Endoscopic surgical instrument for treating appendicitis

Abstract

The invention relates to the technical field of medical instruments, in particular to an endoscopic surgical instrument for appendicitis treatment, which comprises a probing end, an operating end and a control end. The guide bending angle of the colonoscope accessory is adjusted through the control end according to the number of the real-time reference areas so as to guarantee that the image view field range is suitable, the executable reference areas capable of predicting and describing the target position are selected through the control end so as to determine the target collection angle, and the target collection angle is obtained. When the control end judges that the real-time mark area proportion is not within the range of the first standard mark area proportion and the second standard mark area proportion, the control end controls and adjusts the initial probing distance of the probing end, and when the control end judges that the real-time eccentric distance is larger than the standard eccentric distance, the control end adjusts the target collecting angle of the probing end. The method is used for automatically adjusting the brightness of a probing image and guaranteeing the image definition, so that the acquired probing image is effective.

Description

Technical Field

[0001] The invention relates to the technical field of gastroenterology internal medicine instruments, and in particular to an endoscopic surgical instrument for treating appendicitis. Background Art

[0002] In recent years, with the gradual maturity of natural orifice endoscopic surgery and NOTES technology, the exploration of new surgical procedures is attracting the attention of more and more endoscopists; among them, natural orifice appendectomy is one of the first surgeries attempted in NOTES; currently, there are continuous reports of transgastric appendectomy, however, these procedures still require incision in the gastric wall before inserting the instruments into the abdominal cavity. In the process of exploring the appendix, there is the possibility of damaging surrounding organs, unsatisfactory suturing of the cavity, and other adverse events. Especially for patients with severe abdominal adhesions and inability to separate during surgery, these surgeries are not suitable. For this reason, endoscopic transcecal appendectomy came into being, providing patients with another more minimally invasive surgical method without any scars on the abdomen; endoscopic transcecal appendectomy takes into account the advantages of NOTES surgery in that it is non-invasive on the body surface, and avoids damage to other unrelated organs; transintestinal appendectomy does not have an abdominal wall incision, and full-thickness resection is performed through the cecal cavity, avoiding the postoperative abdominal wall incision hernia, appendicitis and other traditional appendectomy complications. The possibility of postoperative complications; at the same time, during endoscopic appendectomy, the appendix blood vessels can be observed under direct vision and accurate electrocoagulation and cauterization can be performed to avoid damage to surrounding tissues and organs; the blood and fluid accumulation in the abdominal cavity can also be flushed through the endoscope to reduce the possibility of postoperative abdominal abscess; the difficulty of endoscopic transcecal appendectomy lies in the treatment of blood vessels, control of bleeding and suturing of wound surface during full-thickness resection; it was previously believed that endoscopic treatment of the appendix artery was more difficult, but in actual surgery, the artery can be clearly exposed under direct endoscopy, and the use of hemostatic forceps can more accurately perform electrocoagulation and cauterization on the blood vessels; in existing appendectomy, accurate positioning of the incision position of the appendectomy is very important for surgical operation. If the incision position is more appropriate, the surgical operation will be smoother; and existing surgical instruments cannot achieve one-step bending of functional components to any angle or control of the bending, opening and closing and rotation of functional components by the same handle, making the surgical operation more difficult.

[0003] Chinese Patent Publication No.: CN114711953B. An endoscopic surgical instrument is disclosed, and its technical point is to provide an endoscopic surgical instrument, which can control the bending of the end of the functional component by lateral tilting and rotating the rotating cap, so as to achieve true universal direction. By randomly turning the rotating cap, the functional components can be synchronously bent to the corresponding direction to avoid the occurrence of misoperation. It can be seen that in the existing endoscopic surgical instruments for the treatment of appendicitis, there is a lack of automated auxiliary functions and intelligent detection and recognition auxiliary functions, so that the executable reference object cannot be automatically determined, and the target position cannot be quickly and accurately predicted. The doctor needs to manually operate the colonoscope attachment by observing the display screen to find the target area, which is time-consuming and labor-intensive. Therefore, there is an urgent need for an intelligent surgical instrument that can help doctors quickly explore the target area during the surgical operation. Summary of the invention

[0004] To this end, the present invention provides an endoscopic surgical instrument for treating appendicitis, so as to overcome the problem that the surgical instruments in the prior art are unable to automatically identify the reference area and obtain effective images due to the lack of intelligent auxiliary functions.

[0005] To achieve the above object, the present invention provides an endoscopic surgical instrument for treating appendicitis, comprising:

[0006] The exploration end includes a colonoscope attachment provided with a guiding member and a control member sleeved on the colonoscope attachment, the control member is used to drive the colonoscope attachment to extend and retract, the colonoscope attachment is used to collect exploration images, and the exploration end is also provided with a light source lamp to adjust the light source of the colonoscope attachment;

[0007] An operating end, which is used to display the exploration image collected by the exploration end, and the operating end can perform target area marking on the exploration image;

[0008] A control end connected to the detection end and the operating end, wherein the control end can select a number of reference areas, and determine the number of real-time reference areas according to the number of standard reference areas to determine whether to adjust the guide bending angle of the guide member; the control end can also determine the real-time contour overlap rate according to the standard contour overlap rate, determine the executable reference area and the target acquisition angle, and control the detection end to extend to the initial detection distance at the target acquisition angle for image acquisition; the control end can also calculate the real-time area ratio of the target area marked in the detection image, and determine the real-time area ratio according to the standard area ratio to determine whether to adjust the initial detection distance; after acquiring the detection image, the control end can determine the real-time brightness difference according to the standard brightness difference to determine whether to re-capture the detection image.

