cycles can be obtained. The second moment of inertia is obtained by calculating the average of multiple moments of inertia. It should be noted that the specific time length of the identification cycle can be set according to actual needs, and the embodiment of the present application does not limit this.

[0105] In a possible implementation, in the embodiment of the present application, subsequent S703 to S705 may not be executed. In this case, the first moment of inertia is equal to the second moment of inertia, and the first damping coefficient is equal to the second damping coefficient.

[0106] S703 , discretizing the motor control model corresponding to the driving mechanism to obtain the motor control model after discretization.

[0107] In the embodiment of the present application, the calculus term in the motor control model can be discretized to obtain . Where k represents the kth identification cycle, T s It represents the identification cycle. The specific time length of the identification cycle can be set according to actual needs, and the embodiment of the present application does not limit this.

[0108] Combined with the above motor control model, the corresponding differential equation is obtained:

[0109]

[0110] Combining the above two difference equations, we get the following formula:

[0111]

[0112] Substituting the current of the servo motor, we get the following formula:

[0113]

[0114] Afterwards

[0115]

[0116] In this way, the motor control model after discrete processing is obtained, and the motor control model after discrete processing can be expressed as Y=Ω X .

[0117] Where I(k) represents the current value corresponding to the kth identification cycle, I(k-1) represents the current value corresponding to the k-1th identification cycle, and w m (k) represents the angular velocity corresponding to the kth identification cycle, w m (k-1) represents the angular velocity corresponding to the k-1th identification cycle, w m (k-2) represents the angular velocity corresponding to the k-2th identification period, B represents the damping coefficient to be identified, J represents the moment of inertia to be identified, and k is a positive integer.

[0118] S704: construct an objective function based on the motor control model after discrete processing.

[0119] Among them, the objective function is used to characterize the relationship between current, moment of inertia and damping coefficient.

[0120] In the embodiment of the present application, the change of the current value can be estimated based on the estimated moment of inertia and the estimated damping coefficient, and the objective function of the unconstrained optimization problem can be constructed based on the actual change of the current value and the motor control model after discrete processing. .in, , e represents the estimated deviation, Y represents the actual change in current value, Indicates the estimated change in current value, represents the estimated value of X, Depend on and constitute, represents an estimate of the moment of inertia, represents the estimated value of the damping coefficient. In the embodiment of the present application, when it is necessary to determine the square of the estimated deviation e to be the smallest, the corresponding and .

[0121] It should be noted that and It can be set, which can be understood as guessing a set of numbers first and , and then calculate the estimated deviation. If the estimated deviation is less than or equal to the allowable error value, then end. If the estimated deviation is greater than the allowable error value range, then guess another group. and .

[0122] S705 . Based on the second damping coefficient and the second moment of inertia, use the damped Newton method to iteratively solve the objective function to obtain the first moment of inertia and the first damping coefficient.

[0123] It should be noted that when the square of the estimated deviation e is the smallest, the corresponding and That is the first moment of inertia and the first damping coefficient.

[0124] In the embodiment of the present application, S705 may include:

[0125] Step A: Determine the allowable error value using the second damping coefficient and the second moment of inertia.

[0126] The calculation formula of the allowable error value in the embodiment of the present application can be as follows:

[0127] Among them, ε represents the allowable error, represents the second moment of inertia, represents the second damping coefficient.

[0128] Step B: Determine the gradient and Hessian matrix corresponding to the objective function.

[0129] in, represents the gradient corresponding to the objective function, Represents the Hessian matrix corresponding to the objective function.

[0130] Step C: Pass and Constructing Linear Equations , and solve the linear equation to get the search direction.

[0131] in, Indicates the search direction.

[0132] Step D: Update the target parameters according to the search direction.

[0133] in, , represents the target parameter, express The parameters corresponding to the previous identification cycle, Denotes the optimal iteration step length, satisfying .

[0134] Step E: If , then stop the iteration and output the result , otherwise set k=k+1 and return to step B.

[0135] It is understandable that in the implementation of the present application, other methods besides the damped Newton method iteration may be used to solve the objective function, and the embodiments of the present application do not limit this.

[0136] It should be noted that in the embodiment of the present application, it is necessary to control the driving mechanism to move accordingly within multiple identification cycles in order to determine the first moment of inertia and the first damping coefficient based on the actual current value and angular velocity.

