Bronchoscope tail end bending control mapping method based on handle single rocker

Abstract

The invention discloses a bronchoscope tail end bending control mapping method based on a handle and a single rocker, which is applied to a four-direction bending bronchoscope driven by double motors diagonally, and comprises the following steps: determining a first plane coordinate system based on a rocker circle of a rocker capable of being pushed in a 360-degree direction, the plane where the first plane-coordinate system is located coincides with or is parallel to the plane where the rocker circle is located, and the projection point of the center of the rocker circle in the first plane-coordinate system is the original point of the first plane-coordinate system; mapping the spatial position of the rocker to a first plane coordinate system to obtain a first mapping coordinate of the rocker on the first plane coordinate system; and configuring the four-direction movement direction of the rocker to be the same as the four-direction bending direction of the bending section of the bronchoscope, and converting the first mapping coordinate into a bending angle and a deflection angle of the bending section by adopting a step-by-step mapping control scheme or a position mapping control scheme. The operation convenience and intuition in the use process of the bronchoscope can be improved, and the misoperation rate of using the bronchoscope is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a bronchoscope terminal bending control mapping method based on a single joystick handle. Background Art

[0002] In modern medicine, bronchoscopy has become an important tool for diagnosing lung cancer and treating tracheal diseases.

[0003] However, existing bronchoscopes generally use Olympus ultra-high-definition electronic bronchoscopes, which mainly achieve four-way bending of the bronchoscope through a rotating structure and an up and down bending structure. The bidirectional bending of the bronchoscope is controlled by a trigger, and the rotation of the bronchoscope is achieved by large wrist swings. Specifically, the bronchoscope directly controls the up and down bending through the upper handle trigger, and the left or right rotation to 120 degrees is controlled by the rotating ring. The bronchoscope has a simple structure and is directly driven by a mechanical structure. However, due to the presence of a rotating ring, the viewing angle of the bronchoscope camera may appear upside down during surgery, which seriously interferes with the doctor's intraoperative navigation operation and easily causes the bronchoscope to enter the wrong branch. These problems limit the functionality of the bronchoscope and the comfort of the user's operation. Therefore, the existing bronchoscopes have at least the following problems during use:

[0004] (1) The control logic of existing bronchoscopes is confusing. Doctors need to pull the trigger according to the display screen to control the bending of the bronchoscope and swing their wrists to rotate the bronchoscope. The control logic is not intuitive and easily causes doctor fatigue.

[0005] (2) The rotation angle of the bronchoscope achieved by manually swinging the wrist cannot be quantified, and the wrist swing angle is difficult to accurately map to the bronchoscope movement space and image space. In addition, since the bronchoscope body is made of soft material, there is a certain degree of torsion during the rotational movement, which leads to a chaotic image display during the penetration of the bronchoscope, which can easily cause the bronchoscope to enter the wrong branch or collide with the tracheal wall, causing damage to the patient's internal tracheal tissue.

[0006] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above content has been disclosed before the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0007] The purpose of the present invention is to provide a bronchoscope terminal bending control mapping method based on a handle single rocker, which can improve the convenience and intuitiveness of operation during the use of the bronchoscope and reduce the error rate of the bronchoscope.

[0008] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] A method for controlling and mapping the bending of a bronchoscope end based on a single joystick of a handle is applied to a four-way bending bronchoscope driven diagonally by dual motors, and is configured with a joystick that can be pushed in a 360° direction. The four-way movement of the joystick in a 360° direction under the action of thrust is mapped into the four-way bending amount of the bending section of the bronchoscope, and the four-way bending amount of the bending section includes the bending angle and the deflection angle of the bending section. The method comprises the following steps:

[0010] Determine a first plane coordinate system based on a joystick circle pushed by the joystick in a 360° direction, the plane where the first plane coordinate system is located coincides with or is parallel to the plane where the joystick circle is located, and the projection point of the center of the joystick circle on the first plane coordinate system is configured as the origin of the first plane coordinate system;

[0011] Mapping the spatial position of the joystick to the first plane coordinate system to obtain first mapping coordinates (x, y) of the spatial position of the joystick in the first plane coordinate system;

[0012] Based on the matching of the moving direction of the picture captured by the bronchoscope camera with the four-way bending direction of the bending segment, the four-way movement direction of the joystick is configured to be the same as the four-way bending direction of the bending segment, and a step-by-step mapping control scheme or a position mapping control scheme is adopted to convert the first mapping coordinate (x, y) into the bending angle θ and deflection angle φ of the bending segment.

