A bronchoscope tip bending control mapping method based on a handle single joystick

Abstract

The application discloses a handle single-joystick-based bronchoscope tip bending control mapping method, which is applied to a four-way bending bronchoscope driven by two motors in a diagonal mode, and the method comprises the following steps: determining a first plane coordinate system based on a joystick circle of a joystick capable of being pushed in a 360-degree direction, wherein a plane where the first plane coordinate system is located is coincident with or parallel to a plane where the joystick circle is located, and a projection point of a center of the joystick circle in the first plane coordinate system is an original point of the first plane coordinate system; mapping a space position of the joystick to the first plane coordinate system to obtain a first mapping coordinate of the joystick on the first plane coordinate system; configuring four-way movement directions of the joystick to be the same as four-way bending directions of a bending section of the bronchoscope, and adopting a step-by-step mapping control scheme or a position mapping control scheme to convert the first mapping coordinate into a bending angle and a deflection angle of the bending section. The application can improve the operation convenience and intuitiveness in the use process of the bronchoscope and reduce the misoperation rate of the bronchoscope.

Description

TECHNICAL FIELD

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

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

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

[0004] (1) The existing bronchoscope control logic is chaotic, and the doctor needs to control the conventional bronchoscope by adjusting the trigger according to the display screen to control the bending of the bronchoscope and swing the wrist to a large amplitude to realize the rotation of the bronchoscope. The control logic is not intuitive and is easy to cause the doctor to be tired;

[0005] (2) The rotation angle of the bronchoscope rotation realized by the human wrist swing cannot be quantified, and the wrist swing angle is difficult to accurately map to the bronchoscope motion space and the picture space, and since the bronchoscope body is made of soft material, there is a certain torsion during the rotation movement, which causes the display screen to be chaotic during the deepening process of the bronchoscope, and easily causes the bronchoscope to enter the wrong branch or collide with the tracheal wall to cause damage to the internal tissues of the patient's trachea.

[0006] The disclosure of the above background art content is only used to assist in understanding the inventive concept and technical solutions of the present application, and it does not necessarily belong to the prior art of the present patent application, nor does it necessarily give technical teaching; in the absence of explicit evidence that the above content has been disclosed before the filing date of the present patent application, the above background art should not be used to evaluate the novelty and inventiveness of the present application. SUMMARY

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

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

[0009] A handle single-joystick based bronchoscope tip bending control mapping method is applied to a four-way bending bronchoscope driven by two motors in a diagonal manner, a joystick capable of being pushed in a 360° direction is configured, the four-way movement of the joystick in the 360° direction under the action of a pushing force is mapped to the four-way bending amount of a 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, and the method comprises the following steps:

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

[0011] The spatial position of the joystick is mapped to the first plane coordinate system to obtain the first mapping coordinates (x, y) of the spatial position of the joystick on the first plane coordinate system;

[0012] Based on the fact that the moving direction of the camera shooting picture of the bronchoscope matches 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, a step-by-step mapping control scheme or a position mapping control scheme is adopted, and the first mapping coordinates (x, y) are converted into the bending angle θ and the deflection angle φ of the bending section.

[0013] Further, any one of the above technical solutions or a combination of multiple technical solutions is adopted, the step-by-step mapping control scheme is adopted, the first mapping coordinates (x, y) are converted into the bending angle θ and the deflection angle φ of the bending section, and the following steps are included:

[0014] The joystick is determined to be in an initial state under the action of no external force or in a vertical state, the first mapping coordinates of the joystick in the initial state are (0, 0), and the bending section is determined to be in a straightened state when the joystick is in the initial state;

[0015] When the joystick moves under the action of a pushing force, each sampling time from an initial time to a k-th time is obtained, the displacement amount of the joystick on the first plane coordinate system, and the displacement cumulative amount (x sum (k), y sum (k)) of the joystick on the first plane coordinate system at the k-th time is determined according to the displacement amount corresponding to each sampling time;

[0016] The displacement cumulative amount (x sum (k), y sum(k)) calculating a first mapping coordinate (x o (k), y o (k)) corresponding to the rocker at the kth moment;

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

[0018]

[0019] Wherein, arctan represents an inverse tangent function, and π represents a circular constant.