[0009] Furthermore, the control end is provided with an initial acquisition angle Ac of the guide member, and the control end can obtain the initial bending angle of the guide member, and control the guide member to rotate one circle along the axis of the control member at the initial bending angle, and when the rotation angle is a certain initial acquisition angle, the exploration image acquisition will be performed;

[0010] The initial bending angle is the bending angle of the guide member relative to the axis of the control member, and the initial acquisition angle is the angle at which the guide member rotates about the axis of the control member when the guide member is at the initial bending angle.

[0011] Furthermore, the control end is provided with a standard reference area number Nb. When the detection end performs image acquisition at an initial acquisition angle, the control end selects several reference areas in the image, calculates the selected real-time reference area number Ns, and determines the real-time reference area number according to the standard reference area number.

[0012] If the number of real-time reference areas is less than the number of standard reference areas, the control end adjusts the initial bending angle Aw of the guide member to Aw'=Aw×[1+(Nb-Ns) / Ns];

[0013] If the number of real-time reference areas is equal to the number of standard reference areas, the control end will determine the real-time contour overlap rate according to the standard contour overlap rate;

[0014] If the number of real-time reference areas is greater than the number of standard reference areas, the control end adjusts the initial bending angle Aw of the guide member to Aw'=Aw×[1-(Ns-Nb) / Ns].

[0015] Furthermore, the control end is provided with a standard image contour and a standard image contour overlap ratio. When the control end determines that the number of real-time reference areas is equal to the number of standard reference areas, the real-time image contour of each reference area is obtained and matched with the standard image contour, and the real-time contour overlap ratio is calculated. The control end determines the real-time contour overlap ratio according to the standard contour overlap ratio.

[0016] If the real-time contour overlap rate is less than the standard contour overlap rate, the control end determines that the reference area corresponding to the real-time image contour is not executable;

[0017] If the real-time contour overlap rate is greater than or equal to the standard contour overlap rate, the control end selects the reference area corresponding to the real-time image contour as the executable reference area, marks the guide bending angle and the initial acquisition angle when acquiring the executable reference area as the target acquisition angle, controls the detection end to extend to the initial detection distance at the target acquisition angle for image acquisition, and determines the real-time clarity evaluation value according to the standard clarity evaluation value to determine whether to control the detection end to extend to the initial detection distance at the target acquisition angle for detection image acquisition.

[0018] Furthermore, a standard definition evaluation value is set in the control terminal. When the detection image is collected, the real-time definition evaluation value of the detection image is calculated, and the real-time definition evaluation value is determined according to the standard definition evaluation value.

[0019] If the real-time definition evaluation value is less than the standard definition evaluation value, the control end will determine the real-time mark area ratio according to the first standard mark area ratio and the second standard mark area ratio to determine whether to adjust the initial detection distance of the guide member;

[0020] If the real-time definition evaluation value is greater than or equal to the standard definition evaluation value, the control end controls the detection end to extend to the initial detection distance at the target acquisition angle to perform detection image acquisition.

[0021] Furthermore, the control end is provided with a first standard mark area ratio and a second standard mark area ratio. When the control end determines that the real-time clarity evaluation value of the detection image is less than the standard clarity evaluation value, the target area marked by the operation end in the detection image is obtained, the real-time mark area ratio Ps of the target area in the image is calculated, and the real-time mark area ratio is determined according to the standard mark area ratio range.

[0022] If the real-time marking area ratio is less than the first standard marking area ratio, the control end adjusts the initial detection distance of the guide member to Lc', Lc' = Lc × [1 + (P1-Ps) / Ps];

[0023] If the real-time marking area ratio is between the first standard marking area ratio and the second standard marking area ratio, the control end will determine the real-time eccentric distance according to the standard eccentric distance to determine whether to adjust the initial collection angle of the guide member;

[0024] If the real-time marking area ratio is greater than the second standard marking area ratio, the control end adjusts the initial detection distance of the guide member to Lc', Lc' = Lc × [1-(Ps-P2) / Ps];

[0025] Wherein, P1 is the first standard mark area ratio, P2 is the second standard mark area ratio, and Lc is the initial detection distance of the guide member.

[0026] Furthermore, a standard eccentric distance Xb is provided in the control end. When the control end determines that the real-time marking area ratio of the target area is between the first standard marking area ratio and the second standard marking area ratio, the control end can calculate the real-time eccentric distance Xs between the midpoint of the detection image and the midpoint of the marking area, and determine the real-time eccentric distance according to the standard eccentric distance.

[0027] If the real-time eccentric distance is less than or equal to the standard eccentric distance, the control end will judge the real-time brightness difference value according to the standard brightness difference value to determine whether the detection end has completed the acquisition of the detection image;

[0028] If the real-time eccentric distance is greater than the standard eccentric distance, the control end adjusts the initial acquisition angle of the guide member to the corrected acquisition angle Ac', Ac'=Ac×[1-(Xs-Xb) / Xs], and controls the guide member to extend at the corrected acquisition angle and initial detection distance to capture the detection image.

[0029] Furthermore, the control end is provided with a standard brightness value and a standard brightness difference value of the detection image. The control end determines that the real-time eccentricity distance of the detection image is less than or equal to the standard eccentricity distance, obtains the real-time brightness value of the detection image, and calculates the real-time brightness difference value between the real-time brightness value and the standard brightness value. The control end determines the real-time brightness difference value according to the standard brightness difference value.

