Correcting method for endoscope tube

Abstract

The invention relates to an endoscope tube correction method, which comprises the following steps that: a plurality of target bending offsets and a plurality of target bending angles of an endoscope tube are obtained, and the plurality of target bending offsets and the plurality of target bending angles have a one-to-one mapping relationship; based on the multiple target bending offsets and the multiple target bending angles, the bending type of the endoscope tube is determined; and determining a corresponding straightening strategy based on the bending type, and based on the bending angle, a corresponding straightening strategy is adopted to straighten the endoscope tube. The straightening efficiency and the straightening precision can be improved, and the adaptability of the straightening method can be further improved.

Description

Technical Field

[0001] The invention relates to the technical field of endoscope tube processing, and in particular to a correction method for an endoscope tube. Background Art

[0002] Optical endoscopes (such as laparoscopes, thoracoscopes, otolaryngoscopes, etc.) are widely used in clinical applications, covering many hospital departments (such as general surgery, otolaryngology, etc.), and have achieved rapid development in particular in recent years. This is closely related to the maturity of upstream technologies of optical endoscopes, especially the assembly quality of optical components inside optical endoscopes has been greatly improved. However, with the continuous growth in the demand for optical endoscopes in clinical applications, the assembly quality and precision requirements for optical endoscopes will become increasingly higher.

[0003] like Figure 1 As shown in the figure, as an important component of the optical endoscope, the mirror tube has a great influence on whether the assembly quality of the optical components inside the optical endoscope is qualified and the installation accuracy. In particular, after the mirror tube and the mirror body of the optical endoscope are welded, the distance between each axis point on the central axis of the mirror tube and the center line of the bottom surface of the mirror body (the offset between the axis point and the center line), that is, the size of the curvature of the mirror tube, will directly determine whether the assembly quality of the optical endoscope is qualified. When the distance between each axis point on the central axis of the mirror tube and the center line of the bottom surface of the mirror body is 0, that is, each axis point on the central axis of the mirror tube coincides with the center line O of the bottom surface of the mirror body. Otherwise, each axis point on the central axis of the mirror tube is at least partially not on the bottom surface of the mirror body. On the center line O of the surface, since the wall thickness of the tube body of the scope tube itself is very thin (less than 0.2mm) and the diameter length of the tube body is relatively small (such as between 4mm-10mm, the diameter length of the tube body of the thicker laparoscope and thoracoscope is about 10mm, and the diameter length of the tube body of the thinner ENT scope is about 4mm), but the length of the tube body of the scope tube is relatively long (such as 320mm), this long-span structural part with a small ratio of cross-sectional area to length is very easy to bend in the middle or easily produce a large deformation during the production process. If it is not discovered in time during the production process, it will lead to serious problems such as uneven optical fiber arrangement space, optical cylindrical mirror offset and even failure to assemble normally during the subsequent assembly process of the optical endoscope.

[0004] At present, the detection of the offset between the axis of the optical endoscope tube and the center of the bottom surface of its mirror body mainly relies on manual operation, that is, measurement through manual visual observation or with the help of simple distance detection tools, which is not only inefficient, but also easy to introduce human errors, reducing the accuracy of the detection. In addition, for the mirror tube of the optical endoscope whose offset between the axis of the mirror tube and the center of the bottom surface of the mirror body does not meet the requirements, there is a lack of corresponding straightening tooling, and it is usually manually straightened based on experience, which greatly reduces the straightening efficiency and straightening accuracy. Summary of the invention

[0005] (1) Technical issues to be solved

[0006] The present invention provides a correction method for an endoscope tube, which aims to obtain multiple target bending offsets and multiple target bending angles of the endoscope tube with a one-to-one mapping relationship and determine the bending type of the endoscope tube based on the multiple target bending offsets and the multiple target bending angles, and then determine a corresponding straightening strategy according to the bending type, and straighten the endoscope tube according to the target bending angle using the corresponding straightening strategy, which can not only improve the straightening efficiency and straightening accuracy, but also further improve the adaptability of the correction method.

[0007] (2) Technical solution

[0008] An embodiment of the present invention provides a method for correcting an endoscope tube, comprising the following steps:

[0009] Acquire a plurality of target bending offsets and a plurality of target bending angles of the endoscope tube, wherein the plurality of target bending offsets and the plurality of target bending angles have a one-to-one mapping relationship;

[0010] Determining a bending type of the endoscope tube based on the multiple target bending offsets and the multiple target bending angles;

[0011] Based on the bending type, determining a corresponding straightening strategy;

[0012] Based on the multiple target bending angles, the corresponding straightening strategy is adopted to straighten the endoscope tube.

[0013] In a possible implementation, the acquiring of a plurality of target bending offsets and a plurality of target bending angles of the endoscope tube includes:

[0014] Determine the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube;

[0015] Based on the multiple positions to be detected, determining arrangement positions of detection points for synchronously detecting the multiple positions to be detected;

[0016] The endoscope tube is driven to rotate around the rotation center axis for one circle at a first preset rotation angle and a first preset number of rotations, and the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected are simultaneously obtained.

[0017] In a possible implementation, the acquiring of a plurality of target bending offsets and a plurality of target bending angles of the endoscope tube includes:

[0018] Determine the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube;

[0019] Based on the multiple positions to be detected, determining arrangement positions of detection points for sequentially detecting the multiple positions to be detected;

[0020] Driving the detection point to move to the plurality of positions to be detected in sequence along the direction of the rotation center axis with a preset movement length and a preset movement number;

[0021] The endoscope tube is driven to move from the detection point to each of the positions to be detected at a second preset rotation angle and a second to first preset rotation number, and then rotates around the rotation center axis for one circle, and the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected are obtained in turn.

[0022] In a possible implementation manner, the acquiring the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected includes:

[0023] Acquire a first detection distance and a second detection distance of each of the positions to be detected;

[0024] Determining a plurality of corresponding first rotation times and second rotation times based on each of the first detection distances or each of the second detection distances;

[0025] Determining the plurality of target bending angles based on a preset rotation angle and a plurality of the first rotation times or a plurality of the second rotation times;

[0026] Performing difference processing on each of the second detection distances and the corresponding first detection distances to obtain a plurality of corresponding detection distance differences;

[0027] Based on the detection distance difference being greater than an offset threshold, the detection distance difference is determined to be the target bending offset.

[0028] In a possible implementation, determining the bending type of the endoscope tube based on the multiple target bending angles and the multiple target bending offsets includes:

[0029] Acquiring a bending direction of the endoscope tube based on the multiple target bending angles and the multiple target bending offsets;

[0030] Based on the bending direction of the endoscope tube, a bending type of the endoscope tube is determined.

[0031] In a possible implementation, obtaining the bending direction of the endoscope tube based on the multiple target bending angles and the multiple target bending offsets includes:

[0032] Determine the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, and sequentially sort the plurality of positions to be detected in ascending order along the rotation center axis in a direction away from the endoscope body, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube;

[0033] Based on the multiple positions to be detected, determining the arrangement positions of the detection points for synchronously detecting the multiple positions to be detected or the arrangement positions of the detection points for sequentially detecting the multiple positions to be detected;

[0034] The endoscope tube is driven to rotate around the rotation center axis for one circle at a first preset rotation angle and a first preset rotation number, and the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected are obtained at the same time; or the detection point is driven to move to the multiple positions to be detected in sequence along the rotation center axis at a preset movement length and a preset movement number, and the endoscope tube is driven to rotate around the rotation center axis for one circle at a second preset rotation angle and a second preset rotation number after the detection point moves to each of the positions to be detected, and the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected are obtained in sequence;

[0035] Performing difference processing on two target bending offsets with adjacent serial numbers to obtain a plurality of corresponding target bending offset differences, and performing difference processing on two target bending angles with adjacent serial numbers to obtain a plurality of corresponding target bending angle differences;

[0036] Based on the fact that the differences of the multiple target bending angles are not all within the angle deviation threshold range, it is determined that the bending direction of the endoscope tube is a multi-sided bending direction; based on the fact that the differences of the multiple target bending angles are all within the angle deviation threshold range and the differences of the multiple target bending offsets are all non-negative numbers, it is determined that the bending direction of the endoscope tube is a unilateral bending direction; based on the fact that the differences of the multiple target bending angles are all within the angle deviation threshold range and the differences of the multiple target bending offsets include non-negative numbers and negative numbers, it is determined that the bending direction of the endoscope tube is a bilateral bending direction.

[0037] In a possible implementation, straightening the endoscope tube using the corresponding straightening strategy based on the multiple target bending angles includes:

[0038] Determine the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, and sequentially sort the plurality of positions to be detected in ascending order along the rotation center axis in a direction away from the endoscope body, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube;

[0039] Based on the multiple target bending offsets, determining multiple positions to be straightened among the multiple positions to be detected;

[0040] Driving the endoscope tube to rotate around the rotation center axis to the positions of the multiple target bending angles, and straightening the multiple positions to be straightened using the corresponding straightening strategies;

[0041] Wherein, the corresponding straightening strategies include a first straightening strategy, a second straightening strategy and a third straightening strategy.