[0137] In a possible implementation, in the embodiment of the present application, the second current value and the second angular velocity corresponding to the driving mechanism in the third time period can be obtained; then the second current value is processed using the weight corresponding to the second current value and the recursive average filtering method to obtain the third current value; based on the allowable error value, the third current value and the second angular velocity, the damped Newton method is used to iteratively solve the objective function to obtain the first moment of inertia and the first damping coefficient. Among them, the third time period includes multiple identification cycles, and one identification cycle includes multiple moments. In this way, the current value is filtered using a specific method, which can reduce the impact of noise while ensuring sufficient sensitivity, and obtain a more accurate current value, so that a more accurate first moment of inertia and first damping coefficient can be determined.

[0138] In the embodiment of the present application, the third current value can be obtained by the following formula:

[0139]

[0140] Wherein, I represents the third current value, that is, the current value corresponding to one identification cycle, I(i), I(i-1)…I(in) represent multiple second current values ​​corresponding to multiple moments in one identification cycle, and k i , k i-1 …k i-n represents the weight corresponding to the second current value, and n is a positive integer.

[0141] It should be noted that the embodiment of the present application is based on the recursive averaging filtering method, and the current values ​​at different times are multiplied by different weights to obtain a weighted recursive averaging filtering method. This solves the shortcoming of the low sensitivity of the recursive averaging filtering method, and improves the performance of the filter by changing the weights to obtain a more accurate current value.

[0142] In a possible implementation, the calculation formula of the third current value in the embodiment of the present application can be: This can reduce the impact of noise while ensuring sufficient sensitivity.

[0143] It can be seen that in the embodiment of the present application, the second moment of inertia and the second damping coefficient are quickly estimated through a small sample, and the iterative convergence condition is set with the second moment of inertia and the second damping coefficient, and the corresponding iterative solution is performed to obtain the global optimal solution, which can obtain the first moment of inertia and the first damping coefficient that are more in line with the general motion situation, so that the subsequent conveying curvature determined based on the first moment of inertia and the first damping coefficient is more accurate, thereby achieving stable and reliable delivery of the device.

[0144] See also Figure 8 , is a flow chart of another device delivery method disclosed in an embodiment of the present application, Figure 8 For Figure 5 Based on the provided device delivery, a more detailed device delivery method is provided. In a possible implementation, S503 in the device delivery method provided in the above embodiment may include:

[0145] S801. Determine a curvature calculation formula based on a first moment of inertia, a first damping coefficient, a friction model, and a motor control model.

[0146] It should be noted that after the instrument hose passes through the guide tube and enters the working channel of the endoscope, it will pass through working channels with different curvatures, and the friction force applied to the instrument will be different. In the embodiment of the present application, the curvature calculation formula can be determined by the friction model.

[0147] See also Fig. 9 , is a schematic diagram of a tendon sheath drive disclosed in an embodiment of the present application, Fig. 9 The figure shows the tendon sheath drive under the ideal arc state. Fig. 9 The β in it represents the arc angle, L represents the arc length, represents the input force, Indicates the output force. It should be noted that the tendon sheath drive is composed of a sheath and a tendon. The sheath is a sheath tube, and the tendon is a flexible driving rod, such as a rope, nickel-titanium wire, etc. The tendon pushes or pulls inside the sheath. Among them, the tendon can be understood as a part of the instrument hose.

[0148] The relationship between input force and output force can be expressed as , where μ represents the Coulomb friction coefficient. The output force can be obtained , correspondingly, the friction model can be expressed as .

[0149] In the present application, the calculation Regarding the change in delivery length, the change in curvature of the delivery path of the instrument is estimated.

[0150] See also Fig.10 , is a schematic diagram of another tendon sheath drive disclosed in an embodiment of the present application, Fig.10 S(0), S(1)…S(k-2), S(k-1), S(k) in the equation represent the corresponding transport position at a certain moment, L c(k-1) represents the displacement increment corresponding to the k-1th conveying cycle, L c(k) represents the displacement increment corresponding to the kth transport cycle. Among them, the time from S(0) to S(1) is the first transport cycle, the time from S(k-2) to S(k-1) is the k-1th transport cycle, and the time from S(k-1) to S(k) is the kth transport cycle. Fig.10 How to pass Regarding the change in the transport length, the change in the curvature of the transport path of the estimation device will be described.

[0151] Step 1): The following calculation formula can be obtained from the first moment of inertia, the first damping coefficient and the motor control model:

[0152] .

[0153] It can be understood that the discrete processing of the motor control model is involved here, and the discrete processing process is similar to the discrete processing process in S703 in the embodiment of the present application, so it will not be repeated here.