[0030] If the real-time brightness difference is less than or equal to the standard brightness difference, the control end determines that the detection end has completed the acquisition of the detection image;

[0031] If the real-time brightness difference is greater than the standard brightness difference, the control end controls the light source lamp to adjust the light source and re-judges the real-time clarity evaluation value of the detection image to determine whether to adjust the initial detection distance of the guide member to re-capture the detection image.

[0032] Furthermore, when the control end determines that the real-time brightness difference of the detection image is greater than the standard brightness difference, the real-time clarity evaluation value of the detection image will be calculated again, the real-time marking area ratio and the real-time eccentricity distance will be calculated, and the initial detection distance and the initial acquisition angle of the guiding member will be adjusted in real time according to the real-time marking area ratio and the real-time eccentricity distance until the acquisition of the detection image is completed when it is determined that the real-time brightness difference of the detection image is less than or equal to the standard brightness difference.

[0033] Furthermore, the control end is provided with a minimum eccentric distance of the detection image. When the control end determines that the real-time eccentric distance of the detection image is less than or equal to the standard eccentric distance, the real-time eccentric distance is determined according to the minimum eccentric distance.

[0034] If the real-time eccentric distance is less than the minimum eccentric distance, the control end determines that the detection end has completed the acquisition of the detection image;

[0035] If the real-time eccentric distance is greater than or equal to the minimum eccentric distance, the control end will determine the real-time brightness difference value according to the standard brightness difference value to determine whether the detection end has completed the acquisition of the detection image.

[0036] Compared with the prior art, the beneficial effect of the present invention lies in that a control end selects several reference areas in the exploration image, and adjusts the guiding bending angle of the colonoscope attachment according to the number of real-time reference areas to ensure that the image field of view is appropriate, and by setting the standard contour overlap rate, the control end selects an executable reference area that can predict and describe the target position according to the standard contour overlap rate to determine the target acquisition angle of the exploration end, thereby determining the direction of image acquisition, and when the control end determines that the real-time mark area ratio of the mark area is not within the range of the first standard mark area ratio and the second standard mark area ratio, the initial exploration distance of the exploration end is controlled and adjusted, and when the control end determines that the real-time eccentric distance is greater than the standard eccentric distance, the target acquisition angle of the exploration end is controlled and adjusted, and by setting a light source lamp, the brightness of the exploration image is automatically adjusted to ensure image clarity, thereby ensuring that the acquired exploration image is effective.

[0037] Furthermore, by setting the initial acquisition angle, the direction of the image acquisition by the exploration end is locked to improve the acquisition efficiency. By setting the initial bending angle of the guide member, the guide member can enter the abdomen at an angle within a certain range without affecting the size of the incision, thereby ensuring that the incision is not easily enlarged due to the size of the exploration end and that the exploration field of view of the exploration end is wide.

[0038] In particular, the number of real-time reference areas is determined by setting the number of standard reference areas in the control terminal. The number of standard reference areas indicates the number of known feature points found by the control terminal when performing image recognition, and is set according to the various organs in the abdomen. If the control terminal determines that the number of real-time reference areas is less than the number of standard reference areas, it means that the number of known feature points found by the control terminal when performing image recognition is very small, and it is necessary to increase the initial bending angle of the guide member to obtain a wider field of view for image acquisition. If the control terminal determines that the number of real-time reference areas is greater than the number of standard reference areas, it means that the number of known feature points found by the control terminal when performing image recognition is large, and it is necessary to reduce the initial bending angle of the guide member to lock a smaller field of view for image acquisition. If the control terminal determines that the number of real-time reference areas is equal to the number of standard reference areas, it means that the number of known feature points found by the control terminal when performing image recognition is appropriate, and the real-time image contour of the reference area will be determined.

[0039] Furthermore, the standard image contour represents the shape corresponding to the known feature points found by the control terminal when performing image recognition. By setting the standard contour overlap rate in the control terminal, the control terminal selects the executable reference area, and the executable reference area means that the reference area can accurately describe and predict the position of the target area. If the control terminal determines that the real-time contour overlap rate is less than the standard contour overlap rate, it means that the reference area is greatly different from the standard area, and the reference area cannot be used as a reference for calculating the spatial position of the target area. If the real-time contour overlap rate is greater than or equal to the standard contour overlap rate, it means that the difference between the reference area and the standard area is not enough to cause an error in predicting the spatial position of the target area.

[0040] In particular, by setting a standard clarity evaluation value, the control end determines the clarity of the acquired exploration image to determine whether the acquired exploration image is valid. If the control end determines that the real-time clarity evaluation value is less than the standard clarity evaluation value, it means that the exploration image is not clear and the automatic focus system of the exploration end is highly defocused. The real-time mark area ratio will be determined based on the first standard mark area ratio and the second standard mark area ratio to determine whether it is necessary to control and adjust the initial exploration distance of the guide component to achieve the focusing purpose. If the control end determines that the real-time clarity evaluation value is greater than or equal to the standard clarity evaluation value, it means that the exploration image is clear. The control end then controls the exploration end to extend to the initial exploration distance at the target acquisition angle to acquire the exploration image.

[0041] Furthermore, the standard mark area ratio indicates the ratio of the area of ​​the mark in the exploration image to the total exploration image area. By setting the first standard mark area ratio and the second standard mark area ratio, a standard mark area ratio range is formed. The control end determines the real-time mark area ratio according to the standard mark area ratio range. If the real-time mark area ratio is less than the first standard mark area ratio, it means that the display range of the marked target area in the exploration image is small and difficult to observe. If the real-time mark area ratio is greater than the second standard mark area ratio, it means that the display range of the marked target area in the exploration image is too large, resulting in a small reference area, which is not conducive to observation and judgment. It is necessary to adjust the position of the exploration end to collect an effective exploration image.