[0042] In a possible implementation, the adopting of the first straightening strategy to straighten the plurality of positions to be straightened includes:

[0043] When the bending type is the first bending type, a movable auxiliary support clamp and a deviation correction clamp are respectively arranged on both sides of the endoscope tube;

[0044] Based on the multiple positions to be straightened, obtaining a non-straightening position on the endoscope tube that is adjacent to the position to be straightened with the smallest serial number;

[0045] Driving the auxiliary support clamp to move to the non-straightening position or the to-straightening position after straightening, so as to auxiliary support the non-straightening position or the to-straightening position after straightening;

[0046] The deflection-correcting clamp is driven to sequentially straighten the plurality of positions to be straightened.

[0047] In a possible implementation, the adopting of the second straightening strategy to straighten the plurality of positions to be straightened includes:

[0048] When the bending type is the second bending type, a movable first straightening and deflection correction clamp block and a movable second straightening and deflection correction clamp block are respectively arranged on both sides of the endoscope tube, and a curve graph formed by the projection of all positions to be detected on the endoscope tube in the vertical direction is obtained;

[0049] Based on the curve graph, obtaining the peak position and the trough position on the curve graph;

[0050] Based on the multiple positions to be straightened, obtaining a non-straightening position on the endoscope tube that is adjacent to the position to be straightened with the smallest serial number;

[0051] Driving the first straightening and correcting clamp to move to the non-straightening position or the position to be straightened after straightening, so as to assist in supporting the non-straightening position or the position to be straightened after straightening;

[0052] Drive the second straightening and correcting clamp to straighten the position to be straightened, and after the second straightening and correcting clamp completes straightening the position to be straightened corresponding to the peak position or the trough position, switch the second straightening and correcting clamp to provide auxiliary support for the straightened position to be straightened and the first straightening and correcting clamp to straighten the position to be straightened, until the first straightening and correcting clamp completes straightening the position to be straightened corresponding to the next adjacent trough position or peak position, switch back to the first straightening and correcting clamp to provide auxiliary support for the position to be straightened and the second straightening and correcting clamp to straighten the position to be straightened, until the straightening of the multiple positions to be straightened is completed.

[0053] In a possible implementation, the adopting of the third straightening strategy to straighten the plurality of positions to be straightened includes:

[0054] Based on the fact that the bending type is the third bending type, the installation positions of the third straightening and deflection correction clamp block, the fourth straightening and deflection correction clamp block and the auxiliary support clamp block are determined, wherein the third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block are symmetrically arranged on both sides of the endoscope tube along the direction of the rotation center axis, and the auxiliary support clamp block is arranged on the end of the endoscope tube away from the endoscope body along the direction of the rotation center axis;

[0055] Based on the plurality of positions to be straightened sorted in ascending order, obtaining the position to be straightened of the smallest sequence in the sorted sequence;

[0056] Driving the auxiliary support clamp to be sleeved on one end of the endoscope tube away from the endoscope body;

[0057] Driving the third straightening and deflection-correcting clamp block and the fourth straightening and deflection-correcting clamp block to move to the to-be-straightened position with the smallest serial number;

[0058] Driving the endoscope tube to rotate around the rotation center axis so that the third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block straighten the position to be straightened;

[0059] The third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block are driven to move synchronously to the position to be straightened of the next adjacent serial number until all the positions to be straightened on the endoscope tube are corrected.

[0060] (3) Beneficial effects

[0061] In summary, the present invention obtains multiple target bending offsets and multiple target bending angles of the endoscope tube with a one-to-one mapping relationship and determines the bending type of the endoscope tube based on the multiple target bending offsets and the multiple target bending angles, and then determines the corresponding straightening strategy according to the bending type, and straightens the endoscope tube according to the target bending angle using the corresponding straightening strategy, which can not only improve the straightening efficiency and straightening accuracy, but also further improve the adaptability of the correction method. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 It is a schematic diagram of the structure of an optical endoscope in the prior art.

[0064] Figure 2 The present invention is a flow chart of a method for correcting an endoscope tube.

[0065] Figure 3 It is an assembly structure diagram of the rotary motor and the endoscope tube of the present invention.

[0066] Figure 4 It is a schematic diagram of the detection process of obtaining the target bending offset of the present invention.

[0067] Figure 5 It is a schematic diagram of the projection of the target bending angle obtained on the horizontal plane according to the present invention.

[0068] Figure 6 It is a schematic structural diagram of an endoscope tube with multiple positions to be detected according to the present invention.

[0069] Figure 7 It is a structural schematic diagram of the linear motion mechanism of the present invention.

[0070] Figure 8a It is a variation trend diagram between the position to be detected and the target detection distance when the endoscope tube of the present invention is of the first bending type.

[0071] Figure 8b It is a variation trend diagram between the position to be detected and the target detection distance when the endoscope tube of the present invention is of the second bending type.

[0072] Figure 8c It is a variation trend diagram between the position to be detected and the target detection distance when the endoscope tube of the present invention is of the third bending type.

[0073] Figure 9a It is a variation trend diagram between the position to be detected and the target bending angle when the endoscope tube of the present invention is of the first bending type.

[0074] Figure 9b It is a variation trend diagram between the position to be detected and the target bending angle when the endoscope tube of the present invention is of the second bending type.

[0075] Fig.9c It is a variation trend diagram between the position to be detected and the target bending angle when the endoscope tube of the present invention is of the third bending type.

[0076] Fig.10 It is a schematic diagram of the process of straightening the endoscope tube by adopting the first straightening strategy of the present invention.

[0077] Fig.11 It is a schematic diagram of the process of straightening the endoscope tube by adopting the second straightening strategy of the present invention.

[0078] Fig.12 It is a schematic diagram of the process of straightening the endoscope tube by adopting the third straightening strategy of the present invention. DETAILED DESCRIPTION

[0079] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to exemplarily illustrate the principles of the present invention, but cannot be used to limit the scope of the present invention, that is, the present invention is not limited to the described embodiments, and covers any modification, replacement and improvement of parts, components and connection modes without departing from the spirit of the present invention.

[0080] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0081] Figure 2 A flow chart of a correction method for an endoscope tube of the present invention is shown, as shown in FIG. Figure 2 As shown, the correction method of the disclosed embodiment of the present invention may include the following steps S10-S40.

[0082] Step S10, obtaining a plurality of target bending offsets and a plurality of target bending angles of the endoscope tube, wherein the plurality of target bending offsets and the plurality of target bending angles have a one-to-one mapping relationship.

[0083] In a possible implementation, before straightening the endoscope tube, it is necessary to obtain the bending parameters of the endoscope tube to determine whether the endoscope tube needs straightening, the bending parameters include the target bending angle and target bending offset of the endoscope tube, the target bending offset is all bending offsets on the endoscope tube that are greater than the offset threshold, and the bending offset refers to the difference between the maximum detection distance and the minimum detection distance in the detection distances between all points on the motion trajectory formed by any cross section on the endoscope tube on the horizontal plane or the vertical plane to the corresponding detection point, as exemplarily, Figure 3 and Figure 4 As shown, the center point A0 of any cross section on the endoscope tube 100 in the horizontal direction (that is, the endoscope tube 100 is arranged in a vertical state) is selected to rotate around the center line P on the bottom surface of the endoscope body 110 in the clockwise direction N for one circle, so that any cross section on the endoscope tube 100 forms a motion trajectory including positions S1, S2 and S3 on the horizontal plane, wherein S1 is the initial position of the center point A0 of the cross section, S2 is the first detection position when the center point of the cross section moves from A0 to A1, that is, the minimum detection distance position, and S3 is the second detection position when the center point of the cross section moves from A0 to A2, that is, the maximum detection distance position. The first detection distance L of the endoscope tube 100 at the S2 position and the detection distance of the endoscope tube 100 can be obtained through the horizontally arranged detection points 30. The second detection distance L2 when 00 is at the S3 position is obtained by performing difference processing on the second detection distance and the first detection distance to obtain the bending offset, that is, ΔL=L2-L1, wherein the first detection distance L1 is characterized by the minimum detection distance from the laser sensor 30 to the outer surface of the endoscope tube 100 when any cross section on the endoscope tube 100 is at the S2 position, and the second detection distance L2 is characterized by the maximum detection distance from the laser sensor 30 to the outer surface of the endoscope tube 100 when any cross section on the endoscope tube 100 is at the S3 position. The bending offset ΔL is compared with the offset threshold L0, and all bending offsets whose bending offsets are greater than the offset threshold are target bending offsets, wherein 0.1mm≤L0≤0.2mm, preferably 0.2mm.