[0020] Further, according to any one of the technical solutions or the combination of the multiple technical solutions, the displacement accumulation amount (x sum (k), y sum (k)) of the rocker on the first plane coordinate system at the kth moment is determined according to the displacement amount corresponding to each sampling moment, and a calculation formula of the displacement accumulation amount is:

[0021]

[0022] Wherein, k = 1, 2, …, n; x(k) represents the displacement amount of the rocker on the x-axis direction of the first plane coordinate system at the kth moment; y(k) represents the displacement amount of the rocker on the y-axis direction of the first plane coordinate system at the kth moment; x sum (k-1) represents the displacement accumulation amount of the rocker on the x-axis direction of the first plane coordinate system at the (k-1)th moment, x sum (0) = 0, y sum (k-1) represents the displacement accumulation amount of the rocker on the y-axis direction of the first plane coordinate system at the (k-1)th moment, y sum (0) = 0, h represents a step length, and d represents a dead zone interval, which is a preset constant.

[0023] Further, according to any one of the technical solutions or the combination of the multiple technical solutions, the first mapping coordinate (x sum (k), y sum (k)) corresponding to the rocker at the kth moment is calculated by using the displacement accumulation amount (x o (k), y o (k)) according to the following formula:

[0024]

[0025] Wherein,

[0026] Further, any one of the above technical solutions or a combination thereof, based on the step-by-step mapping control scheme, when no external force is applied to the rocker, the rocker rebounds to the initial position, but the curved segment of the bronchoscope maintains the current posture.

[0027] Further, any one of the above technical solutions or a combination thereof, based on the step-by-step mapping control scheme, when no external force is applied to the rocker, the rocker maintains the current position, while the curved segment of the bronchoscope maintains the current posture.

[0028] Further, any one of the above technical solutions or a combination thereof, adopts a position mapping control scheme to convert the first mapping coordinates (x, y) into the bending angle θ and the deflection angle φ of the curved segment, including the following steps:

[0029] Determine that the rocker is in the initial state under the action of no external force or in the vertical state, the first mapping coordinates of the rocker in the initial state are (0, 0), and when the rocker is in the initial state, determine that the curved segment is in the straight state;

[0030] Based on the current position of the rocker, determine the corresponding first mapping coordinates (x, y) thereof, and based on the first mapping coordinates (x, y), adopt the following formula to express and calculate the bending angle θ and the deflection angle φ of the curved segment:

[0031]

[0032] Wherein, arctan represents the inverse tangent function, r m represents the radius of the rocker circle, and π represents the circular constant.

[0033] Further, any one of the above technical solutions or a combination thereof, based on the position mapping control scheme, when no external force is applied to the rocker, the rocker rebounds to the initial state, and correspondingly, the curved segment of the bronchoscope returns to the straight state.

[0034] Further, any one of the above technical solutions or a combination thereof, the end of the curved segment is configured with a bronchoscope camera, and further comprising the following steps:

[0035] Obtain image information collected by the bronchoscope camera, and map the image information into a second plane coordinate system, 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 the 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] Determine the mapping position of the image information collected by the bronchoscope camera on the second plane coordinate system based on the bending angle θ and the deflection angle φ of the bending section.

[0037] Further, any of the technical solutions or combinations of the technical solutions described above, based on the bending angle θ and the deflection angle φ of the bending section, determine the mapping position (x2, y2) of the image information collected by the bronchoscope camera on the second plane coordinate system:

[0038]

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

[0040] Further, any of the technical solutions or combinations of the technical solutions described above, further comprising determining the control amount of the 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 controlling the bending and deflection of the bending section using the control amount.

[0041] The technical solutions provided by the present application have the following beneficial effects:

[0042] a. The present application designs a mapping scheme of four-way movement of a single rocker and four-way bending of a bronchoscope, so that the pushing direction of the rocker is the same as the movement direction of the bronchoscope, thereby establishing an intuitive connection, and the doctor can realize the omnidirectional bending of the bronchoscope by pushing the rocker with only one finger; By configuring a mapping scheme of four-way movement of a single rocker and omnidirectional bending of a bronchoscope, the pushing direction of the rocker is the same as the moving direction of the bronchoscope camera shooting picture, which ensures that the doctor will not enter the wrong branch during the movement of the bronchoscope in the patient's body according to the shooting picture, and avoids collision with the tracheal wall to cause damage to the internal tissues of the patient's trachea;

[0043] b. The present application provides two mapping schemes of four-way movement of a rocker and four-way bending of a bronchoscope, which can be applied to bronchoscopes with different mechanical structures, have a wider range of use, and meet different application requirements of bronchoscopes;

