Endoscope laser lithotripsy system, control method thereof and endoscope imaging catheter

Abstract

The embodiment of the invention provides an endoscope laser lithotripsy system, a control method of the endoscope laser lithotripsy system and an endoscope imaging catheter. The method comprises the steps that a perfusion pump is controlled to perfuse liquid into a target area, and a suction pump is controlled to suck the liquid in the target area; at least any one of the following parameters is acquired: an image in the target area is acquired through an imaging device, the temperature in the target area is acquired through a detection unit, and the pressure in the target area is acquired through the detection unit; when the laser outputs laser to the target area through the optical fiber, the control unit controls the perfusion pump, the suction pump and the laser according to the collected parameters. Linkage control over the flow speed of perfusion liquid, the flow speed of suction liquid and laser output of the laser device can be achieved, and safety and effectiveness of lithotripsy operation can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to an endoscopic laser lithotripsy system and a control method thereof, and an endoscopic imaging catheter. Background Art

[0002] In the medical field, laser lithotripsy is a common minimally invasive surgery. For example, ureteroscopic holmium laser lithotripsy can be used to treat kidney stones. Taking the kidney stone lithotripsy process as an example, perfusion is used to expand the soft renal cavity and flush out blood and tissue fragments in order to obtain a clear surgical field of view; however, the related technology has the problem of excessive perfusion, which will lead to increased intrarenal pressure. Excessive intrarenal pressure may cause renal pelvic injury or reflux infection, affecting the safety of patients. Moreover, during the laser lithotripsy process, the continuous excitation of the high-energy laser will cause the water temperature in the kidney to rise. Excessive temperature will cause the cytotoxic effect to increase exponentially, which may cause irreversible damage to the kidneys. Summary of the invention

[0003] The present application provides an endoscopic laser lithotripsy system and a control method thereof, and an endoscopic imaging catheter, which can improve the safety of the endoscopic laser lithotripsy system.

[0004] In a first aspect, an embodiment of the present application provides a control method for an endoscopic laser lithotripsy system, the endoscopic laser lithotripsy system comprising: an imaging catheter, a detection unit, a control unit, a perfusion pump, a suction pump, and a laser, wherein the imaging catheter is provided with an imaging device, the detection unit is used to detect temperature and pressure, and the laser is connected to an optical fiber;

[0005] The method comprises:

[0006] Controlling the perfusion pump to perfuse liquid into the target area, and controlling the suction pump to absorb the liquid in the target area;

[0007] At least any one of the following parameters is collected: an image within the target area is obtained by the imaging device, a temperature within the target area is obtained by the detection unit, and a pressure within the target area is obtained by the detection unit;

[0008] When the laser outputs laser light into the target area through the optical fiber, the control unit controls the perfusion pump, the suction pump and the laser according to the collected parameters.

[0009] In a second aspect, an embodiment of the present application provides an endoscopic laser lithotripsy system, the system comprising:

[0010] An imaging catheter, wherein an imaging device is provided on the imaging catheter;

[0011] A detection unit, wherein the detection unit is used to detect temperature and pressure;

[0012] a perfusion pump and a suction pump, wherein the perfusion pump is used to perfuse liquid into the target area, and the suction pump is used to absorb the liquid in the target area;

[0013] A laser, wherein the laser is used to connect to the optical fiber;

[0014] A control unit, the control unit is used to:

[0015] Controlling the perfusion pump to perfuse liquid into the target area, and controlling the suction pump to absorb the liquid in the target area;

[0016] At least any one of the following parameters is collected: an image within the target area is obtained by the imaging device, a temperature within the target area is obtained by the detection unit, and a pressure within the target area is obtained by the detection unit;

[0017] When the laser outputs laser light into the target area through the optical fiber, the perfusion pump, the suction pump and the laser are controlled according to the collected parameters.

[0018] In a third aspect, an embodiment of the present application provides an imaging catheter, the imaging catheter comprising:

[0019] A catheter body, the catheter body comprising a head end, an operating portion, and a working passage passing through the head end and the operating portion;

[0020] An imaging device, the imaging device being arranged at the head end;

[0021] A detection unit, the detection unit is used to detect temperature and pressure, and the detection unit is arranged at the head end;

[0022] A transmission component, wherein a first end of the transmission component is connected to the imaging device, the temperature sensor and the pressure sensor, and a second end of the transmission component is connected to the operating part.

[0023] The embodiment of the present application provides an endoscopic laser lithotripsy system and a control method thereof, and an endoscopic imaging catheter, the method comprising: controlling a perfusion pump to perfuse liquid into a target area, and controlling a suction pump to absorb liquid in the target area; acquiring at least one of the following parameters: acquiring an image in the target area through an imaging device, acquiring the temperature in the target area through a detection unit, and acquiring the pressure in the target area through a detection unit; when the laser outputs laser light into the target area through an optical fiber, the control unit controls the perfusion pump, the suction pump, and the laser according to the acquired parameters. The linkage control of the flow rate of the perfusion liquid, the flow rate of the suction liquid, and the laser output of the laser can be achieved, which can improve the safety and effectiveness of lithotripsy.

[0024] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is a flow chart of a control method of an endoscopic laser lithotripsy system provided in an embodiment of the present application;

[0027] Figure 2 is a schematic diagram of an endoscopic laser lithotripsy system according to an embodiment of the present application;

[0028] Figure 3 is a schematic diagram of the control flow of an endoscopic laser lithotripsy system in the exploration phase in one embodiment of the present application;

[0029] Figure 4 is a schematic diagram of the control flow of an endoscopic laser lithotripsy system in the lithotripsy preparation stage in one embodiment of the present application;

[0030] Figure 5 is a schematic diagram of the control flow of an endoscopic laser lithotripsy system in the lithotripsy stage in one embodiment of the present application;

[0031] Figure 6 This is a schematic diagram of the control flow of an endoscopic laser lithotripsy system in the stone removal stage in one embodiment of the present application;

[0032] Figure 7 is a schematic diagram of an endoscopic laser lithotripsy system provided in an embodiment of the present application;

[0033] Figure 8is a schematic diagram of a control unit of an endoscopic laser lithotripsy system provided in an embodiment of the present application;

[0034] Fig. 9 It is a schematic block diagram of an imaging catheter provided in an embodiment of the present application.