[0042] Furthermore, by setting a standard eccentricity distance, the standard eccentricity distance indicates the degree of deviation of the marked target area from the center of the detection image. If the control end determines that the real-time eccentricity distance is less than or equal to the standard eccentricity distance, it indicates that the marked target area is near the center of the detection image. If the control end determines that the real-time eccentricity distance is greater than the standard eccentricity distance, it indicates that the marked target area deviates greatly from the center of the detection image, and the detection end needs to be moved to collect an easy-to-observe detection image.

[0043] Furthermore, the standard brightness value indicates the brightness of the image, and the unit is cd / m 2 , the standard brightness difference value indicates the range of variation of the brightness of the image, within which the brightness of the image can be guaranteed to be high enough. By setting the standard brightness value and the standard brightness difference value of the detection image, the control end determines whether the detection image is valid based on the brightness of the detection image, so that the reference area can be selected according to the image. If the control end determines that the real-time brightness difference value is less than or equal to the standard brightness difference value, it means that the brightness of the detection image is sufficient for the control end to perform image recognition, select the reference area and make a judgment. If the control end determines that the real-time brightness difference value is greater than the standard brightness difference value, it means that the brightness of the image is low, and the light source needs to be adjusted through the light source lamp, and the validity of the detection image is determined again based on the clarity.

[0044] Furthermore, after adjusting the light source through the light source lamp, whether the detection image is valid is determined again according to the clarity, and the determination of the initial detection distance of the control adjustment guide member is re-executed to ensure the effectiveness of the detection image acquisition.

[0045] Furthermore, by setting the minimum eccentricity distance, the minimum eccentricity distance indicates that the deviation of the marked target area from the center of the exploration image is very low, theoretically close to zero. When the control end determines that the real-time eccentricity distance is less than the minimum eccentricity distance, it indicates that the marked area is at the center of the exploration image, and the exploration image is directly determined to be valid, thereby reducing the execution steps and improving the determination efficiency. If the control end determines that the real-time eccentricity distance is greater than or equal to the minimum eccentricity distance, it indicates that the marked target area deviates greatly from the center of the exploration image, and further determination of the exploration image is required. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a schematic diagram of the structure of the detection end according to an embodiment of the present invention;

[0047] Figure 2 This is a system schematic diagram of an endoscopic surgical instrument for treating appendicitis according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0050] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0051] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] See also Figure 1 and Figure 2 As shown, Figure 1 is a schematic diagram of the structure of the detection end according to an embodiment of the present invention, Figure 2The system diagram of the endoscopic surgical instrument for appendicitis treatment according to the embodiment of the present invention discloses an endoscopic surgical instrument for appendicitis treatment, including an exploration end 1, a control member 101, a guide member 102, a light source lamp 103, a curved portion 104, a cutting knife 105 for performing surgery, a colonoscope attachment 106 and a control end (not shown in the figure), wherein:

[0053] The exploration end 1 includes a colonoscope attachment provided with a guide member 102 and a control member 101 sleeved on the colonoscope attachment, wherein the control member 101 is used to drive the colonoscope attachment 106 to extend and retract, and the colonoscope attachment 106 is used to collect exploration images. The exploration end 1 is also provided with a light source lamp 103 to adjust the light source of the colonoscope attachment 106;

[0054] An operating end, which is used to display the exploration image acquired by the exploration end 1, and the operating end can perform target area marking on the exploration image;

[0055] The control end is connected to the detection end 1 and the operating end. The control end can select several reference areas, and judge the number of real-time reference areas according to the number of standard reference areas to determine whether to adjust the guide bending angle of the guide member 102; the control end can also judge the real-time contour overlap rate according to the standard contour overlap rate, determine the executable reference area and the target acquisition angle, and control the detection end 1 to extend to the initial detection distance at the target acquisition angle to perform image acquisition; the control end can also calculate the real-time area ratio of the target area marked in the detection image, and judge the real-time area ratio according to the standard area ratio to determine whether to adjust the initial detection distance; after acquiring the detection image, the control end can judge the real-time brightness difference according to the standard brightness difference to determine whether to re-capture the detection image.

[0056] By setting the light source lamp 103, the brightness of the exploration image is automatically adjusted to ensure image clarity. The control end selects several reference areas in the exploration image, and adjusts the guiding bending angle of the colonoscope attachment 106 according to the number of real-time reference areas to ensure that the image field of view is appropriate. By setting the standard contour overlap rate, the control end selects an executable reference area that can predict and describe the target position according to the standard contour overlap rate to determine the target acquisition angle of the exploration end 1, thereby determining the direction of image acquisition. When the control end determines that the real-time marking area ratio of the marking area is not within the range of the first standard marking area ratio and the second standard marking area ratio, the initial exploration distance of the exploration end 1 is controlled and adjusted. When the control end determines that the real-time eccentric distance is greater than the standard eccentric distance, the target acquisition angle of the exploration end 1 is controlled and adjusted to ensure that the acquired exploration image is valid.

[0057] In this embodiment, the endoscopic surgical instrument used for the treatment of appendicitis is a colonoscope to cooperate in completing the operation. The operation is performed by inserting the colonoscope into the biopsy forceps channel. By setting a forceps channel inside the colonoscope, the colonoscope accessories are attached inside the forceps channel and thus enter the vicinity of the appendix with the colonoscope. The diameter of the forceps channel is 3.2 mm, and the diameter of the colonoscope accessories used is not higher than 3 mm.