[0084] The target bending angle is a bending angle that has a one-to-one correspondence with the target bending offset of any cross section on the endoscope tube. The bending angle is the rotation angle of any cross section on the endoscope tube corresponding to the detection distance from all points on the motion trajectory formed by any cross section on the endoscope tube rotating around the central axis of the bottom surface of the endoscope body on the horizontal plane or vertical plane to the detection point. When the detection distance is the first detection distance, the bending angle is the first bending angle; when the detection distance is the second detection distance, the bending angle is the second bending angle. Both the first bending angle and the second bending angle are target bending angles. Specifically, this embodiment preferably uses the first bending angle as the target bending angle. Exemplarily, as Figures 3 to 5 As shown, the center point A0 of any cross section on the endoscope tube 100 in the horizontal direction is selected and rotated in the clockwise direction N around the projection point C of the center line P of the bottom surface 110 of the endoscope body on the horizontal plane, so that the center point A0 of any cross section has projections at multiple angular positions on the horizontal plane around the projection point C, as shown in FIG. Figure 5 As shown, when the center point A0 rotates to the position of the center point A1, the detection point obtains a first detection distance, and the angular position of the center point A1 is the first bending angle. When the center point A0 continues to rotate to the position of the center point A2, the detection point obtains a second detection distance, and the angular position of the center point A2 is the second bending angle. Specifically, the preset rotation angle α is rotated a preset number of times k until it rotates 360°, that is, k=360° / α, and k is a positive integer. Each time the endoscope tube 100 is rotated at the preset rotation angle α, the distance from the outer surface of the endoscope tube 100 to the laser sensor 30 is detected by using the horizontally arranged detection point, that is, the laser sensor 30, to obtain the detection distance when the endoscope tube 100 is rotated. The detection distance corresponding to the previous rotation angle, the current rotation angle is n*α, where n is the current number of rotations, until the endoscope tube 100 rotates one circle, that is, 360°, obtain the detection distances corresponding to the k current rotation angles, screen out the first detection distance and the second detection distance from the k detection distances, and thereby obtain the first bending angle and the second bending angle corresponding to the first detection distance and the second detection distance, respectively, wherein 0≤α≤45°, preferably α=10°, 8≤k≤360, preferably k=36. It should be noted that the smaller the value of the preset angle α, the higher the accuracy of obtaining the first detection distance and the second detection distance, thereby obtaining the higher accuracy of obtaining the target bending offset.

[0085] In a possible implementation, since the endoscope tube is a cylindrical structure, the projections of the first bending angle and the second bending angle corresponding to the corresponding first detection distance and the second detection distance on the horizontal plane are angularly symmetrically distributed. Specifically, if the target bending angle corresponding to the first detection distance is α, then the target bending angle corresponding to the second detection distance is 180°+α, or if the target bending angle corresponding to the second detection distance is α, then the target bending angle corresponding to the first detection distance is 180°+α. For example, Figure 5 As shown, the target rotation angle corresponding to the second detection distance is 110° and the target rotation angle corresponding to the first detection distance is 290°.

[0086] Acquiring multiple target bending offsets and multiple target bending angles of the endoscope tube in the disclosed embodiment of the present invention may include the following steps S110-S130 or steps S110-S113.

[0087] Step S110, determining the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube.

[0088] In a possible implementation, in order to obtain parameter data of multiple target bending offsets and multiple target bending angles of the endoscope tube, it is necessary to determine multiple positions to be detected on the endoscope tube and the rotation center axis of the endoscope tube in advance, and change the movement positions of the multiple positions to be detected on the endoscope tube by driving the endoscope tube to rotate around the rotation center axis to obtain the target bending offsets and corresponding target bending angles corresponding to all the positions to be detected on the endoscope tube. At the same time, in order to ensure the continuity of the parameter data related to the target bending offset and the target bending angle, the multiple positions to be detected are equidistantly distributed on the endoscope tube. Specifically, the positions to be detected on the endoscope tube are equidistantly arranged according to a preset length according to the total length of the endoscope tube, and a rotating mechanism is provided, and the endoscope tube is installed on the rotation center axis of the rotating mechanism, so that the endoscope tube can rotate around the rotation center axis under the drive of the rotating mechanism. For example, Figure 6 As shown, the total length of the endoscope tube 100 is L, the preset length is L', the number of positions to be detected N = L / L', N is a positive integer, the distance between two adjacent positions to be detected 120 is the preset length L', and each of the positions to be detected 120 corresponds to each cross section on the endoscope tube 100, wherein 300mm≤L≤360mm, preferably 320mm, 5mm≤L'≤20mm, preferably 10mm, that is, 15≤N≤72, preferably 32, as shown in FIG. Figure 3 As shown, the rotating mechanism includes a rotating platform 12, and a rotating motor 11 is arranged under the rotating platform 12 to drive the rotating platform 12 to rotate. Preferably, the rotating motor 11 adopts a servo motor, and the driving end of the rotating motor 11 is arranged at the center position of the rotating platform 12, so that the rotation center axis of the driving end of the rotating motor 11 coincides with the center line of the rotating platform 12, and then the bottom surface of the endoscope body 110 is installed on the rotating platform 12 and the center line P of the bottom surface of the endoscope body 110 coincides with the center line of the rotating platform 12, that is, coincides with the rotation center axis of the driving end of the rotating motor 11, so that the driving rotating motor 11 drives the endoscope tube 100 to rotate around the rotation center axis, that is, the center line P of the bottom surface of the endoscope body 110, so as to obtain the target bending offset and the corresponding target bending angle of different to-be-detected positions 120 on the endoscope tube 100.

[0089] S120: Based on the multiple positions to be detected, determine arrangement positions of detection points for synchronously detecting the multiple positions to be detected.

[0090] In a possible implementation, in order to obtain the target bending offset and target bending angle corresponding to the multiple positions to be detected, it is necessary to use corresponding detection points to screen out the first detection distance and the second detection distance and the corresponding first target bending angle and the second bending angle from the multiple detection distances obtained when the multiple positions to be detected rotate around the rotation center axis. Specifically, detection points arranged side by side and the same number as the multiple positions to be detected are provided along one side of the rotation center axis, and the position of each detection point is located on the same plane as the corresponding position to be detected. In order to reduce the loss of detection data due to failure of any detection point, detection points arranged side by side may also be provided on both sides of the rotation center axis, and the number of detection points on either side is the same number as the multiple positions to be detected, and the positions of the detection points on both sides are located on the same plane as the corresponding positions to be detected. For example, Figure 3 As shown, the same number of laser sensors 30 as the multiple positions to be detected 120 are arranged side by side and fixedly on one side of the center line P of the bottom surface of the endoscope body 110 of the rotation center axis, and each laser sensor 30 is located on the same horizontal plane as the position to be detected.

[0091] S130, driving the endoscope tube to rotate around the rotation center axis for one circle at a first preset rotation angle and a first preset number of rotations, and simultaneously obtaining the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected.

[0092] In one possible implementation, in order to obtain the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected, it is necessary to pre-set a rotation angle, i.e., a first preset rotation angle, and determine the total number of times the position to be detected rotates one circle, i.e., the first preset number of rotations, based on the ratio of one rotation, i.e., 360°, to the rotation angle, so that the detection point can detect the detection distance at the position to be detected after each rotation by a preset rotation angle, thereby simultaneously obtaining the multiple detection distances corresponding to different positions to be detected and the rotation angle corresponding to each detection distance, and by screening out the first detection distance and the second detection distance from the multiple detection distances corresponding to different positions to be detected, the corresponding multiple target bending offsets and the corresponding multiple first bending angles and multiple second bending angles can be obtained.

[0093] S111. Based on the multiple positions to be detected, determine arrangement positions of detection points for sequentially detecting the multiple positions to be detected.

[0094] In a possible implementation, in order to further reduce the cost of the detection equipment, the difference between this embodiment and the multiple detection points used in step S120 is that one detection point is used. Specifically, a detection point that can move along the direction of the rotation center axis is provided on one side of the rotation center axis. The detection point is fixedly installed on a linear moving mechanism, and the linear moving mechanism can drive the detection point to move to the position to be detected and is located in the same plane as the position to be detected. In order to avoid the problem of loss of detection data due to failure of a single detection point, two detection points can also be symmetrically arranged on both sides of the rotation center axis. The two detection points can move synchronously and in the same direction along the rotation center axis. For example, Figure 7 As shown, the linear motion mechanism includes a first slide 31 and a first servo motor 36, a first screw rod 35 and a first slider 32 arranged on the first slide 31, the driving end of the first servo motor 36 is connected to the first screw rod 35, the first slider 32 is sleeved on the first screw rod 35 and threadedly connected to the first screw rod 35, and the laser sensor 30 is fixedly mounted on the first slider 32, and the first servo motor 36 drives the first screw rod 35 to drive the first slider 32 to reciprocate on the first slide 31, and the linear movement distance of the laser sensor 30 can be accurately controlled by controlling the rotation angle of the first servo motor 36, thereby improving the accuracy of obtaining the first detection distance and the first detection distance and the corresponding first bending angle and second bending angle.

[0095] S112, driving the detection point to move in sequence along the direction of the rotation center axis to the multiple positions to be detected with a preset movement length and a preset movement number.

[0096] In one possible implementation, since only a single detection point is set, in order to sequentially obtain the target bending offsets and target bending angles corresponding to all the positions to be detected on the endoscope tube, it is necessary to pre-acquire the spacing between all two adjacent positions to be detected, so as to control the detection point to be able to accurately move to the next position to be detected after detecting the current position to be detected. At the same time, based on the spacing between the two adjacent positions to be detected and the total length of the endoscope tube, the number of times the detection point is driven to move can be obtained. Therefore, by pre-setting the moving distance of the detection point along the direction of the rotation center axis, i.e., the preset moving length, and the number of times the detection point is driven to move, i.e., the preset moving number, all the positions to be detected on the endoscope tube are detected in sequence.

[0097] S113, driving the endoscope tube to move to each of the positions to be detected at the detection point at a second preset rotation angle and a second preset number of rotations, and then rotating around the rotation center axis for one circle, and sequentially obtaining the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected.