[0035] Description of reference numerals:

[0036] 10. Imaging catheter; 11. Imaging device; 111. Camera; 112. Light source; 12. Catheter body; 121. Head end; 122. Operation unit; 123. Working passage; 20. Detection unit; 21. Temperature sensor; 22. Pressure sensor; 30. Control unit; 41. Perfusion pump; 42. Suction pump;

[0037] 50. Laser; 51. Optical fiber; 60. Suction sheath; 61. Hollow passage; 71. First flow sensor; 72. Second flow sensor; 81. Transmission assembly. DETAILED DESCRIPTION

[0038] 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 part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0040] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0041] See also Figure 1 , Figure 1 1 is a flow chart of a control method for an endoscopic laser lithotripsy system provided in an embodiment of the present application. The control method for an endoscopic laser lithotripsy system can be applied to an endoscopic laser lithotripsy system or a control device of an endoscopic laser lithotripsy system, and is used to control the endoscopic laser lithotripsy system to perform lithotripsy on stones in a target area. For ease of description, the present application embodiment mainly describes the control method applied to an endoscopic laser lithotripsy system as an example.

[0042] Figure 2 is a schematic diagram of an endoscopic laser lithotripsy system for implementing some embodiments, such as Figure 2 As shown, the endoscopic laser lithotripsy system includes an imaging catheter 10 , a detection unit 20 , a control unit 30 , an irrigation pump 41 , a suction pump 42 , and a laser 50 , wherein the laser 50 is connected to an optical fiber 51 .

[0043] The imaging catheter 10 is provided with an imaging device 11. Exemplarily, the imaging device 11 includes at least a camera 111 and may also include a light source 112. The light output by the light source 112 may illuminate the target area so that the camera 111 may obtain image information of the target area.

[0044] For example, the imaging catheter 10 includes a catheter body 12, which may be a soft catheter body 12 or a hard catheter body 12. Figure 2 As shown, the catheter body 12 includes a head end 121 and an operating part 122, wherein the head end 121 of the catheter body 12 is used to extend into the target area. Optionally, the operating part 122 is formed with a handheld portion for the user to hold, and the operating part 122 may also be provided with input devices such as buttons and rollers, and may also be provided with output devices such as display screens and indicator lights.

[0045] Optional, such as Figure 2 As shown, the camera 111 and / or the light source 112 in the imaging device 11 may be disposed at the head end 121 of the catheter body 12 .

[0046] Optionally, the camera 111 and / or the light source 112 in the imaging device 11 may also be arranged at the operating part 122 of the catheter body 12. For example, the imaging device 11 may also include a first light guide structure, one end of which is connected to the light source 112, and the other end is arranged in the target area. The light source 112 may provide light to the target area through the first light guide structure, and the first light guide structure may include, for example, an optical fiber 51. For example, the imaging device 11 may also include a second light guide structure, and the second light guide structure may include, for example, an image conduction fiber, one end of which is arranged at the head end 121 of the catheter body 12, and the other end of which is connected to the camera 111. The camera 111 may obtain image information of the target area through the second light guide structure.

[0047] The laser 50 is, for example, a holmium laser, but is not limited thereto, and may also be, for example, a thulium laser. The laser 50 can output laser light to the target area through the optical fiber 51, and the laser light can act on the stones in the target area to break the stones. It should be noted that during the laser lithotripsy process, the continuous excitation of the high-energy laser will cause the temperature in the target area to rise.

[0048] The perfusion pump 41 is used to perfuse liquid into the target area. Figure 2As shown, the catheter body 12 includes a working passage 123 that passes through the head end 121 and the operating part 122, and the optical fiber 51 connected to the laser 50 can be passed through the working passage 123. Optionally, the working passage 123 can also be used to provide liquid to the target area, for example, the perfusion pump 41 is connected to the working passage 123, and the perfusion pump 41 can perfuse liquid into the target area through the working passage 123.

[0049] The suction pump 42 can be used to suck the liquid in the target area. Figure 2 As shown, the endoscopic laser lithotripsy system may further include a suction sheath 60. Optionally, the suction sheath 60 has one or more hollow passages 61, and the imaging catheter 10 may be disposed in one of the hollow passages 61; of course, it is not limited thereto, for example, the imaging catheter 10 may be integrated into the suction sheath 60, for example, the operating portion 122 of the catheter body 12 may be integrated into the suction sheath 60; it is understandable that the catheter body 12 and the suction sheath 60 may be detachably connected or the catheter body 12 may be integrally provided with the suction sheath 60. Optionally, the suction pump 42 may be connected to at least one of the hollow passages 61 of the suction sheath 60, and the suction pump 42 may absorb the liquid in the target area through the at least one hollow passage 61.

[0050] Optionally, at least one of the camera 111, the light source 112, and the detection unit 20 can also be set on the suction sheath 60. For example, the light source 112 set on the suction sheath 60 can provide light to the target area through the first light guide structure, and the camera 111 set on the suction sheath 60 can obtain image information of the target area through the second light guide structure.

[0051] Optionally, the perfusion pump 41 and the suction pump 42 may include separate pump bodies, or the perfusion pump 41 and the suction pump 42 may be different parts of a dual-fluid-path pump body. For example, the dual-fluid-path pump body has perfusion and suction functions, and the flow rates of the perfusion path and the suction path can be independently controlled.

[0052] Optionally, the endoscopic laser lithotripsy system may further include a first flow sensor 71 and a second flow sensor 72. The first flow sensor 71 can monitor in real time the flow rate of the perfusion pump 41 infusing the liquid into the target area, and the second flow sensor 72 can monitor in real time the flow rate of the suction pump 42 sucking the liquid in the target area. For example, the first flow sensor 71 and the second flow sensor 72 may be arranged on the corresponding liquid passages, or may be arranged as follows: Figure 2In some other embodiments, the flow rate of the perfusion pump 41 to perfuse the liquid into the target area can be determined according to the working parameters of the perfusion pump 41, and / or the flow rate of the suction pump 42 to absorb the liquid in the target area can be determined according to the working parameters of the suction pump 42, and the working parameters include, for example, the rotation speed of the motor on the pump body or the driving signal of the motor, that is, the first flow sensor 71 and the second flow sensor 72 may not be required.

[0053] The detection unit 20 is used to detect temperature and pressure. In some embodiments, the detection unit 20 may include a temperature sensor 21 and a pressure sensor 22, respectively, or may include a temperature and pressure integrated sensor. Optionally, the temperature measurement range of the detection unit 20 is 0°C (degrees Celsius) to 100°C, and the pressure measurement range is -30mmHg (millimeters of mercury) to 400mmHg.

[0054] Optionally, at least one sensor of the detection unit 20 may be disposed on the imaging catheter 10, for example, Figure 2 As shown, the detection unit 20 is arranged at the tip end portion 121 of the catheter body 12, and can monitor the pressure and temperature changes in the target area, such as the kidney, in real time.