[0058] Specifically, the control end is provided with an initial acquisition angle Ac of the guide member 102, and the control end can obtain the initial bending angle of the guide member 102, and control the guide member 102 to rotate one circle along the axis of the control member 101 at the initial bending angle. When the rotation angle is a certain initial acquisition angle, an exploratory image acquisition will be performed.

[0059] The initial bending angle is the bending angle of the guide member 102 relative to the axis of the control member 101, and the initial acquisition angle is the angle at which the guide member 102 rotates about the axis of the control member 101 when the guide member 102 is at the initial bending angle.

[0060] The initial acquisition angle refers to the angle at which the exploration end 1 starts to acquire images, and is generally set according to the angle of the exploration end 1 entering the abdomen and the corresponding upper abdomen, right lower abdomen, left lower abdomen, and pelvic angles.

[0061] By setting the initial acquisition angle, the direction in which the exploration end 1 acquires images is locked to improve acquisition efficiency. By setting the initial bending angle of the guide member 102, the guide member 102 can enter the abdomen at an angle within a certain range without affecting the size of the incision, thereby ensuring that the incision is not easily enlarged due to the size of the exploration end 1 and that the exploration field of view of the exploration end 1 is wide.

[0062] Specifically, the control end is provided with a standard reference area number Nb. When the detection end 1 performs image acquisition at an initial acquisition angle, the control end selects several reference areas in the image, calculates the selected real-time reference area number Ns, and determines the real-time reference area number according to the standard reference area number.

[0063] If the number of real-time reference areas is less than the number of standard reference areas, the control end adjusts the initial bending angle Aw of the guide member 102 to Aw'=Aw×[1+(Nb-Ns) / Ns];

[0064] If the number of real-time reference areas is equal to the number of standard reference areas, the control end will determine the real-time contour overlap rate according to the standard contour overlap rate;

[0065] If the number of real-time reference areas is greater than the number of standard reference areas, the control end adjusts the initial bending angle Aw of the guide member 102 to Aw′=Aw×[1-(Ns-Nb) / Ns].

[0066] The number of real-time reference areas is determined by setting the number of standard reference areas in the control terminal. The number of standard reference areas indicates the number of known feature points found by the control terminal during image recognition and is set according to the organs of the abdomen. The control terminal determines the number of real-time reference areas based on the number of standard reference areas so that the number of selected reference areas can be

[0067] If the control end determines that the number of real-time reference areas is less than the number of standard reference areas, it means that the control end found very few known feature points when performing image recognition, and it is necessary to increase the initial bending angle of the guide member 102 to obtain a wider field of view for image acquisition. If the control end determines that the number of real-time reference areas is greater than the number of standard reference areas, it means that the control end found a large number of known feature points when performing image recognition, and it is necessary to reduce the initial bending angle of the guide member 102 to lock a smaller field of view for image acquisition. If the control end determines that the number of real-time reference areas is equal to the number of standard reference areas, it means that the control end found an appropriate number of known feature points when performing image recognition, and the real-time image contour of the reference area will be determined.

[0068] Specifically, the control end is provided with a standard image contour and a standard image contour overlap ratio. When the control end determines that the number of real-time reference areas is equal to the number of standard reference areas, the real-time image contour of each reference area is obtained and matched with the standard image contour, and the real-time contour overlap ratio is calculated. The control end determines the real-time contour overlap ratio according to the standard contour overlap ratio.

[0069] If the real-time contour overlap rate is less than the standard contour overlap rate, the control end determines that the reference area corresponding to the real-time image contour is not executable;

[0070] If the real-time contour overlap rate is greater than or equal to the standard contour overlap rate, the control end selects the reference area corresponding to the real-time image contour as the executable reference area, marks the guide bending angle and the initial acquisition angle when acquiring the executable reference area as the target acquisition angle, controls the detection end 1 to extend to the initial detection distance at the target acquisition angle for image acquisition, and determines the real-time clarity evaluation value according to the standard clarity evaluation value to determine whether to control the detection end 1 to extend to the initial detection distance at the target acquisition angle for detection image acquisition.

[0071] The standard image contour represents the shape corresponding to the known feature points found by the control end during image recognition. By setting the standard contour overlap rate in the control end, the control end selects the executable reference area. The executable reference area means that the reference area can accurately describe and predict the position of the target area. If the control end determines that the real-time contour overlap rate is less than the standard contour overlap rate, it means that the reference area is greatly different from the standard area, and the reference area cannot be used as a reference for calculating the spatial position of the target area. If the real-time contour overlap rate is greater than or equal to the standard contour overlap rate, it means that the difference between the reference area and the standard area is not enough to cause an error in calculating the spatial position of the target area.

[0072] Specifically, the control terminal is provided with a standard definition evaluation value. When the detection image is collected, the real-time definition evaluation value of the detection image is calculated, and the real-time definition evaluation value is determined according to the standard definition evaluation value.

[0073] If the real-time definition evaluation value is less than the standard definition evaluation value, the control end will determine the real-time mark area ratio according to the first standard mark area ratio and the second standard mark area ratio to determine whether to adjust the initial detection distance of the guide member 102;

[0074] If the real-time definition evaluation value is greater than or equal to the standard definition evaluation value, the control end controls the detection end 1 to extend to the initial detection distance at the target acquisition angle to perform detection image acquisition.