[0098] In one possible implementation, the difference between it and obtaining the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected in the above-mentioned step S130 is that the single detection point in this embodiment is to detect all the positions to be detected on the endoscope tube in sequence based on the preset number of movements and the preset movement length in step S112, which is lower in cost than arranging multiple detection points at the same time, wherein the first preset rotation angle is the same as the second preset rotation angle, and the first preset number of rotations is the same as the second preset number of rotations.

[0099] The obtaining of the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected in the disclosed embodiment of the present invention may include the following steps S1310-S1350.

[0100] S1310, obtaining a first detection distance and a second detection distance of each of the positions to be detected.

[0101] In one possible implementation, in order to obtain the target bending offset at the position to be detected, it is necessary to obtain multiple detection distances from different positions of the position to be detected to the detection point after one rotation around the rotation center axis, and screen out the maximum value, i.e., the second detection distance, and the minimum value, i.e., the first detection distance, among the multiple detection distances.

[0102] S1320: Perform difference processing on each of the second detection distances and the corresponding first detection distances to obtain a plurality of corresponding detection distance differences.

[0103] In a possible implementation, in order to obtain the maximum bending offset, it is necessary to perform difference processing on the second detection distance and the first detection distance, so as to obtain the maximum bending offset at each position to be detected, that is, the detection distance difference.

[0104] S1330: Based on the detection distance difference being greater than an offset threshold, determine that the detection distance difference is the target bending offset.

[0105] In a possible implementation, since the detection distance difference corresponding to all the positions to be detected on the endoscope tube, i.e., the maximum bending offset, is not completely the same, it is necessary to compare the detection distance difference with a preset offset threshold. When the detection distance difference, i.e., the maximum bending offset, is greater than the offset threshold, the detection distance difference is the target bending offset. For example, Figure 4 As shown, the second detection distance is L2, the first detection distance is L1, and the detection distance difference is ΔL=L2-L1. The detection distance difference ΔL is compared with the offset threshold L0. The detection distance difference of ΔL>L0 can be used as the target bending offset ΔL, that is, the position to be detected needs to be straightened. Otherwise, the position to be detected is judged as a non-straightening position, that is, no straightening is required.

[0106] S1340: Determine a plurality of corresponding first rotation numbers and second rotation numbers based on each of the first detection distances or each of the second detection distances.

[0107] In a possible implementation, the first detection distance and the second detection distance at the position to be detected can be obtained by rotating the position to be detected a certain number of times around the rotation center axis. Therefore, the first rotation number of the position to be detected corresponding to the first detection distance can be obtained, and the second rotation number of the position to be detected corresponding to the second detection distance can be obtained.

[0108] S1350: Determine the multiple target bending angles based on a preset rotation angle and multiple first rotation times or multiple second rotation times.

[0109] In one possible implementation, by multiplying the preset rotation angle with the corresponding first rotation number or second rotation number, the first bending angle and the second bending angle corresponding to the first detection distance or the second detection distance can be obtained, thereby determining that the first bending angle of all the positions to be detected on the endoscope tube is the target bending angle.

[0110] S20: Determining the bending type of the endoscope tube based on the multiple target bending offsets.

[0111] In one possible implementation, since there are various types of bends of the endoscope tube, in order to subsequently adopt different straightening strategies to correct endoscope tubes of different bends, it is necessary to predetermine the specific bend type of the endoscope tube, which can improve the straightening efficiency and straightening accuracy of the endoscope tube, and can also improve the adaptability to endoscope tubes of different bends.

[0112] The method of determining the bending type of the endoscope tube based on the multiple target bending offsets in the disclosed embodiment of the present invention may include the following steps S210 - S220 .

[0113] S210: Acquire a bending direction of the endoscope tube based on the multiple target bending angles and the multiple target bending offsets.

[0114] In one possible implementation, in order to obtain the specific bending type of the endoscope tube, the bending direction of the endoscope tube needs to be determined in advance, so it is necessary to determine the bending direction of the endoscope tube based on the changing relationship between the multiple target bending angles and the changing relationship between the multiple target bending offsets.

[0115] The method of obtaining the bending direction of the endoscope tube based on the multiple target bending angles and the multiple target bending offsets of the disclosed embodiment of the present invention may include the following steps S2110-S2150.

[0116] S2110. Determine the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, and sort the plurality of positions to be detected in ascending order along the direction of the rotation center axis toward a direction away from the endoscope body, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube.

[0117] In a possible implementation, the method of determining the rotation center axis of the endoscope tube and the multiple positions to be detected on the endoscope tube in step S2110 of this embodiment is the same as step S110 and will not be repeated here. However, in order to obtain the bending direction of the endoscope tube, it is necessary to sort the multiple positions to be detected on the endoscope tube in ascending order in advance, so as to obtain the changing trend between the difference between two target bending offsets with adjacent serial numbers and the changing trend between the difference between two target bending angles with adjacent serial numbers. Specifically, the multiple positions to be detected are sorted in ascending order on the endoscope tube from the end close to the endoscope body to the end far from the endoscope body along the direction of the rotation center axis, so as to obtain the serial numbers of the target bending offsets and target bending angles corresponding to the multiple positions to be detected. For example, as Figure 6 As shown, the multiple positions to be detected 120 that are equidistantly arranged with a preset moving length L' on the endoscope tube 100 along the direction of the rotation center axis and from left to right, that is, in the S direction, are marked with serial numbers 1, 2, 3...n in sequence, wherein the nth position is the rightmost position to be detected on the endoscope tube 100, wherein L' is 10 mm, and n is 32, so that the serial numbers of the corresponding target bending offset and the target bending angle are also in the range of 1-32.

[0118] S2120. Based on the multiple positions to be detected, determine the arrangement positions of detection points for synchronously detecting the multiple positions to be detected or the arrangement positions of detection points for sequentially detecting the multiple positions to be detected.

[0119] In one possible implementation, in order to detect the multiple positions to be detected to obtain the corresponding multiple target bending offsets, the method of synchronously detecting the arrangement positions of the detection points of the multiple positions to be detected in step S2120 of this embodiment is the same as step S120, and the method of sequentially detecting the arrangement positions of the detection points of the multiple positions to be detected in step S2120 of this embodiment is the same as step S112, which will not be repeated here.

[0120] S2130, driving the endoscope tube to rotate around the rotation center axis for one circle at a first preset rotation angle and a first preset number of rotations, and simultaneously obtaining the multiple target bending offsets corresponding to the multiple positions to be detected; or driving the detection point to move to the multiple positions to be detected in sequence along the rotation center axis at a preset movement length and a preset number of movement, and driving the endoscope tube to rotate around the rotation center axis for one circle at a second preset rotation angle and a second preset number of rotations after the detection point moves to each of the positions to be detected, and obtaining the multiple target bending offsets corresponding to the multiple positions to be detected in sequence.

[0121] In a possible implementation, in order to detect the multiple positions to be detected and obtain the corresponding multiple target bending offsets, the method of simultaneously obtaining the multiple target bending offsets corresponding to the multiple positions to be detected in step S2130 of this embodiment is the same as step S130, and the method of sequentially obtaining the multiple target bending offsets corresponding to the multiple positions to be detected in step S2130 of this embodiment is the same as step S113, which will not be repeated here. Among them, the number of the multiple target bending offsets and the multiple target bending angles is not greater than the number of the multiple positions to be detected, but the serial numbers of the multiple target bending offsets and the multiple target bending angles are consistent with the serial numbers of the corresponding positions to be detected.

[0122] S2140, performing difference processing on two target bending offsets with adjacent serial numbers to obtain a plurality of corresponding target bending offset differences, and performing difference processing on two target bending angles with adjacent serial numbers to obtain a plurality of corresponding target bending angle differences.