[0013] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, a step-by-step mapping control scheme is adopted to convert the first mapping coordinate (x, y) into a bending angle θ and a deflection angle φ of the bending segment, including the following steps:

[0014] Determine that the joystick is in an initial state without the action of external force or in a vertical state, and the first mapping coordinate of the joystick in the initial state is (0, 0); and when the joystick is in the initial state, determine that the curved segment is in a straight state;

[0015] When the rocker moves under the action of thrust, the displacement of the rocker on the first plane coordinate system at each sampling time from the initial time to the kth time is obtained, and the accumulated displacement (x) of the rocker on the first plane coordinate system at the kth time is determined according to the displacement corresponding to each sampling time. sum (k), y sum (k));

[0016] Using the displacement accumulation (x sum (k), y sum(k)) calculates the first mapping coordinate (x) corresponding to the joystick at the kth moment o (k), y o (k));

[0017] Based on the following formula, the first mapping coordinate (x o (k), y o (k)) is converted into the bending angle θ(k) and the deflection angle φ(k) of the bending segment at the kth moment:

[0018]

[0019] Among them, arctan represents the inverse tangent function, and π represents pi.

[0020] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the accumulated displacement (x sum (k), y sum (k)), the calculation formula of the displacement accumulation is:

[0021]

[0022] Wherein, k=1, 2, ..., n; x(k) represents the displacement of the joystick in the x-axis direction of the first plane coordinate system at time k; y(k) represents the displacement of the joystick in the y-axis direction of the first plane coordinate system at time k; x sum (k-1) represents the accumulated displacement of the rocker in the x direction of the first plane coordinate system at time k-1, sum (0) = 0, y sum (k-1) represents the accumulated displacement of the rocker in the y direction of the first plane coordinate system at time k-1, sum (0)=0, h represents the step length, and d represents the dead zone interval, which is a preset positive constant.

[0023] Further, any one of the above-mentioned technical solutions or a combination of multiple technical solutions further includes using the displacement accumulation amount (x sum (k), y sum (k)) calculates the first mapping coordinate (x) corresponding to the joystick at the kth moment o (k), y o (k)):

[0024]

[0025] in,

[0026] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, when no external force is applied to the joystick, the joystick will rebound to its initial position, but the curved section of the bronchoscope maintains its current posture, based on the step-by-step mapping control scheme.

[0027] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, when no external force is applied to the joystick, the joystick maintains a current position, and the curved section of the bronchoscope maintains a current posture based on the step-by-step mapping control scheme.

[0028] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, a position mapping control solution is adopted to convert the first mapping coordinate (x, y) into a bending angle θ and a deflection angle φ of the bending segment, including the following steps:

[0029] Determine that the joystick is in an initial state without the action of external force or in a vertical state, the first mapping coordinate of the joystick in the initial state is (0, 0), and when the joystick is in the initial state, determine that the curved segment is in a straight state;

[0030] The first mapping coordinate (x, y) corresponding to the joystick is determined based on the current position of the joystick, and the bending angle θ and the deflection angle φ of the bending segment are calculated based on the first mapping coordinate (x, y) using the following formula:

[0031]

[0032] Among them, arctan represents the inverse tangent function, r m represents the radius of the rocker circle, and π represents the pi.

[0033] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, when no external force is applied to the joystick, the joystick rebounds to an initial state, and accordingly, the bent section of the bronchoscope returns to a straight state.

[0034] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the end of the curved section is provided with a bronchoscope camera, and the following steps are also included:

[0035] Acquire image information collected by the bronchoscope camera, and map the image information into a second plane coordinate system, wherein the optical axis of the lens of the bronchoscope camera is perpendicular to the second plane coordinate system, and when the curved segment is in a straight state, the intersection of the optical axis of the lens and the second plane coordinate system is configured as the origin of the second plane coordinate system;

[0036] Based on the bending angle θ and the deflection angle φ of the bending segment, the mapping position of the image information collected by the bronchoscope camera on the second plane coordinate system is determined.