[0154] Step 2): Combining the above formula, the sum of the external forces on the instrument hose when the instrument is transported to the transport position S(k) during the kth transport cycle can be expressed as follows:

[0155] ;

[0156] Among them, TS(k) I represents the total external force on the instrument hose when the instrument is transported to the transport position S(k) during the kth transport cycle; (k) represents the current value corresponding to the kth transmission cycle; J represents the first moment of inertia, B represents the first damping coefficient; w m (k) represents the angular velocity corresponding to the kth conveying cycle, w m (k-1) represents the angular velocity corresponding to the k-1th conveying period; T represents the conveying period; k is a positive integer.

[0157] Combining the above formula, the sum of the external forces on the instrument hose during the k-1th delivery cycle when the instrument is delivered to the delivery position S(k-1) can be expressed as follows:

[0158] ;

[0159] Among them, T S(k-1) I represents the total external force on the instrument hose when the instrument is transported to the transport position S(k-1) during the k-1th transport cycle; (k-1) represents the current value corresponding to the k-1th transmission cycle; w m (k-2) represents the angular velocity corresponding to the k-2th conveying period.

[0160] Step 3): Get the displacement increment corresponding to the kth conveying cycle , in a small period, the sheath trajectory is set to an arc, and the chord length can be the displacement increment , correspondingly, combined with the above friction model, the displacement increment can be obtained The corresponding resistance calculation formula is as follows:

[0161] ;

[0162] The displacement increment can be obtained The corresponding angle change is calculated as follows:

[0163] ;

[0164] Among them, f S(k) represents the resistance corresponding to the kth conveying cycle; T S(k) T represents the total external force on the instrument hose when the instrument is transported to S(k) during the kth transport cycle; S(k-1) represents the total external force on the instrument hose when the instrument is transported to S(k-1) during the k-1th transport cycle; R represents the ratio of the transport length to the rotation angle of the rotating body; represents the Coulomb friction coefficient; Represents the angle change corresponding to the kth conveying cycle.

[0165] Based on the above calculation formula of angle change, the calculation formula of the average curvature corresponding to the kth conveying cycle can be obtained as follows:

[0166] ;

[0167] in, represents the average curvature corresponding to the kth transport cycle.

[0168] It should be noted that, based on the first moment of inertia, the first damping coefficient, the friction model and the motor control model, the curvature calculation formula can be expressed as follows:

[0169] ;

[0170] ;

[0171] ;

[0172] .

[0173] S802: Based on the curvature calculation formula and the multiple first current values, obtain multiple first transport curvatures corresponding to the multiple transport cycles.

[0174] In the embodiment of the present application, the first time period includes multiple transmission cycles, the first transmission curvatures are multiple, and the first current values ​​are multiple. It should be noted that the specific time length of the transmission cycle can be set according to actual needs, and the embodiment of the present application does not limit this.

[0175] In the embodiment of the present application, multiple first current values ​​and multiple first angular velocities corresponding to multiple conveying cycles and a curvature calculation formula can be used to calculate multiple first conveying curvatures. Specifically, the sum of external forces on the hose can be calculated using multiple first current values ​​and multiple first angular velocities corresponding to multiple conveying cycles; then, based on the sum of external forces on the hose, the angle change can be calculated; then, based on the angle change, multiple average curvatures corresponding to multiple conveying cycles can be obtained, that is, multiple first conveying curvatures can be obtained.

[0176] S504 in the implementation of this application may include:

[0177] S803 : Based on the multiple first conveying curvatures and the conveying positions corresponding to the multiple first conveying curvatures, obtain a curvature prediction function by fitting.

[0178] In the embodiment of the present application, multiple groups of conveying positions and the first curvature can be determined along the conveying direction. , , and then the curvature prediction function can be obtained by fitting the B-spline curve fitting algorithm. Where j is a positive integer. Fig.11, which is a schematic diagram of a conveying curvature changing with conveying position disclosed in an embodiment of the present application. Fig.11 The conveying curvature in the diagram changes with the conveying position of the device, which can also be understood as the conveying curvature changing with the conveying length of the device.

[0179] S804: Determine a second transport curvature based on the curvature prediction function.

[0180] In the embodiment of the present application, the curvature prediction function can characterize the change of the delivery curvature as the delivery position of the device changes. Therefore, based on the next delivery position and the predicted curvature function, the delivery curvature corresponding to the next delivery position can be predicted, that is, the second delivery curvature can be determined.

[0181] In the embodiment of the present application, S505 may include:

[0182] S805 . Determine a fourth current value based on the second conveying curvature and the maximum conveying force limit value.

[0183] It should be noted that the maximum delivery force limit value is the driving force to ensure the safe delivery of the device. If the driving force is exceeded, there will be hidden dangers in the delivery of the device.

[0184] S806. In the second time period, the device is controlled to deliver in the working channel based on the fourth current value.