[0123] In a possible implementation, in order to obtain the changing trends of the multiple target bending offsets and the multiple target bending angles, difference processing can be performed on two target bending offsets with adjacent serial numbers and two target bending angles with adjacent serial numbers, respectively, to obtain corresponding multiple target bending offset differences and corresponding multiple target bending angle differences. The bending direction of the endoscope tube can be determined by the changing trends or characteristics of the multiple target bending offset differences and the multiple target bending angle differences. Specifically, a corresponding curve relationship diagram can be constructed based on the corresponding relationship between the multiple positions to be detected on the endoscope tube of different bending types and the bending offset (i.e., the first detection distance and the second detection distance) and the bending angle. The changing trends of the multiple target bending offsets and the multiple target bending angles shown in the curve relationship diagram can be intuitively obtained. For example, as Figures 8a to 9c As shown, Figures 8a to 8c The horizontal axes in the curve relationship diagram shown in the figure all represent the specific positions of all the positions to be detected on the endoscope tube along the length direction of the endoscope tube, that is, the position with a length of 0 mm represents the first position to be detected, and the position with a length of 310 mm represents the last position to be detected. The vertical axes all represent the first detection distance and the second detection distance of all the positions to be detected on the endoscope tube. Figures 9a to 9c The curve relationship diagram shown in the figure is represented as a radar chart, and the continuous black line in the figure represents the connection line of the bending angles corresponding to all the positions to be tested with a length of 0mm to 310mm, which can intuitively reflect the changing trend of the bending angle, such as Figure 8a As shown in FIG. 1 , the first detection distance corresponding to the position to be detected with a length of 40 mm is 29.9 mm and the second detection distance is 30.1 mm, that is, the bending offset of the position to be detected is 0.2 mm. Since the bending offset of the position to be detected is equal to the offset threshold (the value is 0.2 mm), the bending offset cannot be used as the target bending offset. The difference between the first detection distance and the second detection distance corresponding to all the positions to be detected with a length of 50 mm to 310 mm, that is, the bending offset, is greater than the offset threshold and the bending offsets on the entire curve relationship diagram show a roughly increasing trend in sequence, so it can be determined that the differences of multiple target bending offsets are all non-negative numbers. Similarly, Figure 8bAs shown in FIG. 1 , at the positions to be detected with a length of 0 mm to 310 mm, it can be determined that the corresponding target bending offsets are approximately increasing and decreasing in an alternating trend, so it can be determined that the differences of multiple target bending offsets are non-negative numbers in the increasing stage and non-positive numbers in the decreasing stage; similarly, Figure 8c As shown in FIG. 1 , at the positions to be detected with a length of 0 mm to 310 mm, it can be determined that the corresponding target bending offsets also show a roughly increasing and decreasing alternating trend. Therefore, it can be determined that the differences of multiple target bending offsets are non-negative numbers in the increasing stage and non-positive numbers in the decreasing stage, such as Figure 9a As shown, it can be intuitively determined that the bending angles corresponding to the first detection distances at the to-be-detected positions with a length of 0 mm to 310 mm are roughly on the same straight line and in the same angle range, i.e., 0°-45°, so the corresponding target bending angle difference is nearly 0; similarly, Figure 9b As shown in FIG. 1 , it can be intuitively determined that the bending angles corresponding to the first detection distances at the positions to be detected with a length of 0 mm to 310 mm are roughly on the same straight line and are located in two different angle ranges, namely 0°-45° and 180°-225°, so the corresponding target bending angle difference is almost 0; similarly, Fig.9c As shown, it can be intuitively determined that the bending angles corresponding to the first detection distances at the to-be-detected positions with a length of 0 mm to 310 mm are roughly on the same curve and cover any angle range of the entire circular surface, so the corresponding target bending angle difference deviation is large and shows an increasing trend.

[0124] S2150. Based on the fact that the differences of the multiple target bending angles are not all within the angle deviation threshold range, determining that the bending direction of the endoscope tube is a multi-sided bending direction; based on the fact that the differences of the multiple target bending angles are all within the angle deviation threshold range and the differences of the multiple target bending offsets are all non-negative numbers, determining that the bending direction of the endoscope tube is a unilateral bending direction; based on the fact that the differences of the multiple target bending angles are all within the angle deviation threshold range and the differences of the multiple target bending offsets include non-negative numbers and negative numbers, determining that the bending direction of the endoscope tube is a bilateral bending direction.

[0125] In a possible implementation, since the bending direction of the endoscope tube is a multi-sided bending direction, the change direction of the target bending angle is obviously irregular compared to the bending direction of the endoscope tube is a unilateral bending direction or a bilateral bending direction, the position to be detected corresponding to the target bending angle will not be on the same straight line. Therefore, the multi-sided bending direction is determined only by the fact that the differences between the multiple target bending angles are not all within the angle deviation threshold range, wherein the angle deviation threshold is ±0.5°. Since the target bending angles of the unilateral bending direction or the bilateral bending direction are all on the same straight line, it is necessary to add a change trend of the target bending offset as a judgment basis to determine the bending direction of the endoscope tube, that is, it is determined by the characteristic that the target bending offset difference in the unilateral bending direction is all non-negative numbers, and the target bending offset difference in the unilateral bending direction includes both negative and non-negative numbers.

[0126] S220: Determine a bending type of the endoscope tube based on the bending direction of the endoscope tube.

[0127] In a possible implementation, based on the fact that the bending direction of the endoscope tube is a multi-sided bending direction, the bending type of the endoscope tube is determined to be a third bending type, i.e., a spiral offset bending type; based on the fact that the bending direction of the endoscope tube is a unilateral bending direction, the bending type of the endoscope tube is determined to be a first bending type, i.e., a unilateral offset bending type; based on the fact that the bending direction of the endoscope tube is a bilateral bending direction, the bending type of the endoscope tube is determined to be a second bending type, i.e., a bilateral offset bending type.

[0128] S30: Determine a corresponding straightening strategy based on the bending type.

[0129] In one possible implementation, in order to improve the straightening efficiency of the endoscope tube, the straightening strategy can be set in advance based on different bending types. Specifically, the endoscope tubes of different bending types can be straightened through a limited number of tests, so as to form the optimal straightening strategy after continuously adjusting the relevant parameters in the straightening process according to the target straightening effect of high straightening efficiency and high straightening accuracy, and establish a one-to-one mapping relationship with different bending types, so that each bending type has a corresponding straightening strategy.

[0130] S40: Based on the multiple target bending angles, straighten the endoscope tube using the corresponding straightening strategy.

[0131] In one possible implementation, before correcting the endoscope tube, the endoscope tube needs to be rotated to a position corresponding to the multiple target bending angles, so that a corresponding straightening device can be used to straighten the position to be detected corresponding to the target bending angle at the current position after the endoscope tube is rotated to the target bending angle.

[0132] The straightening of the endoscope tube by using the corresponding straightening strategy based on the multiple target bending angles in the disclosed embodiment of the present invention may include the following steps S410-S430.

[0133] S410, determining the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, and sequentially sorting the plurality of positions to be detected in ascending order along the rotation center axis in a direction away from the endoscope body, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube.

[0134] In one possible implementation, before straightening the endoscope tube, it is necessary to determine a rotation center axis so that the endoscope tube can rotate around the rotation center axis to the corresponding target bending angle and determine a plurality of positions to be detected on the endoscope tube, and by sorting the plurality of positions to be detected in ascending order along the rotation center axis in a direction away from the endoscope body, the straightening device can straighten the plurality of positions to be detected in sequence, thereby improving the straightening efficiency and stability. Specifically, step S410 in this embodiment is the same as step S2110 and will not be repeated here.

[0135] S420: Determine a plurality of positions to be straightened among the plurality of positions to be detected based on the plurality of target bending offsets.

[0136] In a possible implementation, since the bending offsets corresponding to the multiple positions to be detected are not all target bending offsets, it is necessary to screen out multiple positions to be detected with target bending offsets and determine the multiple positions to be detected as corresponding multiple positions to be straightened.

[0137] S430, driving the endoscope tube to rotate around the rotation center axis to the positions of the multiple target bending angles, and adopting the corresponding straightening strategies to straighten the multiple positions to be straightened, wherein the corresponding straightening strategies include a first straightening strategy, a second straightening strategy and a third straightening strategy.

[0138] In one possible implementation, the endoscope tubes of the first bending type, the second bending type and the third bending type can be straightened respectively by using a straightening device, so that the relevant motion parameters of the straightening device are continuously adjusted according to the target straightening effects of high straightening efficiency and high straightening accuracy to ensure that the endoscope tubes of the corresponding bending types reach the optimal state during the straightening process, thereby forming corresponding first straightening strategies, second straightening strategies and third straightening strategies.

[0139] The adopting of the first straightening strategy to straighten the plurality of positions to be straightened in the disclosed embodiment of the present invention may include the following steps S441-S444.

[0140] S441. When the bending type is the first bending type, a movable auxiliary support clamp and a deviation correction clamp are respectively arranged on both sides of the endoscope tube.

[0141] In a possible implementation, in order to straighten the endoscope tube of the first bending type, a corresponding straightening device is required. Since the endoscope tube is long, it is necessary to support the side of the position to be straightened that deviates from the offset direction and squeeze the side facing the offset direction during the straightening process. Specifically, the straightening device includes a movable auxiliary support clamp and a deviation correction clamp arranged on both sides of the endoscope tube along the direction of the rotation center axis. For example, Fig.10 As shown, the straightening device includes a movable auxiliary support clamp 20 and a correction clamp 2 arranged on both sides of the endoscope tube 100 along the direction of the rotation center axis, that is, the length direction of the endoscope tube 100, and a rotating motor 11 for driving the endoscope tube 100 to rotate and a stepper motor (not shown in the figure) for driving the auxiliary support clamp 20 and the correction clamp 2 to move up and down along the rotation center axis.

[0142] S442: Based on the multiple positions to be straightened, obtain a non-straightening position on the endoscope tube that is adjacent to the position to be straightened with the smallest serial number.

[0143] In a possible implementation, since the bending direction of the first bending type is unilateral bending, in order to straighten the position to be straightened, it is necessary to predetermine the corresponding support position, i.e., the non-straightening position adjacent to the position to be straightened with the smallest serial number, i.e., the position to be detected whose bending offset is not greater than the offset threshold, when straightening the position to be straightened with the smallest serial number. Specifically, based on the sorted positions to be detected, the serial number of the position to be detected corresponding to the minimum value in the target bending offset can be screened out and recorded as the first position to be straightened. Therefore, the position to be detected corresponding to the previous serial number adjacent to the position to be detected corresponding to the minimum value in the target bending offset is the non-straightening position. For example, Fig.10As shown in Figure A, the position on the endoscope tube 100 that is on the same horizontal plane as the auxiliary supporting clamp 20 is a non-straightening position, and the position on the endoscope tube 100 that is on the same horizontal plane as the straightening and correcting clamp 2 is a position to be straightened.