[0037] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the mapping position (x2, y2) of the image information collected by the bronchoscope camera on the second plane coordinate system is determined based on the bending angle θ and the deflection angle φ of the bending segment:

[0038]

[0039] Wherein, l is the length of the curved section of the bronchoscope in the straightened state.

[0040] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions described above, it also includes determining the control quantities of two motors used to control the bending and deflection of the bronchoscope according to the bending angle θ and the deflection angle φ of the bending segment, and using the control quantities to control the bending and deflection of the bending segment.

[0041] The beneficial effects brought by the technical solution provided by the present invention are as follows:

[0042] a. The present invention designs a mapping scheme between the four-way movement of a single joystick and the four-way bending of a bronchoscope, so that the pushing direction of the joystick is the same as the moving direction of the bronchoscope, thereby establishing an intuitive association. The doctor can achieve omnidirectional bending of the bronchoscope by pushing the joystick with only one finger; by configuring a mapping scheme between the four-way movement of a single joystick and the omnidirectional bending of the bronchoscope, the pushing direction of the joystick is the same as the moving direction of the bronchoscope camera shooting picture, ensuring that the doctor will not enter the wrong branch when controlling the bronchoscope to move in the patient's body according to the shooting picture, and avoid colliding with the tracheal wall to cause damage to the patient's internal tracheal tissue;

[0043] b. The present invention provides two schemes, namely, a step-by-step mapping control scheme and a position mapping control scheme, for mapping the four-way movement of the joystick with the four-way bending of the bronchoscope. The schemes are applicable to bronchoscopes with different mechanical structures, have a wider range of uses, and meet different bronchoscope application requirements;

[0044] c. The present invention constructs a first plane coordinate system and a second plane coordinate system with matching mapping relationships and controls the four-way movement of the joystick to be consistent with the four-way bending of the bronchoscope through a mapping scheme. It can match the pushing direction of the joystick with the bending direction of the bending section of the bronchoscope, the moving direction of the bronchoscope camera shooting picture, and the display position of the bronchoscope camera shooting picture. This not only ensures that the doctor will not enter the wrong branch when controlling the bronchoscope to move in the patient's body according to the shooting picture, and avoids collision with the tracheal wall to cause damage to the patient's internal tracheal tissue, but also makes the operating direction, usage senses and result display of the bronchoscope in use match each other, which can reduce the error operation rate during the use of the bronchoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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 some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A schematic flow chart of a bronchoscope tip bending control mapping method provided for an exemplary embodiment of the present invention;

[0047] Figure 2 A schematic diagram of the principle of determining a first plane coordinate system according to a joystick provided for an exemplary embodiment of the present invention;

[0048] Figure 3 A schematic structural diagram of a curved section of a bronchoscope provided for an exemplary embodiment of the present invention;

[0049] Figure 4 A schematic diagram of the principle of dual-motor controlled bronchoscope bending provided for an exemplary embodiment of the present invention;

[0050] Figure 5 A schematic diagram of the principle of a bronchoscope camera shooting image provided by an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0053] In one embodiment of the present invention, a method for controlling and mapping the bending control of a bronchoscope terminal end based on a single joystick on a handle is provided. The method is applied to a four-way bending bronchoscope driven diagonally by dual motors, and is configured with a joystick that can be pushed in a 360° direction. The joystick is configured as a handle for controlling the bending and deflection of the bronchoscope terminal end, i.e., the bending section of the bronchoscope. The four-way movement of the joystick in a 360° direction under the action of thrust is mapped into a four-way bending amount of the bending section of the bronchoscope. The four-way bending amount of the bending section includes a bending angle and a deflection angle of the bending section. A bronchoscope camera is configured at the end of the bending section, and the bronchoscope camera is configured to collect image information.