[0185] In one possible implementation, in an embodiment of the present application, a fourth current value and a third angular velocity can be determined based on a second conveying curvature and a maximum conveying force limit value; and then in a second time period, the device is controlled to convey in the working channel based on the fourth current and the third angular velocity.

[0186] In a possible implementation, in the embodiment of the present application, if it is determined that the delivery curvature of the instrument is gradually increasing based on the first delivery curvature and the second delivery curvature, it can be determined that the greater the curvature of the working channel, the greater the driving force of the second time period needs to be, and the fourth current value and the third angular velocity can be determined with a greater driving force, but the greater driving force is not greater than the maximum delivery force limit value, and then the instrument is controlled to be delivered in the working channel based on the fourth current value and the third angular velocity. If it is determined that the delivery curvature of the instrument is gradually decreasing based on the first delivery curvature and the second delivery curvature, it can be determined that the smaller the curvature of the working channel, the driving force of the second time period can remain unchanged or decrease to ensure the safe delivery of the instrument, or the driving force of the second time period can also increase so that the instrument can be delivered to the target position faster, but it is necessary to ensure that the increased driving force is not greater than the maximum delivery force limit value, and then the fourth current value and the third angular velocity are determined based on the changed driving force, and the instrument is controlled to be delivered in the working channel based on the fourth current value and the third angular velocity.

[0187] It can be seen that in the embodiment of the present application, the curvature of the working channel is identified during the instrument delivery process, the change of the curvature is estimated, and the delivery curvature corresponding to the next delivery position is predicted based on the estimated change of the curvature. The instrument is controlled to be delivered based on the predicted delivery curvature corresponding to the next delivery position, thereby ensuring the stability and reliability of the instrument delivery.

[0188] See also Fig.12 , Fig.12 This is a flow chart of another device delivery method disclosed in an embodiment of the present application. In a possible implementation, the device delivery method provided in the above embodiment also includes:

[0189] S1201, controlling the rotating body to rotate at a uniform speed to a first position, and obtaining a corresponding third damping coefficient, a first noise value, and a first friction force.

[0190] The first friction force may include: a first static friction force and a first dynamic friction force. The first static friction force is the friction force corresponding to the rotating body before the rotating body is controlled to rotate at a uniform speed to the first position, that is, the friction force corresponding to the rotating body being in a stationary state.

[0191] In the embodiment of the present application, the rotating body can be controlled to rotate from a stationary uniform speed to a first position, and the change of the front and rear friction forces can be obtained, that is, the first static friction force and the first dynamic friction force can be obtained.

[0192] S1202, controlling the rotating body to rotate at a uniform speed to a second position, and obtaining a corresponding fourth damping coefficient, a second noise value, and a second friction force.

[0193] The second friction force may include: a second static friction force and a second dynamic friction force. The second static friction force is the friction force corresponding to the rotating body before the rotating body is controlled to rotate at a uniform speed to the second position, that is, the friction force corresponding to the rotating body being in a stationary state.

[0194] In the embodiment of the present application, the rotating body can be controlled to rotate from a stationary uniform speed to a second position, and the change of the front and rear friction forces can be obtained, that is, the second static friction force and the second dynamic friction force can be obtained.

[0195] It should be noted that, in the embodiment of the present application, the rotating body is controlled at a low speed to rotate uniformly to the first position and the second position.

[0196] S1203. Obtain a first judgment result based on the third damping coefficient and the fourth damping coefficient.

[0197] The first judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member satisfies the first friction force condition.

[0198] The first friction condition includes: no sudden change in friction under low-speed operation, no obvious peaks and valleys in the change of the motor electromagnetic torque, and the change of friction is independent of position, the torque data has no obvious periodic change, and the peaks of multiple test data are not located in the same position. If the third damping coefficient and the fourth damping coefficient are the same, the first friction condition is met.

[0199] S1204: Obtain a second judgment result based on the first noise value, the second noise value and the noise threshold.

[0200] The second judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member meets the noise condition.

[0201] The noise condition includes: the noise is lower than the noise threshold. If the first noise value and the second noise value are lower than the noise threshold, the noise condition is satisfied. The specific value of the noise threshold can be set according to actual conditions, and the embodiment of the present application does not limit this.

[0202] S1205. Obtain a third judgment result based on the first friction force, the second friction force and the friction threshold.

[0203] The third judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member satisfies the second friction force condition.

[0204] The second friction condition includes: the difference between dynamic friction and static friction is less than the friction threshold. If the difference between the first static friction and the first dynamic friction is less than the friction threshold, and the difference between the second static friction and the second dynamic friction is less than the friction threshold, then the second friction condition is met. The specific value of the friction threshold can be set according to actual conditions, and the embodiment of the present application does not limit this.