[0055] Optionally, at least one sensor of the detection unit 20 can be set on the liquid passage for infusing liquid into the target area and / or on the liquid passage for absorbing liquid in the target area. For example, the detection unit 20 can be set on the suction sheath 60 to monitor the temperature of the liquid absorbed from the target area.

[0056] The control unit 30 can be arranged on the imaging catheter 10, for example, it can be arranged on the operating part 122 of the catheter body 12; of course, it is not limited to this, for example, it can be arranged on the suction sheath 60, or the endoscopic laser lithotripsy system also includes a host, and the control unit 30 can be arranged on the host. Optionally, at least one of the camera 111 and the light source 112 can also be arranged on the host and provide light to the target area through the first light guide structure, and / or obtain image information of the target area through the second light guide structure. Optionally, at least one of the perfusion pump 41 and the suction pump 42 can also be arranged on the host and communicate with the target area through the corresponding liquid passage.

[0057] like Figure 2As shown, the control unit 30 is connected with the imaging device 11, the detection unit 20, the perfusion pump 41, the suction pump 42, and the laser 50 to transmit information, and the connection may include a wired connection or a wireless connection, wherein the wired connection may include a cable connection or an optical cable connection. For example, the imaging device 11 is connected to the control unit 30 via a cable or an optical cable; for example, the temperature sensor 21 and the pressure sensor 22 in the detection unit 20 are connected to the control unit 30 via two cables, or the temperature-pressure integrated sensor is connected to the control unit 30 via an optical cable.

[0058] Optionally, the control unit 30 may also be connected to a display, which is, for example, provided on the host. The control unit 30 may output at least one of the following through the display: an image within the target area acquired by the imaging device 11, a temperature within the target area acquired by the detection unit 20, and a pressure within the target area acquired by the detection unit 20.

[0059] In some embodiments, the control unit 30 includes one or more processors, and the one or more processors work individually or together to execute the steps of the control method of the endoscopic laser lithotripsy system. Exemplarily, the endoscopic laser lithotripsy system also includes a memory, and the processor and the memory can be connected through a bus, such as an I2C (Inter-integrated Circuit) bus. Exemplarily, the processor is used to execute a computer program stored in the memory, and when executing the computer program, the steps of the control method of the endoscopic laser lithotripsy system of any endoscopic laser lithotripsy system provided in the embodiments of the present application are implemented.

[0060] like Figure 1 As shown, the control method of the endoscopic laser lithotripsy system of the embodiment of the present application includes steps S110 to S130.

[0061] Step S110 , controlling the perfusion pump 41 to perfuse liquid into the target area, and controlling the suction pump 42 to absorb the liquid in the target area.

[0062] By perfusing liquid into the target area, the target area can be expanded and blood and tissue fragments in the target area can be flushed out, and the flushed blood and tissue fragments can be discharged when the liquid in the target area is sucked out by the suction pump 42, so that the target area is filled and clean, so as to obtain a clear surgical field of view. The target area may include the renal cavity, but is certainly not limited thereto, that is, the target area may be any biological tissue that can accommodate liquid.

[0063] In some embodiments, the control method of the endoscopic laser lithotripsy system includes an exploration phase. Figure 3As shown, at the beginning of the exploration stage, in step S110, the flow rate of infusing the liquid into the target area is greater than the flow rate of absorbing the liquid in the target area. The flow rate is the flow rate per unit time, and the flow difference between the infusing liquid and the absorbing liquid can be used to expand the target area; in the process of slowly expanding the target area, the pressure in the target area gradually increases; when the pressure in the target area increases to a set value, such as 30 mmHg, the flow rate of infusing the liquid into the target area is controlled to be equal to the flow rate of absorbing the liquid in the target area, for example, the suction pump 42 is controlled to reduce the flow rate of absorbing the liquid in the target area, so that the perfusion and suction in the target area are balanced, and the pressure in the target area can be stabilized within the set threshold range, so that the target area is filled and will not cause damage to the patient.

[0064] Step S120 , at least any one of the following parameters is collected: an image in the target area is obtained by the imaging device 11 , a temperature in the target area is obtained by the detection unit 20 , and a pressure in the target area is obtained by the detection unit 20 .

[0065] In some embodiments, at least one of the image, temperature, and pressure within the target area can be displayed on a display, which can guide the user to perform safe surgical operations and avoid potential surgical risks.

[0066] Optionally, the image information acquired in real time by the imaging device 11 can be transmitted to the control unit 30. The control unit 30 can perform preset image processing on the image information to obtain an image within the target area, and display the image through a display to provide the user with an intraoperative field of view.

[0067] By displaying the image in the target area, the user can adjust the imaging catheter 10, such as adjusting the position and orientation of the imaging device 11 in the target area, so that the stones in the target area are located within the field of view of the imaging device 11, so as to detect the stones and facilitate the fragmentation of the stones by laser.

[0068] The display shows the temperature and / or pressure in the target area. It can display the current real-time collected temperature and / or pressure, and can also display the temperature and / or pressure collected at different times, such as displaying a temperature curve and / or a pressure curve, to accurately provide the doctor with temperature and / or pressure information in the target area so that the user can monitor the temperature and / or pressure in the target area in real time, thereby preventing the user from making misjudgments during the operation, increasing perfusion or reducing laser output at inappropriate times, thereby affecting the surgical effect, and may even cause additional harm to the patient.

[0069] Step S130 , when the laser 50 outputs laser light into the target area through the optical fiber 51 , the control unit 30 controls the perfusion pump 41 , the suction pump 42 and the laser 50 according to the collected parameters.

[0070] In some embodiments, the control unit 30 controls the perfusion pump 41, the suction pump 42, and the laser 50 according to one or more of the parameters collected in real time, so as to realize the linkage control of the flow rate of the perfusion liquid, the flow rate of the suction liquid, and the laser output by the laser 50, thereby improving the safety and effectiveness of the lithotripsy operation.

[0071] Exemplarily, the control unit 30 can automatically and dynamically adjust the flow rate of the perfusion liquid, the flow rate of the suction liquid, and the laser output of the laser 50 according to the real-time collected image, temperature, and pressure in the target area, so as to keep the current temperature and pressure in the target area within the corresponding safety range. Compared with the control method of the prior art that mainly relies on the clinical experience of doctors, the embodiment of the present application is more scientific and accurate, and can effectively reduce the risk to the patient caused by improper perfusion or laser output; and compared with the solution of independently controlling the perfusion pump 41, or independently controlling the suction pump 42, or independently controlling the laser 50, the embodiment of the present application can realize the linkage control of the perfusion pump 41, the suction pump 42, and the laser 50, so as to more comprehensively and accurately regulate the temperature and pressure and laser output in the target area, and can provide a better surgical environment, improve the success rate of surgery, and reduce the pain of patients.