[0054] like Figure 1 As shown, the bronchoscope end bending control mapping method based on a single joystick handle includes the following steps:

[0055] Determine a first plane coordinate system based on a joystick circle pushed by the joystick in a 360° direction, the plane where the first plane coordinate system is located coincides with or is parallel to the plane where the joystick circle is located, and the projection point of the center of the joystick circle on the first plane coordinate system is configured as the origin of the first plane coordinate system;

[0056] Mapping the spatial position of the joystick to the first plane coordinate system to obtain first mapping coordinates (x, y) of the spatial position of the joystick in the first plane coordinate system;

[0057] Based on the matching of the moving direction of the bronchoscope camera shooting picture with the four-way bending direction of the bending section, the four-way movement direction of the joystick is configured to be the same as the four-way bending direction of the bending section, and a step-by-step mapping control scheme or a position mapping control scheme is adopted to convert the first mapping coordinate (x, y) into a bending angle θ and a deflection angle φ of the bending section. The bending angle θ and the deflection angle φ are as follows: Figure 3 shown.

[0058] Wherein, the rocker is as follows Figure 2The virtual circle shown by the dotted line on the left is a virtual circle formed by rotating the upper end of the rocker, i.e., the pushed end, around the central axis of the rocker in a vertical state (under no thrust and / or in the initial state) to form a virtual circle. The first plane coordinate system is as follows: Figure 2 The plane coordinate system shown on the right side of the figure, where r m is a mapping of the radius of the rocker circle on the first plane coordinate system. In a specific embodiment, r m The radius of the joystick circle can be directly taken, and the first mapping coordinate (x, y) is within a circle with the origin of the first plane coordinate system as the center and rm as the radius. Specifically, (x, y) satisfies: x∈[-r m ,r m ],y∈[r m ,r m ],(x,y)∈{x 2 +y 2 ≤r m}.

[0059] The present invention designs a mapping scheme of the four-way movement of a single rocker and the four-way bending of a bronchoscope, so that the pushing direction of the rocker is the same as the moving direction of the bronchoscope, thereby establishing an intuitive association, and the doctor can achieve omnidirectional bending of the bronchoscope by pushing the rocker with only one finger. By configuring a mapping scheme of the four-way movement of a single rocker and the omnidirectional bending of the bronchoscope, the pushing direction of the rocker is the same as the moving direction of the bronchoscope camera shooting picture, ensuring that the doctor will not enter the wrong branch when controlling the bronchoscope to move in the patient's body according to the shooting picture, and avoid colliding with the tracheal wall to cause damage to the patient's internal tracheal tissue.

[0060] The present invention provides two bronchoscope end bending control mapping schemes based on a single joystick handle, which are used to convert the first mapping coordinates (x, y) into the bending angle θ and the deflection angle φ of the bending section.

[0061] The first solution is to adopt a step-by-step mapping control solution to convert the first mapping coordinate (x, y) into the bending angle θ and the deflection angle φ of the bending segment, including the following steps.

[0062] It is determined that the joystick is in an initial state without the action of external force, and the first mapping coordinate of the joystick in the initial state is (0, 0); and it is determined that when the joystick is in the initial state, the curved section is in a straight state.

[0063] When the joystick moves under the action of thrust, the displacement (x(k), y(k)) of the joystick in the first plane coordinate system is obtained at each sampling moment from the initial moment to moment k. The displacement of the joystick in the x-axis direction of the first plane coordinate system at moment k is expressed as x(k), and x(k) is determined as the first displacement; the displacement of the joystick in the y-axis direction of the first plane coordinate system at moment k is expressed as y(k), and is determined as the second displacement. It should be noted that the displacement (x(k), y(k)) is the output data of the joystick at moment k.

[0064] The time is T s , k represents the kth sampling time, k=1,2,…,n; x sum y is defined as the first accumulated displacement of the rocker in the x direction of the first plane coordinate system; sum The second displacement accumulation of the joystick in the y direction of the first plane coordinate system is defined as h; the step length of the first displacement accumulation and the second displacement accumulation is defined as a normal number, which is expressed as a dead zone interval to avoid the problem of inaccurate return to zero caused by the mechanical structure of the joystick.

[0065] Determine the accumulated displacement of the rocker on the first plane coordinate system at the kth moment according to the displacement corresponding to each sampling moment (x sum (k), y sum (k)). The calculation formula of the displacement accumulation is:

[0066]

[0067] Where k = 1, 2, ..., n, x sum (0) = 0, y sum (k-1) represents the accumulated displacement of the rocker in the y direction of the first plane coordinate system at time k-1, sum (0)=0, h represents the step length, and d represents the dead zone interval, which is a preset positive constant.