[0205] S1206. Determine whether the installation between the rotating body and the mechanical transmission member is effective based on the first judgment result, the second judgment result and the third judgment result.

[0206] In the embodiment of the present application, the first judgment result is that the first friction condition is satisfied, the second judgment result is that the noise condition is satisfied, and the third judgment result is that the second friction condition is satisfied. It can be determined that the installation between the rotating body and the transmission member is effective.

[0207] It should be noted that, in the embodiment of the present application, S501 may be executed after determining that the installation between the rotating body and the mechanical transmission member is effective, thereby ensuring that the subsequent instrument delivery is not affected, thereby ensuring the accuracy of the instrument delivery.

[0208] It can be seen that in the embodiment of the present application, before conveying the device, it is first determined whether the installation between the rotating body and the mechanical transmission component is effective. After determining that the installation between the rotating body and the mechanical transmission component is effective, the device conveying is performed. In this way, the device conveying is not affected, thereby ensuring the accuracy of the device conveying.

[0209] See also Fig.13 , a schematic diagram of the structure of an instrument delivery device disclosed in an embodiment of the present application, the device comprises:

[0210] A determination module 1301 is used to determine a first moment of inertia and a first damping coefficient of a driving mechanism corresponding to the device;

[0211] An acquisition module 1302, configured to control the instrument to be transported in the working channel of the endoscope during a first time period, and to acquire a corresponding first current value;

[0212] The determination module 1301 is further configured to determine a first conveying curvature based on the first moment of inertia, the first damping coefficient and the first current value, wherein the first conveying curvature is a conveying curvature corresponding to the device in the first time period;

[0213] The determination module 1301 is further configured to determine a second conveying curvature based on the first conveying curvature, where the second conveying curvature is obtained by predicting the conveying curvature of a time period after the first time period based on the first conveying curvature;

[0214] The control module 1303 is used to control the delivery of the instrument in the working channel based on the second delivery curvature during a second time period.

[0215] It can be seen that in the embodiment of the present application, the conveying curvature of the subsequent time period is predicted by the moment of inertia, damping coefficient and current value. In this way, by predicting the conveying curvature of the instrument, the prediction of the curvature state of the working channel is realized, and then the instrument is controlled to continue conveying based on the predicted conveying curvature. In this way, the damping of the drive mechanism and the curvature state of the working channel are combined to jointly control the instrument to continue conveying, which can improve the stability and reliability of the instrument delivery.

[0216] In a possible implementation, the determination module 1301 in the instrument delivery device provided in the embodiment of the present application includes:

[0217] An obtaining unit, used for controlling the rotating body of the driving mechanism to rotate at a uniform speed to obtain a corresponding second damping coefficient;

[0218] The obtaining unit is further used to control the rotating body to rotate with uniform acceleration to obtain a corresponding second moment of inertia;

[0219] A processing unit, used for performing discrete processing on the motor control model corresponding to the driving mechanism to obtain the motor control model after discrete processing;

[0220] A construction unit, used to construct an objective function based on the motor control model after the discrete processing, wherein the objective function is used to characterize the relationship between the current and the moment of inertia and the damping coefficient;

[0221] A solving unit is used to iteratively solve the objective function by using a damped Newton method based on the second damping coefficient and the second moment of inertia to obtain the first moment of inertia and the first damping coefficient.

[0222] In a possible implementation manner, the acquisition module 1302 in the instrument delivery device provided in the embodiment of the present application is further used to acquire a second current value corresponding to the driving mechanism within a third time period;

[0223] The solving unit includes:

[0224] a determination subunit, configured to determine an allowable error value using the second damping coefficient and the second moment of inertia;

[0225] A solving subunit is used to iteratively solve the objective function by using a damped Newton method based on the allowable error value and the second current value to obtain the first moment of inertia and the first damping coefficient.

[0226] In a possible implementation, the instrument delivery device provided in the embodiment of the present application further includes: a filtering module, configured to process the second current value using a weight corresponding to the second current value and a recursive average filtering method to obtain a third current value;

[0227] The solving subunit is specifically used to iteratively solve the objective function by using the damped Newton method based on the allowable error value and the third current value to obtain the first moment of inertia and the first damping coefficient.

[0228] In a possible implementation, in the instrument delivery device provided in the embodiment of the present application, the first time period includes a plurality of delivery cycles, the first delivery curvatures are multiple, and the first current values ​​are multiple;

[0229] The determination module 1301 includes:

[0230] a determining unit, configured to determine a curvature calculation formula based on the first moment of inertia, the first damping coefficient, a friction model, and a motor control model corresponding to the driving mechanism;

[0231] The determination unit is further used to determine a plurality of the first transport curvatures corresponding to a plurality of the transport cycles based on the curvature calculation formula and a plurality of the first current values.