[0075] In this embodiment, the real-time clarity evaluation value algorithm adopts the Sobel operator image clarity evaluation algorithm, and uses an adaptive median denoising algorithm to pre-process the microscopic image to reduce noise interference. At the same time, the Sobel operator template direction is added, and a four-directional template is used to calculate the pixel gradient. An adaptive global threshold is used to determine the edge of the image target, and the square sum of the gradients of the strong edge pixels is used as the clarity evaluation value.

[0076] The standard definition evaluation value represents an evaluation function for guiding the focusing mechanism to find the positive focus position, and is set according to the device model of the colonoscope accessory 106 and is also related to the application scenario.

[0077] By setting the standard clarity evaluation value, the control end determines the clarity of the acquired exploration image to determine whether the acquired exploration image is valid. If the control end determines that the real-time clarity evaluation value is less than the standard clarity evaluation value, it means that the exploration image is not clear and the automatic focusing system of the exploration end 1 is greatly defocused. The real-time mark area ratio will be determined based on the first standard mark area ratio and the second standard mark area ratio to determine whether it is necessary to control and adjust the initial exploration distance of the guide member 102 to achieve the focusing purpose. If the control end determines that the real-time clarity evaluation value is greater than or equal to the standard clarity evaluation value, it means that the exploration image is clear. Then the control end controls the exploration end 1 to extend to the initial exploration distance at the target acquisition angle to acquire the exploration image.

[0078] Specifically, the control end is provided with a first standard mark area ratio and a second standard mark area ratio. When the control end determines that the real-time clarity evaluation value of the detection image is less than the standard clarity evaluation value, the target area marked by the operation end in the detection image is obtained, the real-time mark area ratio Ps of the target area in the image is calculated, and the real-time mark area ratio is determined according to the standard mark area ratio range.

[0079] If the real-time marking area ratio is less than the first standard marking area ratio, the control end adjusts the initial detection distance of the guide member 102 to Lc', Lc' = Lc x [1 + (P1-Ps) / Ps];

[0080] If the real-time marking area ratio is between the first standard marking area ratio and the second standard marking area ratio, the control end will determine the real-time eccentric distance according to the standard eccentric distance to determine whether to adjust the initial collection angle of the guide member 102;

[0081] If the real-time marking area ratio is greater than the second standard marking area ratio, the control end adjusts the initial detection distance of the guide member 102 to Lc', Lc' = Lc x [1-(Ps-P2) / Ps];

[0082] Wherein, P1 is the first standard mark area ratio, P2 is the second standard mark area ratio, and Lc is the initial detection distance of the guide member 102 .

[0083] The standard marking area ratio indicates the ratio of the marked area in the exploration image to the total exploration image area.

[0084] By setting the first standard mark area ratio and the second standard mark area ratio, a standard mark area ratio range is formed. The control end determines the real-time mark area ratio according to the standard mark area ratio range. If the real-time mark area ratio is less than the first standard mark area ratio, it means that the display range of the marked target area in the exploration image is small and difficult to observe. If the real-time mark area ratio is greater than the second standard mark area ratio, it means that the display range of the marked target area in the exploration image is too large, resulting in a small reference area, which is not conducive to observation and judgment. The position of the exploration end 1 needs to be adjusted to collect an effective exploration image.

[0085] Specifically, a standard eccentric distance Xb is set in the control end. When the control end determines that the real-time marking area ratio of the target area is between the first standard marking area ratio and the second standard marking area ratio, the control end can calculate the real-time eccentric distance Xs between the midpoint of the detection image and the midpoint of the marking area, and determine the real-time eccentric distance according to the standard eccentric distance.

[0086] If the real-time eccentric distance is less than or equal to the standard eccentric distance, the control end will judge the real-time brightness difference value according to the standard brightness difference value to determine whether the detection end 1 has completed the acquisition of the detection image;

[0087] If the real-time eccentric distance is greater than the standard eccentric distance, the control end adjusts the initial acquisition angle of the guide member 102 to the corrected acquisition angle Ac', Ac'=Ac×[1-(Xs-Xb) / Xs], and controls the guide member to extend at the corrected acquisition angle and initial detection distance to capture the detection image.

[0088] By setting the standard eccentricity distance, the standard eccentricity distance indicates the degree of deviation of the marked target area from the center of the detection image. If the control end determines that the real-time eccentricity distance is less than or equal to the standard eccentricity distance, it indicates that the marked target area is near the center of the detection image. If the control end determines that the real-time eccentricity distance is greater than the standard eccentricity distance, it indicates that the marked target area deviates greatly from the center of the detection image, and it is necessary to move the detection end 1 to collect an easy-to-observe detection image.

[0089] Specifically, the control end is provided with a standard brightness value and a standard brightness difference value of the detection image. The control end determines that the real-time eccentricity distance of the detection image is less than or equal to the standard eccentricity distance, obtains the real-time brightness value of the detection image, and calculates the real-time brightness difference value between the real-time brightness value and the standard brightness value. The control end determines the real-time brightness difference value according to the standard brightness difference value.

[0090] If the real-time brightness difference is less than or equal to the standard brightness difference, the control end determines that the detection end 1 completes the acquisition of the detection image;

[0091] If the real-time brightness difference is greater than the standard brightness difference, the control end controls the light source lamp 103 to adjust the light source and re-judges the real-time clarity evaluation value of the detection image to determine whether to adjust the initial detection distance of the guide member 102 to re-capture the detection image.

[0092] The standard brightness value indicates the brightness of the image, and the unit is cd / m 2 The standard brightness difference value indicates the range of variation of the brightness of the image. Within this range, the brightness of the image can be guaranteed to be high enough.