[0072] In some embodiments, the method further includes: when the pressure in the target area is within a preset pressure range and the following conditions are met at the same time, releasing the locking state of the laser 50 so that the laser 50 can output laser light through the optical fiber 51: determining that the positional relationship between the optical fiber 51 and the imaging catheter 10 in the target area is within a preset relationship range based on the image captured by the imaging device 11; determining that the flow rate of the perfusion pump 41 perfusing the liquid is within a corresponding flow rate range; and determining that the flow rate of the suction pump 42 sucking the liquid is within a corresponding flow rate range.

[0073] Exemplarily, the control method of the endoscopic laser lithotripsy system includes a lithotripsy preparation stage, which may be a stage after the stone position is determined in the exploration stage and before the locking state of the laser 50 is released. In the lithotripsy preparation stage, it may be determined whether the optical fiber 51, the perfusion pump 41, the suction pump 42, and the laser 50 can support safe lithotripsy. If it is determined that safe lithotripsy can be supported, the locking state of the laser 50 is released so that the laser 50 can output laser light through the optical fiber 51.

[0074] like Figure 4 As shown, in the lithotripsy preparation stage, the perfusion pump 41 can be controlled to perfuse liquid into the target area and the suction pump 42 can be controlled to absorb liquid in the target area so that the pressure in the target area is within the preset pressure range, so that the imaging device 11 can clearly obtain the image in the target area. According to the image in the target area taken by the imaging device 11, it can be determined whether the optical fiber 51 connected to the laser 50 extends out of the imaging catheter 10, and the tip of the optical fiber 51 is within the preset area in the image. If the tip of the optical fiber 51 is within the preset area in the image, it is further determined whether the perfusion pump 41 and the suction pump 42 have been started, for example, it can be determined whether the perfusion pump 41 and the suction pump 42 have been started according to the monitoring data of the corresponding flow sensor; when it is determined that the perfusion pump 41 and the suction pump 42 have been started, the flow rate of the perfusion pump 41 to perfuse liquid into the target area is within the corresponding flow rate range, and the flow rate of the suction pump 42 to absorb liquid in the target area is within the corresponding flow rate range; then the locking state of the laser 50 can be released so that the laser 50 can output laser light through the optical fiber 51.

[0075] Optionally, the flow rate of the perfusion liquid in the lithotripsy preparation stage can be greater than the flow rate of the perfusion liquid in the exploration stage, and the flow rate of the liquid suction in the lithotripsy preparation stage can be greater than the flow rate of the liquid suction in the exploration stage, so that blood and tissue fragments in the target area can be taken out in time during the lithotripsy stage, and the temperature in the target area can be reduced to prevent the temperature in the target area from being too high. Exemplarily, the flow rate of the perfusion liquid in the lithotripsy preparation stage is equal to the flow rate of the liquid suction, so that the perfusion and suction in the target area are balanced, and the pressure in the target area can be stabilized within the set threshold range.

[0076] For example, Figure 4 As shown, the method further includes: when the positional relationship between the optical fiber 51 and the imaging catheter 10 in the target area is not within the preset relationship range, outputting a third prompt information, wherein the third prompt information is used to prompt the user to adjust the optical fiber 51 and / or the imaging catheter 10.

[0077] In the lithotripsy preparation stage, if the image of the target area does not include the optical fiber 51, or the optical fiber 51 does not extend out of the imaging catheter 10 long enough so that the tip of the optical fiber 51 is outside the preset area in the image, the laser 50 can be kept in a locked state, and the laser 50 does not output laser light in the locked state, which can prevent the laser light from being output to the non-stone area of ​​the target area and causing damage to the patient. When the positional relationship between the optical fiber 51 and the imaging catheter 10 is not within the preset relationship range, a third prompt message is output to prompt the user to adjust the optical fiber 51 and / or the imaging catheter 10 until the optical fiber 51 connected to the laser 50 extends out of the imaging catheter 10 and the tip of the optical fiber 51 is within the preset area in the image, and then the locked state of the laser 50 can be released.

[0078] For example, Figure 4 As shown, the method further includes: when the flow rate of the perfusion pump 41 perfusing the liquid is less than or equal to the perfusion start threshold, outputting a fourth prompt information, the fourth prompt information is used to prompt the user to start the perfusion pump 41. When the flow rate of the perfusion pump 41 perfusing the liquid is less than or equal to the perfusion start threshold, it is determined that the perfusion pump 41 is not started or is faulty, and the laser 50 can be kept in a locked state. The laser 50 does not output laser in the locked state, which can prevent the output of laser without perfusing the liquid into the target area and cause damage to the patient. The fourth prompt information can also be output to prompt the user to start the perfusion pump 41, so that the flow rate of the perfusion pump 41 perfusing the liquid into the target area is within the corresponding flow rate range.

[0079] After the laser 50 is unlocked in the lithotripsy preparation stage, the laser 50 can output laser light through the optical fiber 51 to break the stone, which can be called the lithotripsy stage. In step S130, the perfusion pump 41, the suction pump 42 and the laser 50 are controlled according to the collected parameters, at least including in the lithotripsy stage, the perfusion pump 41, the suction pump 42 and the laser 50 are controlled according to the collected parameters.

[0080] In some embodiments, in step S130, the perfusion pump 41, the suction pump 42 and the laser 50 are controlled according to the collected parameters, including: determining preset information of the stones in the target area according to the image in the target area, the preset information including at least one of the following: type, size, color, texture; and controlling the perfusion pump 41, the suction pump 42 and the laser 50 according to the preset information of the stones.

[0081] Based on the stone pixels in the image within the target area, the preset information of the stones in the target area, such as the stone type and volume, can be determined; in the lithotripsy stage, by controlling the perfusion pump 41, the suction pump 42 and the laser 50 according to the current stone type and volume, the corresponding control parameters can be made more targeted to improve the safety and effectiveness of lithotripsy.

[0082] Exemplarily, the controlling of the perfusion pump 41, the suction pump 42 and the laser 50 according to the preset information of the stone includes: determining the power range of the output power of the laser 50 according to the preset information of the stone. Of course, it is not limited to this. For example, the flow rate range of the perfusion pump 41 perfusing the liquid and / or the flow rate range of the suction pump 42 sucking the liquid can also be determined according to the preset information of the stone.