[0044] c.The application can match the pushing direction of the rocker with the bending direction of the bending section of the bronchoscope, the moving direction of the camera shooting picture of the bronchoscope, and the display position of the camera shooting picture of the bronchoscope by constructing the first plane coordinate system and the second plane coordinate system which match the mapping relationship and controlling the four-way movement of the rocker to be consistent with the four-way bending of the bronchoscope, which not only ensures that the doctor will not enter the wrong branch during the movement of the bronchoscope in the patient's body according to the shooting picture and avoids collision with the tracheal wall to cause damage to the internal tissues of the patient's trachea, but also matches the operation direction, sensory and result display of the bronchoscope in use, which can reduce the misoperation rate during the use of the bronchoscope. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0046] Figure 1 The flowchart of the bronchoscope tip bending control mapping method provided for an exemplary embodiment of the present application is shown in the figure.

[0047] Figure 2 The principle diagram of determining the first plane coordinate system according to the rocker provided for an exemplary embodiment of the present application is shown in the figure.

[0048] Figure 3 The structure diagram of the bending section of the bronchoscope provided for an exemplary embodiment of the present application is shown in the figure.

[0049] Figure 4 The principle diagram of the double-motor control bronchoscope bending provided for an exemplary embodiment of the present application is shown in the figure.

[0050] Figure 5 The principle diagram of the camera shooting picture of the bronchoscope provided for an exemplary embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0051] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should be within the scope of protection of the present application.

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

[0053] In one embodiment of the present application, a handle single joystick based bronchoscope tip bending control mapping method is provided, which is applied to a four-way bending bronchoscope driven by two motors in opposite directions, a joystick capable of being pushed in 360° directions is configured, the joystick is configured as a handle for controlling the bending and deflection of the bending section of the bronchoscope tip, the four-way movement of the joystick in 360° directions under the action of a pushing force is mapped to the four-way bending amount of the bending section of the bronchoscope, the four-way bending amount of the bending section includes the bending angle and the deflection angle of the bending section, the tip of the bending section is configured with a bronchoscope camera, and the bronchoscope camera is configured to collect image information.

[0054] As shown in Figure 1 , the handle single joystick based bronchoscope tip bending control mapping method includes the following steps:

[0055] A first plane coordinate system is determined based on the joystick circle in 360° directions, the plane where the first plane coordinate system is located is coincident with or parallel to the plane where the joystick circle is located, and the projection point of the center of the joystick circle in the first plane coordinate system is configured as the origin of the first plane coordinate system;

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

[0057] Based on the fact that the moving direction of the picture taken by the bronchoscope camera matches 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, a step-by-step mapping control scheme or a position mapping control scheme is adopted to convert the first mapping coordinates (x, y) into the bending angle θ and the deflection angle φ of the bending section, as shown in Figure 3 .

[0058] Wherein, the joystick circle is as shown in Figure 2A virtual circle shown by a dashed line on the left, the rocker circle is a virtual circle formed by the maximum radius of the upper end of the rocker, i.e. the end that can be pushed, rotating around the center axis of the rocker in the vertical state (under the action of no pushing force and / or in the initial state). Figure 2 A plane coordinate system shown in the middle on the right, wherein r m is the mapping of the radius of the rocker circle on the first plane coordinate system, in a specific embodiment, r m may be directly taken as the radius of the rocker circle, and the first mapping coordinate (x, y) is in 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 ], and (x, y)∈{x 2 +y 2 ≤r m}.

[0059] The present application establishes an intuitive correlation by designing a mapping scheme of four-way movement of a single rocker and four-way bending of a bronchoscope, so that the pushing direction of the rocker is the same as the movement direction of the bronchoscope, so that the doctor can realize the omnidirectional bending of the bronchoscope by pushing the rocker with one finger. By configuring a mapping scheme of four-way movement of a single rocker and omnidirectional bending of a bronchoscope, the pushing direction of the rocker is the same as the moving direction of the camera shooting picture of the bronchoscope, so as to ensure that the doctor will not enter the wrong branch during the movement of the bronchoscope in the patient's body according to the shooting picture, and avoid collision with the tracheal wall to cause damage to the internal tissues of the patient's trachea.

[0060] The present application provides two mapping schemes of bronchoscope tip bending control based on a handle single rocker, for converting the first mapping coordinate (x, y) into the bending angle θ and the deflection angle φ of the bending section.