[0068] Further, according to the following formula, using the displacement accumulation (x sum (k), y sum (k)) calculates the first mapping coordinate (x) corresponding to the joystick at the kth moment o (k), y o (k)):

[0069]

[0070] in,

[0071] In the step-by-step mapping control scheme, the first mapping coordinate (xo (k), y o (k)) is converted into the bending angle θ(k) and the deflection angle φ(k) of the bending segment at the kth moment:

[0072]

[0073] Among them, arctan represents the inverse tangent function, and π represents pi.

[0074] Based on the bending angle θ(k) and the deflection angle φ(k) of the bending section of the bronchoscope calculated above, the bronchoscope is controlled to bend and deflect. Specifically, the bronchoscope is as follows: Figure 4 As shown, dual motors (such as Figure 4 The motor 1 and motor 2 shown in the figure are driven, and the control quantities of the two motors used to control the bending and deflection of the bronchoscope are determined according to the bending angle θ(k) and the deflection angle φ(k) of the bending segment, and the bending and deflection of the bending segment are controlled by using the control quantities.

[0075] In the step-by-step mapping control scheme, when no external force is applied to the joystick, the curved section of the bronchoscope maintains its current posture; for the joystick, when no external force is applied to the joystick, the joystick can be controlled to rebound to its initial position, or it can be controlled to maintain its current position.

[0076] The step-by-step mapping control scheme is mainly used to achieve one push of the joystick control corresponding to one movement of the camera angle. If you want to straighten the curved section of the bronchoscope, there are usually two ways: one is to push the joystick in the opposite direction of the joystick push direction until the camera angle moves to the picture corresponding to the initial straight state; the other is to set a separate straightening button, and when the button is triggered, directly input the motor drive amount in the straight state to the bronchoscope. These two straightening methods can also be used in combination.

[0077] The second solution is to adopt a position mapping control solution to convert the first mapping coordinates (x, y) into the bending angle θ and the deflection angle φ of the bending segment, including the following steps.

[0078] The bronchoscope screen space is defined as the first perspective, and the joystick pushing direction is the bronchoscope bending direction. The joystick is determined to be in an initial state without the action of external force, and the first mapping coordinate of the joystick in the initial state is (0,0). When the joystick is in the initial state, the bending section is determined to be in a straight state. In the position mapping control scheme, when no external force is applied to the joystick, the joystick rebounds to the initial state, and accordingly, the bending section of the bronchoscope returns to a straight state.

[0079] The output data (x, y) of the joystick is obtained, where the output data of the joystick is the first mapping coordinate corresponding to the current position of the joystick.

[0080] The bending angle θ and the deflection angle φ of the bending section are expressed by the following formulas:

[0081]

[0082] Among them, arctan represents the inverse tangent function, r m represents the radius of the rocker circle, and π represents the pi.

[0083] Based on the bending angle and deflection angle of the bending section of the bronchoscope calculated above, the bending section of the bronchoscope is controlled to bend and deflect.

[0084] In one embodiment of the present invention, Figure 5 As shown, the bronchoscope end bending control mapping method based on a single joystick handle also includes the following steps:

[0085] Acquire image information collected by the bronchoscope camera, and map the image information into a second plane coordinate system, wherein the optical axis of the lens of the bronchoscope camera is perpendicular to the second plane coordinate system, and when the curved segment is in a straight state, the intersection of the optical axis of the lens and the second plane coordinate system is configured as the origin of the second plane coordinate system;

[0086] Based on the bending angle θ and the deflection angle φ of the bending segment, the mapping position of the image information collected by the bronchoscope camera on the second plane coordinate system is determined.

[0087] In one embodiment of the present invention, based on the bending angle θ and the deflection angle φ of the bending segment, the mapping position (x2, y2) of the image information collected by the bronchoscope camera on the second plane coordinate system is determined by the following formula:

[0088]

[0089] Wherein, l is the length of the curved section of the bronchoscope in the straightened state.