[0144] S443, driving the auxiliary support clamp to move to the non-straightening position or the position to be straightened after straightening, so as to auxiliary support the non-straightening position or the position to be straightened after straightening.

[0145] In one possible implementation, in order to realize the function of the auxiliary support clamp to assist in supporting the non-straightening position on the endoscope tube, a telescopic cylinder can be set to drive the auxiliary support clamp to reciprocate in a direction close to or away from the endoscope tube. In order to ensure that the auxiliary support clamp can move to the non-straightening position or the position to be straightened after straightening on the endoscope tube, the movement stroke of the telescopic cylinder that drives the auxiliary support clamp to move can be preset, so that the maximum movement stroke of the telescopic cylinder is the distance from the telescopic cylinder in the retracted state to the non-straightening position or the position to be straightened after straightening, that is, when the telescopic cylinder moves to its maximum stroke, the auxiliary support clamp just fits or abuts against the non-straightening position or the position to be straightened after straightening, thereby achieving auxiliary support for the non-straightening position or the position to be straightened after straightening on the endoscope tube. For example, Fig.10 As shown in FIG. B, the auxiliary support clamp 20 is driven to move to the left until it reaches its maximum movement stroke and then stops, that is, the auxiliary support clamp 20 is in contact with the non-straightening position or the straightening position to be straightened on the endoscope tube 100.

[0146] S444, driving the deviation-correcting clamp to sequentially straighten the multiple positions to be straightened.

[0147] In a possible implementation, in order to realize the function of the correcting clamp block to straighten the position to be straightened on the endoscope tube, another telescopic cylinder can be set to drive the correcting clamp block to reciprocate in the direction of approaching or moving away from the endoscope tube, that is, the movement stroke of the other telescopic cylinder that drives the correcting clamp block to move is set so that the maximum movement stroke of the correcting clamp block is the distance from the other telescopic cylinder in the retracted state to the non-straightening position, that is, when the other telescopic cylinder moves to its maximum stroke, the correcting clamp block can squeeze the position to be straightened and move it to be coaxial with the non-straightening position, thereby completing the straightening of the position to be straightened, and after driving the auxiliary support clamp block to move to the position to be straightened after straightening in a cyclic manner, the correcting clamp block is driven to move to the next position to be straightened until all positions to be straightened are straightened. For example, Fig.10As shown in Figures B to D in the figure, the correcting clamp 2 is driven to move to the right until it reaches its maximum movement stroke and then stops, that is, the correcting clamp 2 squeezes the position to be straightened on the endoscope tube 100 and moves it to be flush with the position to be straightened after the previous straightening, and then the auxiliary support clamp 20 is driven to retract and move upward (that is, driven by a stepper motor) and move to the left again to the position to be straightened after straightening, and then the correcting clamp 2 is driven to retract and move upward and move to the right again to the next position to be straightened after straightening.

[0148] The adopting of the second straightening strategy to straighten the plurality of positions to be straightened in the disclosed embodiment of the present invention may include the following steps S451-S455.

[0149] S451. Based on the fact that the bending type is the second bending type, a movable first straightening and deflection correction clamp block and a second straightening and deflection correction clamp block are respectively arranged on both sides of the endoscope tube, and a curve graph formed by the projection of all positions to be detected on the endoscope tube in the vertical direction is obtained.

[0150] In a possible implementation, in order to straighten the endoscope tube of the second bending type, a corresponding straightening device is required. Since the bending direction of the second bending type is bilateral bending, it is necessary to switch the corresponding straightening and deflection correction module at the position to be straightened during the straightening process of the positions to be straightened on different sides. Specifically, the straightening device includes a movable first straightening and deflection correction clamp block and a second straightening and deflection correction clamp block arranged on both sides of the endoscope tube along the direction of the rotation center axis. Based on the particularity that the endoscope tube is bilaterally bent, a curve graph formed by the projection of the endoscope tube in the vertical direction can be obtained, so that the change trend of the position to be straightened can be intuitively judged. For example, Fig.11 As shown, the straightening device includes a first straightening and correcting clamp block 40 and a second straightening and correcting clamp block 4 that are movable and arranged on both sides of the endoscope tube 100 along the direction of the rotation center axis, i.e., the length direction of the endoscope tube 100, and a rotating motor 11 for driving the endoscope tube 100 to rotate, and stepper motors (not shown in the figure) for driving the first straightening and correcting clamp block 40 and the second straightening and correcting clamp block 4 to move up and down along the rotation center axis.

[0151] S452: Based on the curve graph, obtain the peak position and the trough position on the curve graph.

[0152] In a possible implementation, since the bending direction of the second bending type is bilateral bending, multiple peak positions and multiple trough positions are formed on the curve graph, and each peak position and each trough position are inflection points where the bending direction changes from one side of the endoscope tube to the other side. Therefore, the straightening methods of the previous position to be straightened and the subsequent position to be straightened corresponding to the peak position and the trough position are different. Therefore, it is necessary to obtain the peak position and the trough position on the curve graph for straightening the endoscope tube of the second bending type. In order to simplify the principle description in the subsequent straightening process, only one peak and one trough position are set on the curve graph. For example, Fig.11 As shown, P1 is the peak position and P2 is the trough position.

[0153] S453: Based on the multiple positions to be straightened, obtain a non-straightening position on the endoscope tube that is adjacent to the position to be straightened with the smallest serial number.

[0154] In a possible implementation, although the bending direction of the second bending type is bilateral bending, the bending direction between a pair of crest positions and trough positions with adjacent serial numbers is actually unilateral bending. Therefore, the first straightening strategy can be used to straighten all positions to be straightened between a pair of crest positions and trough positions. Therefore, when straightening the position to be straightened with the smallest serial number, it is necessary to predetermine the corresponding support position, that is, the non-straightening position adjacent to the position to be straightened with the smallest serial number, that is, the position to be detected whose bending offset is not greater than the offset threshold. Step S453 in this embodiment is the same as step S442 and will not be repeated here. For example, Fig.11 As shown in Figure E, the position on the endoscope tube 100 that is on the same horizontal plane as the first straightening and correcting clamp 40 is a non-straightening position, and the position on the endoscope tube 100 that is on the same horizontal plane as the second straightening and correcting clamp 4 is a position to be straightened.

[0155] S454, driving the first straightening and correcting clamp to move to the non-straightening position or the position to be straightened after straightening, so as to assist in supporting the non-straightening position or the position to be straightened after straightening.

[0156] In a possible implementation, step S454 in this embodiment is the same as step S443, which will not be described in detail herein. For example, Fig.11 As shown in FIG. E , the first straightening and deflection correcting clamp 40 is driven to move to the left until it reaches its maximum movement stroke and then stops, that is, the first straightening and deflection correcting clamp 40 is in contact with the non-straightening position or the position to be straightened after straightening on the endoscope tube 100.

[0157] S455, drive the second straightening and correcting clamp to straighten the position to be straightened, and after the second straightening and correcting clamp completes straightening the position to be straightened corresponding to the peak position or the trough position, switch the second straightening and correcting clamp to provide auxiliary support for the straightened position to be straightened and the first straightening and correcting clamp to straighten the position to be straightened, until the first straightening and correcting clamp completes straightening the position to be straightened corresponding to the next adjacent trough position or peak position, switch back to the first straightening and correcting clamp to provide auxiliary support for the position to be straightened and the second straightening and correcting clamp to straighten the position to be straightened, until the straightening of the multiple positions to be straightened is completed.