[0232] In a possible implementation, the determination module 1301 in the instrument delivery device provided in the embodiment of the present application includes:

[0233] A fitting unit, configured to obtain a curvature prediction function by fitting based on a plurality of the first conveying curvatures and a plurality of conveying positions corresponding to the first conveying curvatures;

[0234] A determination unit is used to determine a second transport curvature based on the curvature prediction function.

[0235] In a possible implementation, the control module 1303 in the instrument delivery device provided in the embodiment of the present application includes:

[0236] a determining unit, configured to determine a fourth current value based on the second conveying curvature and a maximum conveying force limit value;

[0237] The control unit is used to control the device to deliver in the working channel based on the fourth current value during the second time period.

[0238] In a possible implementation, the obtaining module in the instrument delivery device provided in the embodiment of the present application is used to control the rotating body of the driving mechanism to rotate at a uniform speed to a first position, and obtain the corresponding third damping coefficient, first noise value and first friction force;

[0239] An acquisition module, used for controlling the rotating body to rotate at a uniform speed to a second position, and obtaining a corresponding fourth damping coefficient, a second noise value and a second friction force;

[0240] The determination module is further used to obtain a first judgment result based on the third damping coefficient and the fourth damping coefficient, wherein the first judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member satisfies a first friction force condition;

[0241] The determination module is further used to obtain a second judgment result based on the first noise value, the second noise value and the noise threshold, wherein the second judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member meets the noise condition;

[0242] The determination module is further used to obtain a third judgment result based on the first friction force, the second friction force and the friction threshold, wherein the third judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member satisfies the second friction force condition;

[0243] The determination module is further used to determine whether the installation between the rotating body and the mechanical transmission member is valid based on the first judgment result, the second judgment result and the third judgment result.

[0244] Furthermore, the present application also provides an instrument delivery device, comprising:

[0245] A memory for storing instructions;

[0246] A processor is used to execute instructions in the memory to perform any one of the implementation methods of the above-mentioned device delivery method.

[0247] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes any one of the implementation methods of the above-mentioned instrument delivery method.

[0248] Furthermore, an embodiment of the present application also provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute any one of the implementation methods of the above-mentioned instrument delivery method.

[0249] It can be known from the description of the above implementation mode that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., including several instructions for enabling a computer device (which can be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0250] 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 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.

[0251] Finally, it should 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.

[0252] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0253] 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. An instrument delivery device, characterized in that: The device comprises: A memory for storing instructions; A processor, configured to execute the instructions in the memory to perform the following steps: Determining a first moment of inertia and a first damping coefficient of a drive mechanism corresponding to the device; Controlling the instrument to be delivered in the working channel of the endoscope in a first time period and obtaining a corresponding first current value; the first time period includes a plurality of delivery cycles, and the first current value is a plurality; Determine a curvature calculation formula based on the first moment of inertia, the first damping coefficient, a friction model, and a motor control model corresponding to the drive mechanism; Based on the curvature calculation formula and the first current values, a plurality of first delivery curvatures corresponding to the delivery cycles are determined; the first delivery curvature is the delivery curvature corresponding to the device in the first time period; determining a second conveying curvature based on the first conveying curvature, wherein the second conveying curvature is obtained by predicting the conveying curvature of a time period after the first time period based on the first conveying curvature; In a second time period, the device is controlled to be transported in the working channel based on the second transport curvature; The curvature calculation formula is as follows: ； ； ； ； Said represents the average curvature corresponding to the kth transport cycle, represents the angle change corresponding to the kth conveying cycle, represents the displacement increment corresponding to the kth conveying cycle, μ represents the Coulomb friction coefficient; T S(k) represents the sum of external forces on the instrument hose when the instrument is transported to S(k) during the kth transport cycle; S(k-1) represents the sum of external forces on the instrument hose when the instrument is transported to S(k-1) during the k-1th transport cycle; Represents the torque constant; (k) represents the current value corresponding to the kth transmission cycle; J represents the first moment of inertia; w m (k) represents the angular velocity corresponding to the kth conveying cycle; said w m (k-1) represents the angular velocity corresponding to the k-1th conveying period; T represents the conveying period; B represents the first damping coefficient; I (k-1) represents the current value corresponding to the k-1th transmission cycle; the w m (k-2) represents the angular velocity corresponding to the k-2th conveying cycle; k is a positive integer.