[0061] The first scheme is a step-by-step mapping control scheme, which converts the first mapping coordinate (x, y) into the bending angle θ and the deflection angle φ of the bending section, including the following steps.

[0062] Determine that the rocker is in the initial state under the action of no external force, and the first mapping coordinate of the rocker in the initial state is (0, 0); and determine that the bending section is in the straightened state when the rocker is in the initial state.

[0063] When the rocker is moved under the action of the pushing force, the displacement amount (x(k), y(k)) of the rocker in the first plane coordinate system at each sampling time from the initial time to the kth time is obtained. The displacement amount of the rocker in the x-axis direction of the first plane coordinate system at the kth time is represented as x(k), which is determined as a first displacement amount; the displacement amount of the rocker in the y-axis direction of the first plane coordinate system at the kth time is represented as y(k), which is determined as a second displacement amount. It should be noted that the displacement amount (x(k), y(k)) is the rocker output data at the kth time.

[0064] The time is T s , k represents the kth sampling time, k = 1, 2,..., n; x sum is defined as the first displacement accumulation amount of the rocker in the x direction of the first plane coordinate system; y sum is defined as the second displacement accumulation amount of the rocker in the y direction of the first plane coordinate system; h is defined as the step length of the first displacement accumulation amount and the second displacement accumulation amount; d is defined as a constant, representing a dead zone interval, to avoid the problem of inaccurate zero return of the rocker due to mechanical structure.

[0065] According to the displacement amount corresponding to each sampling time, the displacement accumulation amount (x sum (k), y sum (k)) of the rocker in the first plane coordinate system at the kth time is determined. The calculation formula of the displacement accumulation amount is:

[0066]

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

[0068] Further, according to the following formula, the first mapping coordinate (x sum (k), y sum (k)) corresponding to the rocker at the kth time is calculated by using the displacement accumulation amount (x o (k), y o (k)):

[0069]

[0070] wherein,

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

[0072]

[0073] Here, arctan represents the arctangent function, and π represents pi.

[0074] Based on the calculated bending angle θ(k) and deflection angle φ(k) of the curved section of the bronchoscope, the bending and deflection of the bronchoscope are controlled. Specifically, the bronchoscope is as follows: Figure 4 As shown, a dual-motor system is used (e.g.) Figure 4 Driven by motors 1 and 2 shown, the control quantities of the two motors for controlling the bending and deflection of the bronchoscope are determined according to the bending angle θ(k) and deflection angle φ(k) of the bending segment, and the bending and deflection of the bending segment are controlled by the control quantities.

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

[0076] The step-mapping control scheme is mainly used to achieve a corresponding camera viewpoint movement with each joystick push. To straighten the curved section of the bronchoscope, there are generally two methods: one is to push the joystick in the opposite direction of the previous push until the camera viewpoint moves to the initial straightened state; the other is to use a separate straightening button, which, when triggered, directly inputs the motor drive input to the bronchoscope in its straightened state. These two straightening methods can also be used in combination.

[0077] The second approach is to use a position mapping control scheme, which converts the first mapped coordinates (x, y) into the bending angle θ and deflection angle φ of the curved segment, including the following steps.

[0078] The bronchoscope's viewpoint is defined as the first-person perspective, and the direction of the joystick's movement corresponds to the bending direction of the bronchoscope. The joystick is defined as being in its initial state without external force, with its first mapped coordinates being (0,0). When the joystick is in its initial state, the bent section is defined as straight. In the position mapping control scheme, when no external force is applied to the joystick, it springs back to its initial state, and correspondingly, the bent section of the bronchoscope returns to its straight state.

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

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

[0081]

[0082] wherein arctan represents the inverse tangent function, r m represents the radius of the rocker circle, and π represents the circular constant.

[0083] Based on the bending angle and the 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 an embodiment of the present application, as Figure 5 shown in FIG. 1, the handle-single-rocker-based bronchoscope tip bending control mapping method further comprises the following steps:

[0085] Obtaining image information collected by the bronchoscope camera, and mapping the image information into a second planar coordinate system, the optical axis of the lens of the bronchoscope camera being perpendicular to the second planar coordinate system, and when the bending section is in the straightened state, the intersection of the optical axis of the lens and the second planar coordinate system is configured as the origin of the second planar coordinate system;

[0086] Based on the bending angle θ and the deflection angle φ of the bending section, determining the mapping position of the image information collected by the bronchoscope camera on the second planar coordinate system.