[0083] For example, different laser output parameters are selected for different stone types. For example, when the stone is a soft type, such as uric acid stone, magnesium ammonium phosphate stone or cystine stone, the user can be prompted to control the laser 50 to reduce the output power or the control unit 30 can control the laser 50 to reduce the output power, so as to reduce the damage to biological tissue while being able to break the stone; when the stone is a hard type, such as calcium oxalate stone or calcium phosphate stone, the user can be prompted to control the laser 50 to increase the output power or the control unit 30 can control the laser 50 to increase the output power, so as to effectively break the stone.

[0084] In the lithotripsy stage, the volume of the stones in the target area can be estimated according to the stone pixels in the image in the target area, and different lithotripsy modes can be selected for stones of different volumes. Optionally, the lithotripsy mode can include at least one of the following: powdered lithotripsy mode, fragmented lithotripsy mode, and popcorn lithotripsy mode; wherein the fragmented lithotripsy mode can speed up the lithotripsy process; when the popcorn lithotripsy mode is lithotripsy, tiny bubbles can be generated on the surface of the stone, and the bubbles quickly expand and burst to generate impact force, breaking the stone into small fragments; when the powdered lithotripsy mode is lithotripsy, the stone can be gradually crushed into small particles like fine sand, so as to be discharged from the body. Among them, the control parameters of one or more devices of the perfusion pump 41, the suction pump 42 and the laser 50 are different in different lithotripsy modes, for example, the output power of the laser 50 is different in different lithotripsy modes, and / or the flow rate of the perfusion pump 41 infusing the liquid is different in different lithotripsy modes, and / or the flow rate of the suction pump 42 sucking the liquid is different.

[0085] Optionally, when the stone is large in size, it is recommended that the operator select or the control unit 30 automatically selects the fragmentation lithotripsy mode to speed up the lithotripsy process; when the stone is large in size and hard in texture, it is recommended that the operator select or the control unit 30 automatically selects the popcorn lithotripsy mode; when the stone is soft in texture and small in size, it is recommended that the operator select or the control unit 30 automatically selects the powderization lithotripsy mode.

[0086] In some embodiments, in step S130, the perfusion pump 41, the suction pump 42 and the laser 50 are controlled according to the collected parameters, including: when the temperature in the target area is greater than or equal to the first temperature threshold, the control unit 30 controls the perfusion pump 41 to increase the flow rate of the perfusion liquid, and / or controls the laser 50 to reduce the output power.

[0087] During the lithotripsy stage, the laser 50 can output laser light to the target area through the optical fiber 51. Figure 5 , the laser lithotripsy process will cause the temperature in the target area to rise. During the operation of the laser 50, the temperature in the target area is monitored in real time, and when the temperature in the target area is greater than or equal to the first temperature threshold, such as 40 degrees Celsius, the control unit 30 can automatically control the perfusion pump 41 to increase the flow rate of the perfusion liquid, and / or control the laser 50 to reduce the output power, so as to effectively reduce the temperature in the target area, and prevent the cytotoxic effect caused by the excessive temperature in the target area during the laser lithotripsy process, and cause damage to biological tissues such as the kidney. Among them, the temperature of the perfusion liquid perfused by the perfusion pump 41 is less than the first temperature threshold to reduce the temperature in the target area, for example, the temperature of the perfusion liquid perfused by the perfusion pump 41 is roughly the same as the temperature of the biological tissue in the target area.

[0088] For example, Figure 5 As shown, when the temperature in the target area is greater than or equal to the first temperature threshold, the control unit 30 controls the perfusion pump 41 to increase the flow rate of the perfusion liquid, including: when the temperature in the target area is greater than or equal to the first temperature threshold, and the flow rate of the perfusion liquid of the perfusion pump 41 is less than the flow rate threshold, the perfusion pump 41 is controlled to increase the flow rate of the perfusion liquid. For example, when the temperature in the target area is greater than or equal to the first temperature threshold, the control unit 30 preferentially controls the perfusion pump 41 to increase the flow rate of the perfusion liquid, which can ensure that the laser with sufficient power is output to the stone, thereby ensuring the effectiveness of lithotripsy, compared with preferentially controlling the laser 50 to reduce the output power.

[0089] Exemplarily, when the temperature in the target area is greater than or equal to the first temperature threshold, the control unit 30 controls the perfusion pump 41 to increase the flow rate of the perfusion liquid, and / or controls the laser 50 to reduce the output power, including: when the temperature in the target area is greater than or equal to the first temperature threshold, and the flow rate of the perfusion liquid of the perfusion pump 41 is greater than or equal to the flow rate threshold, the laser 50 is controlled to reduce the output power. When the flow rate of the perfusion liquid of the perfusion pump 41 is already greater than or equal to the flow rate threshold, the perfusion pump 41 is no longer controlled to increase the flow rate of the perfusion liquid, but the laser 50 is controlled to reduce the output power to reduce the temperature in the target area, so as to prevent the excessive flow rate of the perfusion liquid from causing impact on the biological tissue in the target area, causing discomfort to the patient or causing damage to the biological tissue.

[0090] Exemplarily, when the temperature in the target area is greater than or equal to the first temperature threshold, the controlling of the perfusion pump 41, the suction pump 42 and the laser 50 according to the collected parameters further includes: controlling the suction pump 42 to increase the flow rate of the suction liquid. For example, when the temperature in the target area is greater than or equal to the first temperature threshold, the control unit 30 controls the perfusion pump 41 to increase the flow rate of the perfusion liquid, and controls the suction pump 42 to increase the flow rate of the suction liquid, so that the perfusion amount and the suction amount of the liquid in the target area can be balanced, and the pressure in the target area can be stabilized within a preset pressure range.

[0091] For example, the control of the suction pump 42 to increase the flow rate of the absorbed liquid includes: when the pressure in the target area is greater than or equal to the first pressure threshold, controlling the suction pump 42 to increase the flow rate of the absorbed liquid; when the pressure in the target area is less than the second pressure threshold, controlling the suction pump 42 to stop increasing the flow rate of the absorbed liquid, the second pressure threshold being less than or equal to the first pressure threshold. When the temperature in the target area is greater than or equal to the first temperature threshold, the control unit 30 controls the perfusion pump 41 to increase the flow rate of the perfusion liquid, and as the perfusion amount increases, the pressure in the target area will gradually increase to greater than or equal to the first pressure threshold; when the pressure in the target area is greater than or equal to the first pressure threshold, increasing the flow rate of the absorbed liquid can reduce the pressure in the target area, and can increase the discharge of the higher temperature liquid in the target area to improve the cooling efficiency; when the flow rate of the absorbed liquid increases to equal the flow rate of the perfusion liquid, that is, when the perfusion amount and the suction amount reach a balance, the pressure in the target area can be stabilized within the preset pressure range. It can be understood that during the operation of the perfusion pump 41 and the suction pump 42, the flow rate of the perfusion liquid and the flow rate of the suction liquid can be automatically adjusted according to the pressure change in the target area to keep the pressure in the target area within a safe range.