2. The device according to claim 1, characterized in that The step of determining a first moment of inertia and a first damping coefficient of a driving mechanism corresponding to the device comprises: Controlling the rotating body of the driving mechanism to rotate at a uniform speed to obtain a corresponding second damping coefficient; Controlling the rotating body to rotate with uniform acceleration to obtain a corresponding second moment of inertia; Performing discretization processing on the motor control model corresponding to the driving mechanism to obtain the motor control model after discretization processing; Constructing an objective function based on the motor control model after the discrete processing, wherein the objective function is used to characterize the relationship between the current and the moment of inertia and the damping coefficient; Based on the second damping coefficient and the second moment of inertia, the objective function is iteratively solved using a damped Newton method to obtain the first moment of inertia and the first damping coefficient.

3. The device according to claim 2, characterized in that The processor is further configured to execute the instructions in the memory to perform the following steps: Acquire a second current value corresponding to the driving mechanism within a third time period; The method of iteratively solving the objective function based on the second damping coefficient and the second moment of inertia by using the damped Newton method to determine the first moment of inertia and the first damping coefficient includes: Determining an allowable error value using the second damping coefficient and the second moment of inertia; Based on the allowable error value and the second current value, the objective function is iteratively solved using a damped Newton method to obtain the first moment of inertia and the first damping coefficient.

4. The device according to claim 3, characterized in that The method of iteratively solving the objective function based on the allowable error value and the second current value using the damped Newton method to obtain the first moment of inertia and the first damping coefficient includes: Processing the second current value by using a weight corresponding to the second current value and a recursive average filtering method to obtain a third current value; Based on the allowable error value and the third current value, the objective function is iteratively solved using a damped Newton method to obtain the first moment of inertia and the first damping coefficient.

5. The device according to claim 1, characterized in that The determining the second conveying curvature based on the first conveying curvature comprises: Based on the plurality of first conveying curvatures and the conveying positions corresponding to the plurality of first conveying curvatures, fitting to obtain a curvature prediction function; A second conveying curvature is determined based on the curvature prediction function.

6. The device according to claim 1, characterized in that In the second time period, controlling the device to be transported in the working channel based on the second transport curvature includes: determining a fourth current value based on the second conveying curvature and the maximum conveying force limit value; During a second time period, the instrument is controlled to be delivered within the working channel based on the fourth current value.

7. The device according to claim 1, characterized in that The processor is further configured to execute the instructions in the memory to perform the following steps: Controlling the rotating body of the driving mechanism to rotate at a uniform speed to a first position, and obtaining a corresponding third damping coefficient, a first noise value, and a first friction force; Controlling the rotating body to rotate at a uniform speed to a second position, and obtaining a corresponding fourth damping coefficient, a second noise value, and a second friction force; Based on the third damping coefficient and the fourth damping coefficient, a first judgment result is obtained, wherein the first judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member satisfies a first friction force condition; Based on the first noise value, the second noise value and the noise threshold, a second judgment result is obtained, wherein the second judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member meets the noise condition; Based on the first friction force, the second friction force and the friction threshold, a third judgment result is obtained, wherein the third judgment result is used to indicate whether the installation between the rotating body and the mechanical transmission member satisfies the second friction force condition; Based on the first judgment result, the second judgment result and the third judgment result, it is determined whether the installation between the rotating body and the mechanical transmission member is effective.

8. An instrument delivery device, characterized in that: The device comprises: A determination module, used to determine a first moment of inertia and a first damping coefficient of a driving mechanism corresponding to the device; an acquisition module, used to control the instrument to be delivered in the working channel of the endoscope in a first time period and acquire a corresponding first current value; the first time period includes a plurality of delivery cycles, and the first current value is a plurality; The determination module is further used to determine a curvature calculation formula based on the first moment of inertia, the first damping coefficient, a friction model, and a motor control model corresponding to the driving mechanism; The determination module is further used to determine a plurality of first delivery curvatures corresponding to a plurality of the delivery cycles based on the curvature calculation formula and a plurality of the first current values; the first delivery curvature is a delivery curvature corresponding to the device in the first time period; The determination module is further used to determine a second conveying curvature based on the first conveying curvature, where the second conveying curvature is obtained by predicting the conveying curvature of a time period after the first time period based on the first conveying curvature; A control module, configured to control the device to be delivered in the working channel based on the second delivery curvature during a second time period; The curvature calculation formula is as follows: ； ； ； ； Said represents the average curvature corresponding to the kth transport cycle, represents the angle change corresponding to the kth conveying cycle, represents the displacement increment corresponding to the kth conveying cycle, μ represents the Coulomb friction coefficient; T S(k) represents the sum of external forces on the instrument hose when the instrument is transported to S(k) during the kth transport cycle; S(k-1) represents the sum of external forces on the instrument hose when the instrument is transported to S(k-1) during the k-1th transport cycle; Represents the torque constant; (k) represents the current value corresponding to the kth transmission cycle; J represents the first moment of inertia; w m (k) represents the angular velocity corresponding to the kth conveying cycle; said w m (k-1) represents the angular velocity corresponding to the k-1th conveying period; T represents the conveying period; B represents the first damping coefficient; I (k-1) represents the current value corresponding to the k-1th transmission cycle; the w m (k-2) represents the angular velocity corresponding to the k-2th conveying cycle; k is a positive integer.