[0090] The second plane coordinate system in this embodiment is a dynamic plane coordinate system, which is determined according to the current position of the bending section of the bronchoscope and the vertical state at the current position. Mapping the image information into the second plane coordinate system can achieve that the bending direction of the bending section of the bronchoscope is consistent with the offset direction of the shooting screen in the second plane coordinate system. Specifically, if the bending section bends to the upper right relative to its straight state, the image information corresponding to the shooting screen falls in the first quadrant of the second plane coordinate system; if the bending section bends to the upper left relative to its straight state, the image information corresponding to the shooting screen falls in the second quadrant of the second plane coordinate system; if the bending section bends to the lower left relative to its straight state, the image information corresponding to the shooting screen falls in the third quadrant of the second plane coordinate system; if the bending section bends to the lower right relative to its straight state, the image information corresponding to the shooting screen falls in the fourth quadrant of the second plane coordinate system. As a result, the person using the bronchoscope can intuitively know the current bending direction of the bronchoscope and the shooting angle from the display interface of the shooting screen; there is no need to distract the attention to the deflection direction of the sensing handle.

[0091] The above-mentioned bronchoscope terminal bending control mapping method based on a single joystick on a handle provided by the present invention can match the pushing direction of the joystick with the bending direction of the bending section of the bronchoscope, the moving direction of the bronchoscope camera shooting picture, and the display position of the bronchoscope camera shooting picture. It not only ensures that the doctor will not enter the wrong branch when controlling the bronchoscope to move in the patient's body according to the shooting picture, but also avoids collision with the tracheal wall to cause damage to the patient's tracheal internal tissue; it also makes it possible to match the operation, usage senses and result display (visual senses) of the bronchoscope during use.

[0092] It should be noted that, in this article, relational terms such as 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.

[0093] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A bronchoscope end bending control mapping method based on a single joystick handle, characterized in that: A four-way bending bronchoscope applied to a dual-motor diagonally driven bronchoscope is provided with a rocker that can be pushed in a 360° direction, and the four-way movement of the rocker in a 360° direction under the action of thrust is mapped into the four-way bending amount of the bending section of the bronchoscope, wherein the four-way bending amount of the bending section includes the bending angle and the deflection angle of the bending section. The method comprises the following steps: Determine a first plane coordinate system based on a joystick circle pushed by the joystick in a 360° direction, the plane where the first plane coordinate system is located coincides with or is parallel to the plane where the joystick circle is located, and the projection point of the center of the joystick circle on the first plane coordinate system is configured as the origin of the first plane coordinate system; Mapping the spatial position of the joystick to the first plane coordinate system to obtain first mapping coordinates (x, y) of the spatial position of the joystick in the first plane coordinate system; Based on the matching of the moving direction of the picture captured by the bronchoscope camera with the four-way bending direction of the bending segment, the four-way movement direction of the joystick is configured to be the same as the four-way bending direction of the bending segment, and a step-by-step mapping control scheme or a position mapping control scheme is adopted to convert the first mapping coordinate (x, y) into the bending angle θ and deflection angle φ of the bending segment.

2. The method for controlling the bending of the bronchoscope end based on a single joystick of a handle according to claim 1, characterized in that: The step-by-step mapping control scheme is adopted to convert the first mapping coordinate (x, y) into the bending angle θ and the deflection angle φ of the bending segment, comprising the following steps: Determine that the joystick is in an initial state without the action of external force or in a vertical state, and the first mapping coordinate of the joystick in the initial state is (0, 0); and when the joystick is in the initial state, determine that the curved segment is in a straight state; When the rocker moves under the action of thrust, the displacement of the rocker on the first plane coordinate system at each sampling time from the initial time to the kth time is obtained, and the accumulated displacement (x) of the rocker on the first plane coordinate system at the kth time is determined according to the displacement corresponding to each sampling time. sum (k), y sum (k)); Using the displacement accumulation (x sum (k), y sum (k)) calculates the first mapping coordinate (x) corresponding to the joystick at the kth moment o (k), y o (k)); Based on the following formula, the first mapping coordinate (x o (k), y o (k)) is converted into the bending angle θ(k) and deflection angle φ(k) of the bending segment at the kth moment: Among them, arctan represents the inverse tangent function, and π represents pi.