[0092] Optional, see Figure 5 , the control of the perfusion pump 41, the suction pump 42 and the laser 50 according to the collected parameters also includes: when the temperature in the target area drops from greater than or equal to the first temperature threshold to less than or equal to the second temperature threshold, controlling the perfusion pump 41 to reduce the flow rate of the perfusion liquid, and controlling the suction pump 42 to reduce the flow rate of the suction liquid, so that the pressure in the target area is stably maintained within the target threshold interval. For example, the target threshold interval can be the aforementioned preset pressure range, or at least partially overlap with the aforementioned preset pressure range. When the temperature in the target area drops to the second temperature threshold, synchronously reducing the flow rate of the perfusion liquid and the flow rate of the suction liquid can reduce the discomfort caused to the patient by the perfusion liquid and the suction liquid, and can make the pressure in the target area stably maintained within the target threshold interval, so that the target area is filled and does not cause damage to the patient.

[0093] In some embodiments, the controlling the laser 50 to reduce the output power includes: when the power of the laser output by the laser 50 is less than the power threshold, controlling the laser 50 to reduce the duration of a single laser output, and / or increasing the time interval between two adjacent laser outputs. The power of the laser output by the laser 50 is the energy of the laser output per unit time, and the unit of the power of the laser output by the laser 50 is, for example, watt or kilowatt. The product of the duration of the laser 50 reducing the single laser output and the power of the laser output by the laser 50 is the energy of the laser output by the laser 50, and the unit of the energy is, for example, joule or kilojoule.

[0094] like Figure 5 As shown, when the temperature in the target area is greater than or equal to the first temperature threshold, and the flow rate of the perfusion pump 41 perfusing the liquid has reached the flow rate threshold, if the power of the laser output by the laser 50 is less than the power threshold, that is, the power of the laser output by the laser 50 has not reached the upper limit, the laser 50 can be controlled to reduce the duration of a single laser output to reduce the energy of the laser output by the laser 50, so as to reduce the temperature of the target area; and / or the time interval between two adjacent laser outputs can be increased, so as to use the perfused and absorbed liquid to cool the target area during the time interval. When the power of the laser output by the laser 50 is less than the power threshold, the power of the laser output by the laser 50 is no longer reduced, so as to ensure the effectiveness of laser lithotripsy.

[0095] In some embodiments, controlling the laser 50 to reduce the output power includes: when the power of the laser output by the laser 50 is greater than or equal to the power threshold, controlling the laser 50 to reduce the output power of the laser. Figure 5As shown, when the temperature in the target area is greater than or equal to the first temperature threshold and the flow rate of the perfusion pump 41 perfusing the liquid has reached the flow rate threshold, if the power of the laser output by the laser 50 is greater than or equal to the power threshold, that is, the power of the laser output by the laser 50 has reached the upper limit value, the power of the laser output by the laser 50 can be reduced to prevent the temperature in the target area from being too high.

[0096] Optionally, controlling the laser 50 to reduce the power of the output laser includes: controlling the laser 50 to adjust at least one of the following parameters: reducing the width of the laser pulse, reducing the frequency of the laser pulse, and reducing the energy peak of the laser pulse. The laser 50 may output one or more laser pulses each time it outputs the laser. For example, each time a laser sending instruction is sent to the laser 50, the laser 50 outputs one or more laser pulses, which can be referred to as the laser 50 outputting the laser once. The laser sending instruction may be generated according to a user operation or may be automatically generated by the control unit 30.

[0097] In some embodiments, the controlling the laser 50 to reduce the output power includes: outputting prompt information related to reducing the output power; and controlling the laser 50 to reduce the output power according to the user operation. For example, the laser 50 or the control unit 30 includes an input device such as a button, a knob, a touch panel, etc., and the laser 50 can be controlled to reduce the output power according to the user's operation of the input device. That is, the user has the control authority over the laser 50, which improves the safety and accuracy of the operation and reduces the potential risks to the patient.

[0098] Exemplarily, the outputting of the prompt information for reducing the output power includes: when the power of the laser output by the laser 50 is less than the power threshold, outputting an alarm prompt and / or a first prompt information, wherein the first prompt information is used to prompt the user that the duration of the single laser output by the laser 50 is too long and / or the time interval between two adjacent laser outputs by the laser 50 is too short. For example, according to the first prompt information, the user can reduce the duration of a single laser output, intermittently stimulate the laser 50 to output laser multiple times to reduce the energy of a single laser output by the laser 50, and use the injected and absorbed liquid to cool the target area in the time interval between two adjacent laser outputs.

[0099] Exemplarily, the outputting of the prompt information for reducing the output power includes: when the power of the laser output by the laser 50 is greater than or equal to the power threshold, outputting an alarm prompt and / or a second prompt information, wherein the second prompt information is used to prompt the user that the power of the laser output by the laser 50 is too high. For example, the user can reduce the power of the laser output by the laser 50 according to the second prompt information, for example, by adjusting at least one of the following parameters of the laser 50: reducing the width of the laser pulse, reducing the frequency of the laser pulse, and reducing the energy peak of the laser pulse.

[0100] In some embodiments, the control method of the endoscopic laser lithotripsy system further includes a stone removal stage, in which the laser is exited, and the stone removal stage may include a stage after turning off the laser 50 or switching the laser 50 to a locked state or withdrawing the optical fiber 51 from the imaging catheter 10. Figure 6 As shown, during the stone removal stage, the perfusion pump 41 can be controlled to increase the flow rate of the perfusion liquid, and the suction pump 42 can be controlled to increase the flow rate of the suction liquid, so as to fully discharge the blood and tissue fragments in the target area; it should be noted that during the stone removal stage, the flow rates of the perfusion liquid and the suction liquid are both within the corresponding flow rate threshold range to prevent excessive flow rate from causing user discomfort; increasing the flow rates of the perfusion liquid and the suction liquid at the same time, that is, achieving a balance between perfusion and suction, can stabilize the pressure in the target area within the set threshold range.