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

[0088]

[0089] wherein l is the length of the bending section of the bronchoscope in the straightened state.

[0090] The second plane coordinate system in the 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 realize that the bending direction of the bending section of the bronchoscope is consistent with the offset direction of the shooting picture in the second plane coordinate system. Specifically, if the bending section bends right up relative to the straightened state, the image information corresponding to the shooting picture falls in the first quadrant of the second plane coordinate system; if the bending section bends left up relative to the straightened state, the image information corresponding to the shooting picture falls in the second quadrant of the second plane coordinate system; if the bending section bends left down relative to the straightened state, the image information corresponding to the shooting picture falls in the third quadrant of the second plane coordinate system; and if the bending section bends right down relative to the straightened state, the image information corresponding to the shooting picture falls in the fourth quadrant of the second plane coordinate system. Thus, the person using the bronchoscope can intuitively know the bending direction of the current bronchoscope and the shooting angle from the display interface of the shooting picture; and the attention of the person is not distracted to perceive the deflection direction of the handle.

[0091] The bronchoscope tip bending control mapping method based on the handle single joystick provided by the present application can match the joystick pushing direction 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, thereby ensuring that the doctor will not enter the wrong branch during the movement of the bronchoscope in the patient's body according to the shooting picture, and avoiding collision with the tracheal wall to cause damage to the internal tissues of the patient's trachea; and making it possible for the bronchoscope to match the implementation operation, the use sense and the result display (visual sense) in use.

[0092] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one from another entity or action, without necessarily requiring or implying that the entities or actions are in any way mutually exclusive or directional. Moreover, the terms "include", "have", or any other variant thereof are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that include a series of elements not only include those elements but also include other elements not explicitly listed or other elements that are inherent in such processes, methods, articles, or apparatuses. Without more limitations, an element defined by the statement "including a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0093] The above description is only a specific embodiment of the present application, and it should be noted that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A handle-single-joystick based bronchoscope tip bending control mapping method, characterized in that, The application is applied to four-way bending bronchoscope driven by double motors in diagonal mode, a rocker capable of being pushed in 360° direction is configured, four-way movement of the rocker in 360° direction under the action of pushing force is mapped into four-way bending amount of a bending section of the bronchoscope, the four-way bending amount of the bending section includes bending angle and deflection angle of the bending section, an end of the bending section is configured with a bronchoscope camera, and the method comprises the following steps: A first plane coordinate system is determined based on a rocker circle in which the rocker is pushed in 360° direction, a plane in which the first plane coordinate system is located is coincident with or parallel to a plane in which the rocker circle is located, and a projection point of a center of the rocker circle in the first plane coordinate system is configured as an origin of the first plane coordinate system; A spatial position of the rocker is mapped onto the first plane coordinate system to obtain first mapping coordinates (x, y) of the spatial position of the rocker in the first plane coordinate system; Image information collected by the bronchoscope camera is obtained, and the image information is mapped into a second plane coordinate system, an optical axis of a lens of the bronchoscope camera is perpendicular to the second plane coordinate system, and when the bending section is in a straightened state, an intersection of the optical axis of the lens and the second plane coordinate system is configured as an origin of the second plane coordinate system; Based on the fact that the moving direction of the picture taken by the bronchoscope camera matches the four-way bending direction of the bending section, the four-way movement direction of the rocker is configured to be the same as the four-way bending direction of the bending section, a step-by-step mapping control scheme or a position mapping control scheme is adopted to convert the first mapping coordinates (x, y) into the bending angle θ and the deflection angle φ of the bending section ; Based on the bending angle θ and deflection angle of the curved segment Determine the mapping position (x2, y2) of the image information acquired by the bronchoscopic camera on the second plane coordinate system: ； ； wherein l Lb is the length of the curved section of the bronchoscope in the straightened state.