[0158] In a possible implementation, step S455 of this embodiment and step S444 of an embodiment perform the same straightening on the position to be straightened as that of step S444 of an embodiment, which will not be described in detail here. After the second straightening and deflection-correcting clamping block completes the straightening of the position to be straightened corresponding to the crest position or the trough position, all the positions to be straightened that are unilaterally bent between a pair of crest positions and trough positions of adjacent serial numbers are straightened, so that the position to be straightened that has not been straightened is offset in the extrusion direction of the second straightening and deflection-correcting clamping block, and the offset amount is the amount of the straightening of all the positions to be straightened at the crest position and the trough position. The accumulated amount of the target bending offset, therefore, in order to continue to straighten the position to be straightened that has not been straightened, it is necessary to switch the processing methods of the first straightening and correcting clamp blocks and the second straightening and correcting clamp blocks for the position to be straightened that has not been straightened. Specifically, the first straightening and correcting clamp block that currently performs an auxiliary supporting function on the position to be straightened is switched to perform a straightening function on the position to be straightened that has not been straightened, and the second straightening and correcting clamp block that currently performs a straightening function on the position to be straightened is switched to perform an auxiliary supporting function on the position to be straightened that has not been straightened, that is, the first straightening and correcting clamp block after the switching function is switched to perform an auxiliary supporting function on the position to be straightened that has not been straightened. The straightening and deflection correction clamp block and the second straightening and deflection correction clamp block continue to straighten the positions to be straightened that have not been straightened in the first straightening strategy. It should be noted that the maximum movement stroke of the telescopic cylinder used to drive the first straightening and deflection correction clamp block and the second straightening and deflection correction clamp block to move and the stepper motor that moves upward to the corresponding next position to be straightened are the same as step S444 of an embodiment, which will not be repeated here. After the straightening of the position to be straightened corresponding to the peak position or the trough position is completed, the offset accumulation amount of the position to be straightened that has not been straightened is required. After elimination, the first straightening strategy can be used to perform corresponding sequential straightening on the positions to be straightened that have not been straightened. Of course, the accumulated offset of the positions to be straightened that have not been straightened can also be eliminated, so that when the first straightening and deflection correction clamp is driven to move to the left until it reaches its maximum movement stroke, it cannot fit with the corresponding position to be straightened. It is necessary to drive the second straightening and deflection correction clamp to move to the right until it reaches its maximum movement stroke to squeeze the corresponding position to be straightened until the position to be straightened is straightened and fits with the first straightening and deflection correction clamp. For example, Fig.11As shown in Figures E and G, the first straightening and deflection correcting clamp 40 is driven to move to the left until it reaches its maximum movement stroke and then stops, that is, the first straightening and deflection correcting clamp 40 is fitted with the non-straightening position or the position to be straightened after straightening on the endoscope tube 100, and then the second straightening and deflection correcting clamp 4 is driven to move to the right until it reaches its maximum movement stroke and then stops, that is, the second straightening and deflection correcting clamp 4 squeezes the position to be straightened on the endoscope tube 100 to move to be flush with the position to be straightened after the previous straightening, until the second straightening and deflection correcting clamp 4 is driven to complete straightening of the peak position P1, and then the second straightening and deflection correcting clamp 4 is driven to move to the right until It stops after reaching its maximum movement stroke, that is, the second straightening and correcting clamp 4 is used to auxiliary support the position to be straightened on the endoscope tube 100 after straightening, and then the first straightening and correcting clamp 40 is driven to move to the left until it reaches its maximum movement stroke and stops, that is, the first straightening and correcting clamp 40 squeezes the position to be straightened on the endoscope tube 100 to move it to be flush with the position to be straightened after the previous straightening, until the first straightening and correcting clamp 40 is driven to complete the straightening of the trough position P2, and then the functions of the first straightening and correcting clamp 40 and the second straightening and correcting clamp 4 are switched again until the straightening processing of all the positions to be straightened is completed.

[0159] The straightening of the plurality of positions to be straightened based on the third straightening strategy in the disclosed embodiment of the present invention may include the following steps S461-S466.

[0160] S461. Based on the fact that the bending type is the third bending type, determine the installation positions of the third straightening and correcting clamp, the fourth straightening and correcting clamp and the auxiliary supporting clamp, wherein the third straightening and correcting clamp and the fourth straightening and correcting clamp are symmetrically arranged on both sides of the endoscope tube along the direction of the rotation center axis, and the auxiliary supporting clamp is arranged on one end of the endoscope tube away from the endoscope body along the direction of the rotation center axis.

[0161] In a possible implementation, since the third bending type is a spiral offset bending type, which is more complex than the first bending type and the second bending type, a straightening device different from the first bending type and the second bending type is required for straightening. Specifically, the straightening device includes a third straightening and deflection correction clamp, a fourth straightening and deflection correction clamp, an auxiliary limit clamp, a rotating motor and a stepping motor, wherein the third straightening and deflection correction clamp and the fourth straightening and deflection correction clamp are symmetrically arranged on both sides of the endoscope tube along the direction of the rotation center axis, and the auxiliary limit clamp is arranged on the endoscope tube away from the endoscope body along the direction of the rotation center axis. For example, Fig.12As shown, the straightening device includes a movable third straightening and deflection correction clamp 5 and a fourth straightening and deflection correction clamp 50 arranged on both sides of the endoscope tube 100 along the direction of the rotation center axis, that is, the length direction of the endoscope tube 100, a rotating motor 11 for driving the endoscope tube 100 to rotate, and a stepping motor (not shown in the figure) for driving the third straightening and deflection correction clamp 5 and the fourth straightening and deflection correction clamp 50 to move up and down along the rotation center axis, respectively. The auxiliary limit clamp 51 is arranged on the end of the endoscope tube away from the rotating motor 11 along the direction of the rotation center axis or the length direction of the endoscope tube 100, and is used to limit the rotation amplitude of the end of the endoscope tube 100 away from the rotating motor 11 when the endoscope tube 100 rotates around the rotation center axis, thereby preventing the end of the endoscope tube 100 away from the rotating motor 11 from having a transitional deflection during the straightening process and affecting the straightening effect.

[0162] S462: Based on the plurality of positions to be straightened that are sorted in ascending order, obtain the position to be straightened of the smallest sequence in the sorted sequence.

[0163] In one possible implementation, since the third bending type is a spiral offset bending type, the target bending offset corresponding to the multiple positions to be straightened has an irregular change trend. Therefore, before straightening the endoscope tube of the third bending type, it is necessary to determine the initial straightening position so that the third straightening and correction clamp block and the fourth straightening and correction clamp block form an embracing state at the initial straightening position, that is, to clamp the initial straightening position. Since there are multiple positions to be straightened, in order to improve the straightening efficiency, the third straightening and correction clamp block and the fourth straightening and correction clamp block can be synchronized and driven in the direction of the endoscope tube away from one end of the rotating motor, so that the multiple positions to be straightened can be straightened in sequence. Therefore, the position to be straightened with the smallest sequence in the sorting sequence is determined as the initial straightening position.

[0164] S463, driving the auxiliary limiting clamp to be sleeved onto one end of the endoscope tube away from the endoscope body.

[0165] In a possible implementation, in order to prevent the end of the endoscope tube away from the endoscope body from transitionally swinging during the straightening process and affecting the straightening effect, it is necessary to limit the swing range of the end of the endoscope tube away from the endoscope body, so an auxiliary limit clamp is used to cover the end of the endoscope tube away from the endoscope body, for example, Fig.12 As shown, the auxiliary limiting clamp 51 is provided with a hole groove (not shown in the figure) inside, which is used to accommodate one end of the endoscope tube away from the endoscope body and limit its rotation range around the rotation center axis.

[0166] S464, drive the third straightening and correcting clamp block and the fourth straightening and correcting clamp block to move to the position to be straightened with the smallest serial number.

[0167] In one possible implementation, after determining the initial position to be straightened, that is, the position to be straightened with the smallest serial number, it is necessary to set a corresponding telescopic cylinder to drive the third straightening and correcting clamp block and the fourth straightening and correcting clamp block to move synchronously or sequentially to the initial position to be straightened. In order to ensure that the third straightening and correcting clamp block and the fourth straightening and correcting clamp block can be moved to the initial position to be straightened on the endoscope tube, the movement strokes of the two telescopic cylinders driving the third straightening and correcting clamp block and the fourth straightening and correcting clamp block can be preset, so that the maximum movement stroke of the telescopic cylinder is the distance from the telescopic cylinder in the retracted state to the rotation center axis, that is, when the telescopic cylinder moves to its maximum stroke, the third straightening and correcting clamp block and the fourth straightening and correcting clamp block are both attached to and pressed against the initial position to be straightened on the endoscope tube. For example, Fig.12 As shown in Figure K, when the third straightening and correcting clamp 5 and the fourth straightening and correcting clamp 50 are driven by the corresponding telescopic cylinders to move to the right and left to the maximum stroke respectively, they fit and embrace the initial position to be straightened on the endoscope tube 100, thereby pressing the initial position to be straightened on the endoscope tube 100.

[0168] S465, driving the endoscope tube to rotate around the rotation center axis so that the third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block straighten the position to be straightened.

[0169] In a possible implementation, the endoscope tube is driven to rotate around the rotation center to straighten the position to be straightened that is pressed in the third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block. In order to ensure the straightening accuracy, the corresponding rotation time or number of rotations can be obtained in advance through a limited number of experiments. Therefore, the endoscope tube is driven to rotate around the rotation center axis for a corresponding preset time or number of rotations to complete the straightening of the position to be straightened. For example, Fig.12 As shown in FIG. K, the endoscope tube is driven by a rotary motor 11 to rotate around the rotation center axis in the clockwise direction of the pointer M for 30 seconds or 10 circles to complete the straightening of the position to be straightened.

[0170] S466, drive the third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block to move synchronously to the position to be straightened with the next adjacent serial number, until all the positions to be straightened on the endoscope tube are corrected.

[0171] In a possible implementation, in order to improve the straightening efficiency of all positions to be straightened on the endoscope tube, the third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block can be synchronously moved to the next adjacent position to be straightened on the endoscope tube, that is, the third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block are still kept in contact with and pressed against the next adjacent position to be straightened on the endoscope tube until the straightening of all positions to be straightened is completed. For example, Fig.12 As shown in Figure L, the third straightening and deflection correction clamp 5 and the fourth straightening and deflection correction clamp 50 are synchronously driven to move upward in an embraced state, that is, to move to the next adjacent position to be straightened along the length direction of the endoscope tube 100 toward one end close to the auxiliary limit clamp 51, and at the same time, the rotary motor 11 is kept to continuously drive the endoscope tube 100 to rotate along the clockwise direction M around the rotation center axis, ensuring that the third straightening and deflection correction clamp 5 and the fourth straightening and deflection correction clamp 50 are synchronously moved upward to all positions to be straightened in an embraced state, and all positions to be straightened can be straightened synchronously. In order to achieve a high-quality straightening effect, the third straightening and deflection correction clamp 5 and the fourth straightening and deflection correction clamp 50 can be made to stay in the corresponding position to be straightened in an embraced state for 30 seconds. It should be noted that when it is necessary to straighten the position to be straightened limited in the auxiliary limit clamp 51, the auxiliary limit clamp 51 can be removed in advance to expose the position to be straightened located therein.