[0101] The control method of the endoscopic laser lithotripsy system provided in the embodiment of the present application comprises: an imaging catheter 10, a detection unit 20, a control unit 30, a perfusion pump 41, a suction pump 42, and a laser 50. The imaging catheter 10 is provided with an imaging device 11, the detection unit 20 is used to detect temperature and pressure, and the laser 50 is connected to an optical fiber 51; the method comprises: controlling the perfusion pump 41 to perfuse liquid into the target area, and controlling the suction pump 42 to absorb liquid in the target area; at least any of the following parameters are collected: obtaining an image in the target area through the imaging device 11, obtaining the temperature in the target area through the detection unit 20, and obtaining the pressure in the target area through the detection unit 20; when the laser 50 outputs laser into the target area through the optical fiber 51, the control unit 30 controls the perfusion pump 41, the suction pump 42, and the laser 50 according to the collected parameters. The flow rate of the perfusion liquid, the flow rate of the suction liquid, and the laser output of the laser 50 can be controlled in linkage, which can improve the safety and effectiveness of lithotripsy.

[0102] Please refer to the above examples. Figure 7 , Figure 7 : is a schematic block diagram of an endoscopic laser lithotripsy system provided in an embodiment of the present application. The endoscopic laser lithotripsy system comprises:

[0103] An imaging catheter 10, wherein an imaging device 11 is provided on the imaging catheter 10;

[0104] A detection unit 20, wherein the detection unit 20 is used to detect temperature and pressure;

[0105] A perfusion pump 41 and a suction pump 42, wherein the perfusion pump 41 is used to perfuse liquid into the target area, and the suction pump 42 is used to absorb the liquid in the target area;

[0106] A laser 50, wherein the laser 50 is used to connect with an optical fiber 51;

[0107] A control unit 30, wherein the control unit 30 is used for:

[0108] Controlling the perfusion pump 41 to perfuse liquid into the target area, and controlling the suction pump 42 to absorb the liquid in the target area;

[0109] At least any one of the following parameters is collected: an image in the target area is obtained by the imaging device 11, a temperature in the target area is obtained by the detection unit 20, and a pressure in the target area is obtained by the detection unit 20;

[0110] When the laser 50 outputs laser light into the target area through the optical fiber 51 , the perfusion pump 41 , the suction pump 42 and the laser 50 are controlled according to the collected parameters.

[0111] The specific principles and implementation methods of the endoscopic laser lithotripsy system provided in the embodiment of the present application are similar to the control method of the endoscopic laser lithotripsy system in the aforementioned embodiment, and will not be repeated here.

[0112] Please refer to the above examples. Figure 8 , Figure 8 1 is a schematic block diagram of a control unit 30 of an endoscopic laser lithotripsy system provided in an embodiment of the present application. The control unit 30 of the endoscopic laser lithotripsy system includes one or more processors, and the one or more processors work individually or together to execute the steps of the control method of the endoscopic laser lithotripsy system.

[0113] Exemplarily, the endoscopic laser lithotripsy system further includes a memory, and the processor and the memory may be connected via a bus, such as an I2C (Inter-Integrated Circuit) bus. Exemplarily, the processor is used to execute a computer program stored in the memory, and when executing the computer program, implements the steps of the control method of the endoscopic laser lithotripsy system of any endoscopic laser lithotripsy system provided in the embodiments of the present application.

[0114] The specific principles and implementation methods of the control unit 30 of the endoscopic laser lithotripsy system provided in the embodiment of the present application are similar to the control method of the endoscopic laser lithotripsy system in the aforementioned embodiment, and will not be repeated here.

[0115] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the control method of the endoscopic laser lithotripsy system provided in the above embodiment.

[0116] The computer-readable storage medium may be an internal storage unit of the control unit 30 in any of the aforementioned embodiments, such as a hard disk or memory of the control unit 30. The computer-readable storage medium may also be an external storage device of the control unit 30, such as a plug-in hard disk, a smart memory card (SmartMed ia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the control unit 30.

[0117] Please refer to the above examples. Fig. 9 , Fig. 9 Schematic diagram of an imaging catheter 10 provided in an embodiment of the present application.

[0118] The imaging catheter 10 comprises:

[0119] A catheter body 12, the catheter body 12 comprising a head end 121, an operating portion 122, and a working passage 123 passing through the head end 121 and the operating portion 122;

[0120] An imaging device 11, wherein the imaging device 11 is disposed at the head end portion 121;

[0121] A detection unit 20, the detection unit 20 is used to detect temperature and pressure, and the detection unit 20 is arranged at the head end 121;

[0122] The transmission component 81 has a first end connected to the imaging device 11 , the temperature sensor 21 , and the pressure sensor 22 , and a second end connected to the operating unit 122 .

[0123] Among them, the transmission component 81 may include cables and / or optical cables, that is, the imaging device 11 and the temperature sensor 21 and the pressure sensor 22 can be connected to the operating part 122 via cables and / or optical cables, for example, they can be connected to the control unit 30 set in the operating part 122, or connected to the host connected to the operating part 122. For example, the imaging device 11 is connected to the control unit 30 via cables or optical cables; for example, the temperature sensor 21 and the pressure sensor 22 in the detection unit 20 are connected to the control unit 30 via two cables, or the temperature and pressure integrated sensor is connected to the control unit 30 via an optical cable.

[0124] The specific principles and implementation methods of the imaging catheter 10 provided in the embodiment of the present application have been explained in the aforementioned embodiment when describing the control method of the endoscopic laser lithotripsy system, and will not be repeated here.

[0125] It should be understood that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0126] It will also be understood that the term "and / or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0127] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for an endoscopic laser lithotripsy system, characterized in that: The endoscopic laser lithotripsy system comprises: an imaging catheter, a detection unit, a control unit, a perfusion pump, a suction pump, and a laser. The imaging catheter is provided with an imaging device. The detection unit is used to detect temperature and pressure. The laser is connected to an optical fiber. The method comprises: Controlling the perfusion pump to perfuse liquid into the target area, and controlling the suction pump to absorb the liquid in the target area; At least any one of the following parameters is collected: an image within the target area is obtained by the imaging device, a temperature within the target area is obtained by the detection unit, and a pressure within the target area is obtained by the detection unit; When the laser outputs laser light into the target area through the optical fiber, the control unit controls the perfusion pump, the suction pump and the laser according to the collected parameters.

2. The control method according to claim 1, characterized in that: The controlling of the perfusion pump, the suction pump and the laser according to the collected parameters includes: Determining preset information of stones in the target area according to the image in the target area, wherein the preset information includes at least one of the following: type, size, color, and texture; The perfusion pump, the suction pump and the laser are controlled according to the preset information of the stone.