[0093] By setting the standard brightness value and the standard brightness difference of the detection image, the control end determines whether the detection image is valid based on the brightness of the detection image, so that the reference area can be selected according to the image. If the control end determines that the real-time brightness difference is less than or equal to the standard brightness difference, it means that the brightness of the detection image is sufficient for the control end to perform image recognition, select the reference area and make a judgment. If the control end determines that the real-time brightness difference is greater than the standard brightness difference, it means that the brightness of the image is low, and the light source needs to be adjusted through the light source lamp 103, and the validity of the detection image is judged again based on the clarity.

[0094] Specifically, when the control end determines that the real-time brightness difference of the detection image is greater than the standard brightness difference, the real-time clarity evaluation value of the detection image will be calculated again, the real-time marking area ratio and the real-time eccentricity distance will be calculated, and the initial detection distance and the initial acquisition angle of the guide member 102 will be adjusted in real time according to the real-time marking area ratio and the real-time eccentricity distance until the real-time brightness difference of the detection image is determined to be less than or equal to the standard brightness difference, and the acquisition of the detection image is completed.

[0095] After adjusting the light source through the light source lamp 103, it is determined again whether the detection image is valid according to the clarity, and the determination of the initial detection distance of the control adjustment guide member 102 is re-executed to ensure the effectiveness of the detection image acquisition.

[0096] Specifically, the control end is provided with a minimum eccentric distance of the detection image. When the control end determines that the real-time eccentric distance of the detection image is less than or equal to the standard eccentric distance, the real-time eccentric distance is determined according to the minimum eccentric distance.

[0097] If the real-time eccentric distance is less than the minimum eccentric distance, the control end determines that the detection end 1 completes the acquisition of the detection image;

[0098] If the real-time eccentric distance is greater than or equal to the minimum eccentric distance, the control end will determine the real-time brightness difference value according to the standard brightness difference value to determine whether the detection end 1 has completed the acquisition of the detection image.

[0099] By setting the minimum eccentric distance, the minimum eccentric distance indicates that the deviation of the marked target area from the center of the detection image is very low, theoretically close to zero. When the control end determines that the real-time eccentric distance is less than the minimum eccentric distance, it means that the marked area is at the center of the detection image, and the detection image is directly determined to be valid, which reduces the execution steps and improves the determination efficiency. If the control end determines that the real-time eccentric distance is greater than or equal to the minimum eccentric distance, it means that the marked target area deviates greatly from the center of the detection image, and further determination of the detection image is required.

[0100] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An endoscopic surgical instrument for treating appendicitis, characterized in that: include, The exploration end includes a colonoscope attachment provided with a guiding member and a control member sleeved on the colonoscope attachment, the control member is used to drive the colonoscope attachment to extend and retract, the colonoscope attachment is used to collect exploration images, and the exploration end is also provided with a light source lamp to adjust the light source of the colonoscope attachment; An operating end, which is used to display the exploration image collected by the exploration end, and the operating end can perform target area marking on the exploration image; A control end connected to the detection end and the operating end, wherein the control end can select a number of reference areas, and determine the number of real-time reference areas according to the number of standard reference areas to determine whether to adjust the guide bending angle of the guide member; the control end can also determine the real-time contour overlap rate according to the standard contour overlap rate, determine the executable reference area and the target acquisition angle, and control the detection end to extend to the initial detection distance at the target acquisition angle to perform image acquisition; the control end can also calculate the real-time area ratio of the target area marked in the detection image, and determine the real-time area ratio according to the standard area ratio to determine whether to adjust the initial detection distance; After acquiring the detection image, the control end can determine the real-time brightness difference value according to the standard brightness difference value to determine whether to re-acquire the detection image.

2. The endoscopic surgical instrument for appendicitis treatment according to claim 1, characterized in that: The control end is provided with an initial acquisition angle Ac of the guide member, and the control end can obtain the initial bending angle of the guide member, and control the guide member to rotate one circle along the axis of the control member at the initial bending angle, and when the rotation angle is a certain initial acquisition angle, the exploration image acquisition is performed; The initial bending angle is the bending angle of the guide member relative to the axis of the control member, and the initial acquisition angle is the angle at which the guide member rotates about the axis of the control member when the guide member is at the initial bending angle.

3. The endoscopic surgical instrument for appendicitis treatment according to claim 2, characterized in that: The control end is provided with a standard reference area number Nb. When the detection end performs image acquisition at an initial acquisition angle, the control end selects several reference areas in the image, calculates the selected real-time reference area number Ns, and determines the real-time reference area number according to the standard reference area number. If the number of real-time reference areas is less than the number of standard reference areas, the control end adjusts the initial bending angle Aw of the guide member to Aw'=Aw×[1+(Nb-Ns) / Ns]; If the number of real-time reference areas is equal to the number of standard reference areas, the control end will determine the real-time contour overlap rate according to the standard contour overlap rate; If the number of real-time reference areas is greater than the number of standard reference areas, the control end adjusts the initial bending angle Aw of the guide member to Aw'=Aw×[1-(Ns-Nb) / Ns].