3. The method for controlling the bending of the bronchoscope end based on a single rocker handle according to claim 2, characterized in that: Determine the accumulated displacement of the rocker on the first plane coordinate system at the kth moment according to the displacement corresponding to each sampling moment (x sum (k), y sum (k)), the calculation formula of the displacement accumulation is: Wherein, k=1, 2, ..., n; x(k) represents the displacement of the joystick in the x-axis direction of the first plane coordinate system at time k; y(k) represents the displacement of the joystick in the y-axis direction of the first plane coordinate system at time k; x sum (k-1) represents the accumulated displacement of the rocker in the x direction of the first plane coordinate system at time k-1, sum (0) = 0, y sum (k-1) represents the accumulated displacement of the rocker in the y direction of the first plane coordinate system at time k-1, sum (0)=0, h represents the step length, and d represents the dead zone interval, which is a preset positive constant.

4. The method for controlling the bending of the bronchoscope end based on a single joystick of a handle according to claim 2, characterized in that: It also includes using the displacement accumulation amount (x sum (k), y sum (k)) calculates the first mapping coordinate (x) corresponding to the joystick at the kth moment o (k), y o (k)): in, 5. The method for controlling the bending of the bronchoscope end based on a single rocker handle according to claim 2, characterized in that: Based on the step-by-step mapping control scheme, when no external force is applied to the joystick, the joystick will rebound to the initial position, but the curved section of the bronchoscope maintains the current posture.

6. The method for controlling the bending of the bronchoscope end based on a single joystick of a handle according to claim 2, characterized in that: Based on the step-by-step mapping control scheme, when no external force is applied to the joystick, the joystick maintains the current position, and the bending section of the bronchoscope maintains the current posture.

7. The method for controlling the bending of the distal end of a bronchoscope based on a single joystick of a handle according to claim 1, characterized in that: The position mapping control scheme is adopted to convert the first mapping coordinate (x, y) into the bending angle θ and the deflection angle φ of the bending segment, comprising the following steps: Determine that the joystick is in an initial state without the action of external force or in a vertical state, the first mapping coordinate of the joystick in the initial state is (0, 0), and when the joystick is in the initial state, determine that the curved segment is in a straight state; The first mapping coordinate (x, y) corresponding to the joystick is determined based on the current position of the joystick, and the bending angle θ and the deflection angle φ of the bending segment are calculated based on the first mapping coordinate (x, y) using the following formula: Among them, arctan represents the inverse tangent function, r m represents the radius of the rocker circle, and π represents the pi.

8. The method for controlling and mapping the bending of the distal end of a bronchoscope based on a single joystick of a handle according to claim 7, characterized in that: Based on the position mapping control scheme, when no external force is applied to the rocker, the rocker rebounds to an initial state, and accordingly, the bent section of the bronchoscope returns to a straight state.

9. The method for controlling and mapping the bending of the distal end of a bronchoscope based on a single joystick of a handle according to claim 1, characterized in that: The end of the curved section is provided with a bronchoscope camera, and the steps further include: Acquire image information collected by the bronchoscope camera, and map the image information into a second plane coordinate system, wherein the optical axis of the lens of the bronchoscope camera is perpendicular to the second plane coordinate system, and when the curved segment is in a straight state, the intersection of the optical axis of the lens and the second plane coordinate system is configured as the origin of the second plane coordinate system; Based on the bending angle θ and the deflection angle φ of the bending segment, the mapping position of the image information collected by the bronchoscope camera on the second plane coordinate system is determined.

10. The method for controlling and mapping the bending of the distal end of a bronchoscope based on a single joystick of a handle according to claim 9, characterized in that: Based on the bending angle θ and the deflection angle φ of the bending segment, the mapping position (x2, y2) of the image information collected by the bronchoscope camera on the second plane coordinate system is determined: Wherein, l is the length of the curved section of the bronchoscope in the straightened state.

11. The method for controlling and mapping the bending of the distal end of a bronchoscope based on a single joystick of a handle according to claim 1, characterized in that: The method also includes determining control amounts of two motors for controlling the bending and deflection of the bronchoscope according to the bending angle θ and the deflection angle φ of the bending section, and using the control amounts to control the bending and deflection of the bending section.

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