3. The control method according to claim 2, characterized in that: The controlling of the perfusion pump, the suction pump and the laser according to the preset information of the stone comprises: The power range of the laser output power is determined according to the preset information of the stone.

4. The control method according to claim 1, characterized in that: The controlling of the perfusion pump, the suction pump and the laser according to the collected parameters includes: When the temperature in the target area is greater than or equal to a first temperature threshold, the control unit controls the perfusion pump to increase the flow rate of the perfusion liquid, and / or controls the laser to reduce output power.

5. The control method according to claim 4, characterized in that: When the temperature in the target area is greater than or equal to a first temperature threshold, the control unit controls the perfusion pump to increase the flow rate of the perfusion liquid, and / or controls the laser to reduce the output power, including: When the temperature in the target area is greater than or equal to a first temperature threshold, and the flow rate of the perfusion liquid injected by the perfusion pump is greater than or equal to a flow rate threshold, the laser is controlled to reduce output power.

6. The control method according to claim 4, characterized in that: When the temperature in the target area is greater than or equal to a first temperature threshold, the control unit controls the perfusion pump to increase the flow rate of the perfusion liquid, including: When the temperature in the target area is greater than or equal to a first temperature threshold, and the flow rate of the perfusion liquid of the perfusion pump is less than a flow rate threshold, the perfusion pump is controlled to increase the flow rate of the perfusion liquid.

7. The control method according to claim 4, characterized in that: When the temperature in the target area is greater than or equal to a first temperature threshold, controlling the perfusion pump, the suction pump, and the laser according to the acquired parameters further includes: The suction pump is controlled to increase the flow rate of the sucked liquid.

8. The control method according to claim 7, characterized in that: The step of controlling the suction pump to increase the flow rate of the sucked liquid comprises: When the pressure in the target area is greater than or equal to a first pressure threshold, controlling the suction pump to increase the flow rate of the sucked liquid; When the pressure in the target area is less than a second pressure threshold, the suction pump is controlled to stop increasing the flow rate of the sucked liquid, and the second pressure threshold is less than or equal to the first pressure threshold.

9. The control method according to claim 7 or 8, characterized in that: The method further comprises: controlling the perfusion pump, the suction pump and the laser according to the collected parameters; When the temperature in the target area drops from greater than or equal to the first temperature threshold to less than or equal to the second temperature threshold, the perfusion pump is controlled to reduce the flow rate of the perfusion liquid, and the suction pump is controlled to reduce the flow rate of the suction liquid, so that the pressure in the target area is stably maintained within the target threshold range.

10. The control method according to claim 4, characterized in that: The step of controlling the laser to reduce output power comprises: When the power of the laser output by the laser is less than the power threshold, the laser is controlled to reduce the duration of a single laser output and / or to increase the time interval between two adjacent laser outputs.

11. The control method according to claim 4, characterized in that: The step of controlling the laser to reduce output power comprises: When the power of the laser output by the laser is greater than or equal to the power threshold, the laser is controlled to reduce the power of the laser output.

12. The control method according to claim 11, characterized in that: The controlling the laser to reduce the power of the output laser comprises: The laser is controlled to adjust at least one of the following parameters: reducing the width of the laser pulse, reducing the frequency of the laser pulse, and reducing the energy peak of the laser pulse.

13. The control method according to any one of claims 4-8 and 10-12, characterized in that: The step of controlling the laser to reduce output power comprises: Output prompt information related to reducing output power; According to user operation, the laser is controlled to reduce output power.

14. The control method according to claim 13, characterized in that: The outputting of the prompt information for reducing the output power includes: When the power of the laser output by the laser is less than the power threshold, an alarm prompt and / or a first prompt message is output, wherein the first prompt message is used to prompt the user that the duration of a single laser output by the laser is too long and / or the time interval between two adjacent laser outputs by the laser is too short.

15. The control method according to claim 13, characterized in that: The output power reduction prompt information includes: When the power of the laser output by the laser is greater than or equal to the power threshold, an alarm prompt and / or a second prompt information is output, wherein the second prompt information is used to prompt the user that the power of the laser output by the laser is too high.

16. The control method according to any one of claims 1-8, 10-12, characterized in that: The method further comprises: When the pressure in the target area is within the preset pressure range and the following conditions are met at the same time, the locking state of the laser is released so that the laser can output laser light through the optical fiber: Determining, based on the image captured by the imaging device within the target area, that the positional relationship between the optical fiber and the imaging catheter within the target area is within a preset relationship range; Determining that the flow rate of the perfusion pump perfusing the liquid is within a corresponding flow rate range; Determine that the flow rate of the liquid sucked by the suction pump is within the corresponding flow rate range.

17. The control method according to claim 16, characterized in that: The method further comprises at least one of the following: When the positional relationship between the optical fiber and the imaging catheter in the target area is not within the preset relationship range, outputting third prompt information, wherein the third prompt information is used to prompt the user to adjust the optical fiber and / or the imaging catheter; When the flow rate of the perfusion pump perfusing the liquid is less than or equal to the perfusion start threshold, fourth prompt information is output, and the fourth prompt information is used to prompt the user to start the perfusion pump.

18. An endoscopic laser lithotripsy system, characterized in that: The system comprises: An imaging catheter, wherein an imaging device is provided on the imaging catheter; A detection unit, wherein the detection unit is used to detect temperature and pressure; a perfusion pump and a suction pump, wherein the perfusion pump is used to perfuse liquid into the target area, and the suction pump is used to absorb the liquid in the target area; A laser, wherein the laser is used to connect to the optical fiber; A control unit, the control unit is used to: Controlling the perfusion pump to perfuse liquid into the target area, and controlling the suction pump to absorb the liquid in the target area; At least any one of the following parameters is collected: an image within the target area is obtained by the imaging device, a temperature within the target area is obtained by the detection unit, and a pressure within the target area is obtained by the detection unit; When the laser outputs laser light into the target area through the optical fiber, the perfusion pump, the suction pump and the laser are controlled according to the collected parameters.

19. An imaging catheter, characterized in that: The imaging catheter comprises: A catheter body, the catheter body comprising a head end, an operating portion, and a working passage passing through the head end and the operating portion; An imaging device, the imaging device being arranged at the head end; A detection unit, the detection unit is used to detect temperature and pressure, and the detection unit is arranged at the head end; A transmission component, wherein a first end of the transmission component is connected to the imaging device, the temperature sensor and the pressure sensor, and a second end of the transmission component is connected to the operating part.

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