9. A computer-readable storage medium, characterized in that: The invention comprises instructions which, when executed on a computer, cause the computer to perform the following steps: Determining a first moment of inertia and a first damping coefficient of a drive mechanism corresponding to the device; Controlling the instrument to be delivered in the working channel of the endoscope in a first time period and obtaining a corresponding first current value; the first time period includes a plurality of delivery cycles, and the first current value is a plurality; Determine a curvature calculation formula based on the first moment of inertia, the first damping coefficient, a friction model, and a motor control model corresponding to the drive mechanism; Based on the curvature calculation formula and the first current values, a plurality of first delivery curvatures corresponding to the delivery cycles are determined; the first delivery curvature is the delivery curvature corresponding to the device in the first time period; determining a second conveying curvature based on the first conveying curvature, wherein the second conveying curvature is obtained by predicting the conveying curvature of a time period after the first time period based on the first conveying curvature; In a second time period, the device is controlled to be transported in the working channel based on the second transport curvature; The curvature calculation formula is as follows: ； ； ； ； Said represents the average curvature corresponding to the kth transport cycle, represents the angle change corresponding to the kth conveying cycle, represents the displacement increment corresponding to the kth conveying cycle, μ represents the Coulomb friction coefficient; T S(k) represents the sum of external forces on the instrument hose when the instrument is transported to S(k) during the kth transport cycle; S(k-1) represents the sum of external forces on the instrument hose when the instrument is transported to S(k-1) during the k-1th transport cycle; Represents the torque constant; (k) represents the current value corresponding to the kth transmission cycle; J represents the first moment of inertia; w m (k) represents the angular velocity corresponding to the kth conveying cycle; said w m (k-1) represents the angular velocity corresponding to the k-1th conveying period; T represents the conveying period; B represents the first damping coefficient; I (k-1) represents the current value corresponding to the k-1th transmission cycle; the w m (k-2) represents the angular velocity corresponding to the k-2th conveying cycle; k is a positive integer.

10. A computer program product, characterized in that When the computer program product is run on a terminal device, the terminal device is caused to execute the following steps: Determining a first moment of inertia and a first damping coefficient of a drive mechanism corresponding to the device; Controlling the instrument to be delivered in the working channel of the endoscope in a first time period and obtaining a corresponding first current value; the first time period includes a plurality of delivery cycles, and the first current value is a plurality; Determine a curvature calculation formula based on the first moment of inertia, the first damping coefficient, a friction model, and a motor control model corresponding to the drive mechanism; Based on the curvature calculation formula and the first current values, a plurality of first delivery curvatures corresponding to the delivery cycles are determined; the first delivery curvature is the delivery curvature corresponding to the device in the first time period; determining a second conveying curvature based on the first conveying curvature, wherein the second conveying curvature is obtained by predicting the conveying curvature of a time period after the first time period based on the first conveying curvature; In a second time period, the device is controlled to be transported in the working channel based on the second transport curvature; The curvature calculation formula is as follows: ； ； ； ； Said represents the average curvature corresponding to the kth transport cycle, represents the angle change corresponding to the kth conveying cycle, represents the displacement increment corresponding to the kth conveying cycle, μ represents the Coulomb friction coefficient; T S(k) represents the sum of external forces on the instrument hose when the instrument is transported to S(k) during the kth transport cycle; S(k-1) represents the sum of external forces on the instrument hose when the instrument is transported to S(k-1) during the k-1th transport cycle; Represents the torque constant; (k) represents the current value corresponding to the kth transmission cycle; J represents the first moment of inertia; w m (k) represents the angular velocity corresponding to the kth conveying cycle; said w m (k-1) represents the angular velocity corresponding to the k-1th conveying period; T represents the conveying period; B represents the first damping coefficient; I (k-1) represents the current value corresponding to the k-1th transmission cycle; the w m (k-2) represents the angular velocity corresponding to the k-2th conveying cycle; k is a positive integer.

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