[0172] It should be clear that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. The present invention is not limited to the specific steps and structures described above and shown in the figures. In addition, for the sake of brevity, a detailed description of known methods and technologies is omitted here.

[0173] The above is only an embodiment of the present application and is not limited to the present application. For those skilled in the art, the present application may have various changes and variations without departing from the scope of the present invention. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for correcting an endoscope tube, characterized in that: include Acquire a plurality of target bending offsets and a plurality of target bending angles of the endoscope tube, wherein the plurality of target bending offsets and the plurality of target bending angles have a one-to-one mapping relationship; Determining a bending type of the endoscope tube based on the multiple target bending offsets and the multiple target bending angles; Based on the bending type, determining a corresponding straightening strategy; Based on the multiple target bending angles, the corresponding straightening strategy is adopted to straighten the endoscope tube.

2. The method for correcting an endoscope tube according to claim 1, characterized in that: The step of obtaining a plurality of target bending offsets and a plurality of target bending angles of the endoscope tube includes: Determine the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube; Based on the multiple positions to be detected, determining arrangement positions of detection points for synchronously detecting the multiple positions to be detected; The endoscope tube is driven to rotate around the rotation center axis for one circle at a first preset rotation angle and a first preset number of rotations, and the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected are simultaneously obtained.

3. The method for correcting an endoscope tube according to claim 1, characterized in that: The step of obtaining a plurality of target bending offsets and a plurality of target bending angles of the endoscope tube includes: Determine the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube; Based on the multiple positions to be detected, determining arrangement positions of detection points for sequentially detecting the multiple positions to be detected; Driving the detection point to move to the plurality of positions to be detected in sequence along the direction of the rotation center axis with a preset movement length and a preset movement number; The endoscope tube is driven to move from the detection point to each of the positions to be detected at a second preset rotation angle and a second preset number of rotations, and then rotates around the rotation center axis for one circle, and the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected are obtained in turn.

4. The method for correcting an endoscope tube according to claim 2 or 3, characterized in that: The obtaining of the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of positions to be detected includes: Acquire a first detection distance and a second detection distance of each of the positions to be detected; Determining a plurality of corresponding first rotation times and second rotation times based on each of the first detection distances or each of the second detection distances; Determining the plurality of target bending angles based on a preset rotation angle and a plurality of the first rotation times or a plurality of the second rotation times; Performing difference processing on each of the second detection distances and the corresponding first detection distances to obtain a plurality of corresponding detection distance differences; Based on the detection distance difference being greater than an offset threshold, the detection distance difference is determined to be the target bending offset.

5. The method for correcting an endoscope tube according to claim 1, characterized in that: The determining of the bending type of the endoscope tube based on the multiple target bending angles and the multiple target bending offsets includes: Acquiring a bending direction of the endoscope tube based on the multiple target bending angles and the multiple target bending offsets; Based on the bending direction of the endoscope tube, a bending type of the endoscope tube is determined.

6. The method for correcting an endoscope tube according to claim 5, characterized in that: The step of obtaining the bending direction of the endoscope tube based on the multiple target bending angles and the multiple target bending offsets includes: Determine the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, and sequentially sort the plurality of positions to be detected in ascending order along the rotation center axis in a direction away from the endoscope body, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube; Based on the multiple positions to be detected, determining the arrangement positions of the detection points for synchronously detecting the multiple positions to be detected or the arrangement positions of the detection points for sequentially detecting the multiple positions to be detected; The endoscope tube is driven to rotate around the rotation center axis for one circle at a first preset rotation angle and a first preset rotation number, and the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected are obtained at the same time; or the detection point is driven to move to the multiple positions to be detected in sequence along the rotation center axis at a preset movement length and a preset movement number, and the endoscope tube is driven to rotate around the rotation center axis for one circle at a second preset rotation angle and a second preset rotation number after the detection point moves to each of the positions to be detected, and the multiple target bending offsets and the multiple target bending angles corresponding to the multiple positions to be detected are obtained in sequence; Performing difference processing on two target bending offsets with adjacent serial numbers to obtain a plurality of corresponding target bending offset differences, and performing difference processing on two target bending angles with adjacent serial numbers to obtain a plurality of corresponding target bending angle differences; Based on the fact that the differences of the multiple target bending angles are not all within the angle deviation threshold range, it is determined that the bending direction of the endoscope tube is a multi-sided bending direction; based on the fact that the differences of the multiple target bending angles are all within the angle deviation threshold range and the differences of the multiple target bending offsets are all non-negative numbers, it is determined that the bending direction of the endoscope tube is a unilateral bending direction; based on the fact that the differences of the multiple target bending angles are all within the angle deviation threshold range and the differences of the multiple target bending offsets include non-negative numbers and negative numbers, it is determined that the bending direction of the endoscope tube is a bilateral bending direction.

7. The method for correcting an endoscope tube according to claim 1, characterized in that: The straightening of the endoscope tube by using the corresponding straightening strategy based on the multiple target bending angles includes: Determine the rotation center axis of the endoscope tube and a plurality of positions to be detected on the endoscope tube, and sequentially sort the plurality of positions to be detected in ascending order along the rotation center axis in a direction away from the endoscope body, wherein the plurality of positions to be detected are equidistantly distributed on the endoscope tube; Based on the multiple target bending offsets, determining multiple positions to be straightened among the multiple positions to be detected; Driving the endoscope tube to rotate around the rotation center axis to the positions of the multiple target bending angles, and straightening the multiple positions to be straightened using the corresponding straightening strategies; Wherein, the corresponding straightening strategies include a first straightening strategy, a second straightening strategy and a third straightening strategy.

8. The method for correcting an endoscope tube according to claim 7, characterized in that: The first straightening strategy is used to straighten the plurality of positions to be straightened, including: When the bending type is the first bending type, a movable auxiliary support clamp and a deviation correction clamp are respectively arranged on both sides of the endoscope tube; Based on the multiple positions to be straightened, obtaining a non-straightening position on the endoscope tube that is adjacent to the position to be straightened with the smallest serial number; Driving the auxiliary support clamp to move to the non-straightening position or the to-straightening position after straightening, so as to auxiliary support the non-straightening position or the to-straightening position after straightening; The deflection-correcting clamp is driven to sequentially straighten the plurality of positions to be straightened.

9. The method for correcting an endoscope tube according to claim 7, characterized in that: The second straightening strategy is used to straighten the plurality of positions to be straightened, comprising: When the bending type is the second bending type, a movable first straightening and deflection correction clamp block and a movable second straightening and deflection correction clamp block are respectively arranged on both sides of the endoscope tube, and a curve graph formed by the projection of all positions to be detected on the endoscope tube in the vertical direction is obtained; Based on the curve graph, obtaining the peak position and the trough position on the curve graph; Based on the multiple positions to be straightened, obtaining a non-straightening position on the endoscope tube that is adjacent to the position to be straightened with the smallest serial number; Driving the first straightening and correcting clamp to move to the non-straightening position or the position to be straightened after straightening, so as to assist in supporting the non-straightening position or the position to be straightened after straightening; Drive the second straightening and correcting clamp to straighten the position to be straightened, and after the second straightening and correcting clamp completes straightening the position to be straightened corresponding to the peak position or the trough position, switch the second straightening and correcting clamp to provide auxiliary support for the straightened position to be straightened and the first straightening and correcting clamp to straighten the position to be straightened, until the first straightening and correcting clamp completes straightening the position to be straightened corresponding to the next adjacent trough position or peak position, switch back to the first straightening and correcting clamp to provide auxiliary support for the position to be straightened and the second straightening and correcting clamp to straighten the position to be straightened, until the straightening of the multiple positions to be straightened is completed.

10. The method for correcting an endoscope tube according to claim 7, characterized in that: The adopting of the third straightening strategy to straighten the plurality of positions to be straightened comprises: Based on the fact that the bending type is the third bending type, the installation positions of the third straightening and deflection correction clamp block, the fourth straightening and deflection correction clamp block and the auxiliary support clamp block are determined, wherein the third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block are symmetrically arranged on both sides of the endoscope tube along the direction of the rotation center axis, and the auxiliary support clamp block is arranged on the end of the endoscope tube away from the endoscope body along the direction of the rotation center axis; Based on the plurality of positions to be straightened sorted in ascending order, obtaining the position to be straightened of the smallest sequence in the sorted sequence; Driving the auxiliary support clamp to be sleeved on one end of the endoscope tube away from the endoscope body; Driving the third straightening and deflection-correcting clamp block and the fourth straightening and deflection-correcting clamp block to move to the to-be-straightened position with the smallest serial number; Driving the endoscope tube to rotate around the rotation center axis so that the third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block straighten the position to be straightened; The third straightening and deflection correction clamp block and the fourth straightening and deflection correction clamp block are driven to move synchronously to the position to be straightened of the next adjacent serial number until all the positions to be straightened on the endoscope tube are corrected.

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