4. The endoscopic surgical instrument for appendicitis treatment according to claim 3, characterized in that: The control end is provided with a standard image contour and a standard image contour overlap ratio. When the control end determines that the number of real-time reference areas is equal to the number of standard reference areas, the real-time image contour of each reference area is obtained and matched with the standard image contour, and the real-time contour overlap ratio is calculated. The control end determines the real-time contour overlap ratio according to the standard contour overlap ratio. If the real-time contour overlap rate is less than the standard contour overlap rate, the control end determines that the reference area corresponding to the real-time image contour is not executable; If the real-time contour overlap rate is greater than or equal to the standard contour overlap rate, the control end selects the reference area corresponding to the real-time image contour as the executable reference area, marks the guide bending angle and the initial acquisition angle when acquiring the executable reference area as the target acquisition angle, controls the detection end to extend to the initial detection distance at the target acquisition angle for image acquisition, and determines the real-time clarity evaluation value according to the standard clarity evaluation value to determine whether to control the detection end to extend to the initial detection distance at the target acquisition angle for acquisition of the detection image.

5. The endoscopic surgical instrument for appendicitis treatment according to claim 4, characterized in that: The control terminal is provided with a standard definition evaluation value. When the detection image is collected, the real-time definition evaluation value of the detection image is calculated, and the real-time definition evaluation value is determined according to the standard definition evaluation value. If the real-time definition evaluation value is less than the standard definition evaluation value, the control end will determine the real-time mark area ratio according to the first standard mark area ratio and the second standard mark area ratio to determine whether to adjust the initial detection distance of the guide member; If the real-time definition evaluation value is greater than or equal to the standard definition evaluation value, the control end controls the detection end to extend to the initial detection distance at the target acquisition angle to perform detection image acquisition.

6. The endoscopic surgical instrument for appendicitis treatment according to claim 5, characterized in that: The control end is provided with a first standard mark area ratio and a second standard mark area ratio. When the control end determines that the real-time clarity evaluation value of the detection image is less than the standard clarity evaluation value, the target area marked by the operation end in the detection image is obtained, the real-time mark area ratio Ps of the target area in the image is calculated, and the real-time mark area ratio is determined according to the standard mark area ratio range. If the real-time marking area ratio is less than the first standard marking area ratio, the control end adjusts the initial detection distance of the guide member to Lc', Lc' = Lc × [1 + (P1-Ps) / Ps]; If the real-time marking area ratio is between the first standard marking area ratio and the second standard marking area ratio, the control end will determine the real-time eccentric distance according to the standard eccentric distance to determine whether to adjust the initial collection angle of the guide member; If the real-time marking area ratio is greater than the second standard marking area ratio, the control end adjusts the initial detection distance of the guide member to Lc', Lc' = Lc × [1-(Ps-P2) / Ps]; Wherein, P1 is the first standard mark area ratio, P2 is the second standard mark area ratio, and Lc is the initial detection distance of the guide member.

7. The endoscopic surgical instrument for appendicitis treatment according to claim 6, characterized in that: The control end is provided with a standard eccentric distance Xb. When the control end determines that the real-time marking area ratio of the target area is between the first standard marking area ratio and the second standard marking area ratio, the control end can calculate the real-time eccentric distance Xs between the midpoint of the detection image and the midpoint of the marking area, and determine the real-time eccentric distance according to the standard eccentric distance. If the real-time eccentric distance is less than or equal to the standard eccentric distance, the control end will judge the real-time brightness difference value according to the standard brightness difference value to determine whether the detection end has completed the acquisition of the detection image; If the real-time eccentric distance is greater than the standard eccentric distance, the control end adjusts the initial acquisition angle of the guide member to the corrected acquisition angle Ac', Ac'=Ac×[1-(Xs-Xb) / Xs], and controls the guide member to extend at the corrected acquisition angle and initial detection distance to capture the detection image.

8. The endoscopic surgical instrument for appendicitis treatment according to claim 7, characterized in that: The control end is provided with a standard brightness value and a standard brightness difference value of the detection image. The control end determines that the real-time eccentricity distance of the detection image is less than or equal to the standard eccentricity distance, obtains the real-time brightness value of the detection image, and calculates the real-time brightness difference value between the real-time brightness value and the standard brightness value. The control end determines the real-time brightness difference value according to the standard brightness difference value. If the real-time brightness difference is less than or equal to the standard brightness difference, the control end determines that the detection end has completed the acquisition of the detection image; If the real-time brightness difference is greater than the standard brightness difference, the control end controls the light source lamp to adjust the light source and re-judges the real-time clarity evaluation value of the detection image to determine whether to adjust the initial detection distance of the guide member to re-capture the detection image.

9. The endoscopic surgical instrument for appendicitis treatment according to claim 8, characterized in that: When the control end determines that the real-time brightness difference of the detection image is greater than the standard brightness difference, the real-time clarity evaluation value of the detection image will be calculated again, the real-time marking area ratio and the real-time eccentricity distance of the detection image will be calculated, and the initial detection distance and the initial acquisition angle of the guiding member will be adjusted in real time according to the real-time marking area ratio and the real-time eccentricity distance of the detection image until the acquisition of the detection image is completed when it is determined that the real-time brightness difference of the detection image is less than or equal to the standard brightness difference.

10. The endoscopic surgical instrument for appendicitis treatment according to claim 7, characterized in that: The control end is provided with a minimum eccentric distance of the detection image. When the control end determines that the real-time eccentric distance of the detection image is less than or equal to the standard eccentric distance, the real-time eccentric distance is determined according to the minimum eccentric distance. If the real-time eccentric distance is less than the minimum eccentric distance, the control end determines that the detection end has completed the acquisition of the detection image; If the real-time eccentric distance is greater than or equal to the minimum eccentric distance, the control end will determine the real-time brightness difference value according to the standard brightness difference value to determine whether the detection end has completed the acquisition of the detection image.

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