2. The handle-single-joystick-based bronchoscope tip bend control mapping method of claim 1, wherein, The first mapping coordinates (x, y) are converted into a bending angle θ and a deflection angle of the curved section by using a stepwise mapping control scheme comprising the steps of: It is determined that the rocker is in an initial state under the action of no external force or in a vertical state, the first mapping coordinates of the rocker in the initial state are (0, 0), and when the rocker is in the initial state, it is determined that the bending section is in the straightened state; When the rocker is moved under the action of the pushing force, the displacement of the rocker in the first plane coordinate system at each sampling time from the initial time to the kth time is obtained, and the accumulated displacement of the rocker in the first plane coordinate system at the kth time is determined according to the displacement of the rocker at each sampling time (x sum (k), y sum (k)). The displacement accumulation amount (x sum (k), y sum (k)) is calculated according to the first mapping coordinate (x o (k), y o (k)) corresponding to the rocker at the kth moment. The first mapping coordinates (x(k), y(k)) are converted into the bending angle θ(k) and the deflection angle φ(k) of the bending section at the kth moment based on the following formula: o (k) = arctan(y(k) / x(k)) o (k) = arctan(y(k) / x(k)) (k) = arctan(y(k) / x(k)) ； ； Wherein, arctan represents an inverse tangent function, and π represents a circular constant.

3. The handle-single-joystick-based bronchoscope tip bend control mapping method of claim 2, wherein, The displacement accumulation amount of the rocker in the first plane coordinate system at the kth moment is determined according to the displacement amount corresponding to each sampling moment, and the calculation formula of the displacement accumulation amount is: x (k) = å i = 1 k x (i), y (k) = å i = 1 k y (i), wherein x (i) and y (i) are the displacement amounts of the rocker in the first plane coordinate system at the ith moment. sum (k) and y sum (k) respectively. The displacement accumulation amount of the rocker in the first plane coordinate system at the kth moment is determined according to the ； ； ； wherein, k = 1, 2, …, n; x(k) represents the displacement amount of the rocker in the x-axis direction of the first plane coordinate system at the k time; y(k) represents the displacement amount of the rocker in the y-axis direction of the first plane coordinate system at the k time; x sum (k-1) represents the displacement cumulative amount of the rocker in the x direction of the first plane coordinate system at the k-1 time, x sum (k-1) represents the displacement cumulative amount of the rocker in the y direction of the first plane coordinate system at the k-1 time, y sum (k-1) represents the displacement cumulative amount of the rocker in the y direction of the first plane coordinate system at the k-1 time, y sum (k-1) represents the displacement cumulative amount of the rocker in the y direction of the first plane coordinate system at the k-1 time, y 4. The handle-single-joystick-based bronchoscope tip bend control mapping method of claim 2, wherein, Also includes according to the following formula, using the displacement accumulation amount (x sum (k), y sum (k)) calculation of the first mapping coordinates (x o (k), y o (k)) corresponding to the k moment of the rocker: ； ； wherein , .

5. The handle-single-joystick-based bronchoscope tip bend control mapping method of claim 2, wherein, Based on the step-by-step mapping control scheme, when no external force is applied to the rocker, the rocker rebounds to the initial position, but the bending section of the bronchoscope maintains the current posture.

6. The handle-single-joystick-based bronchoscope tip bend control mapping method of claim 2, wherein, Based on the step-by-step mapping control scheme, when no external force is applied to the rocker, the rocker maintains the current position, and at the same time, the bending section of the bronchoscope maintains the current posture.

7. The handle-single-joystick-based bronchoscope tip bend control mapping method of claim 1, wherein, The first mapping coordinates (x, y) are converted into a bending angle θ and a deflection angle φ of the curved section by a position mapping control scheme comprising the steps of: It is determined that the rocker is in an initial state under the action of no external force or in a vertical state, the first mapping coordinates of the rocker in the initial state are (0, 0), and when the rocker is in the initial state, it is determined that the bending section is in the straightened state; determining the corresponding first mapping coordinates (x, y) of the rocker based on the current position of the rocker, and calculating the bending angle θ and the deflection angle of the curved segment based on the first mapping coordinates (x, y) by using the following formula expression : ； ； where arctan denotes the inverse tangent function, r m denotes the radius of the rocker circle, and π denotes the circle constant.

8. The handle-single-joystick-based bronchoscope tip bend control mapping method of claim 7, wherein, Based on the position mapping control scheme, when no external force is applied to the rocker, the rocker rebounds to the initial state, and correspondingly, the bending section of the bronchoscope returns to the straightened state.

9. The handle-single-joystick-based bronchoscope tip bend control mapping method of claim 1, wherein, Further comprising determining control amounts for controlling two motors for bending and deflecting of the bending section, based on a bending angle θ and a deflection angle φ of the bending section, and controlling the bending and the deflection of the bending section using the control amounts. , determining control amounts for controlling two motors for bending and deflecting of the bending section, and controlling the bending and the deflection of the bending section using the control amounts.

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