A method of straightening an endoscope shaft

Abstract

The present application relates to a kind of rectification methods of endoscope tube, including obtaining the multiple target bending offset of endoscope tube and multiple target bending angle, wherein multiple target bending offset and multiple target bending angle have one-to-one mapping relationship;Determine the bending type of endoscope tube based on multiple target bending offset and multiple target bending angle;And based on bending type, determine the corresponding straightening strategy;And based on bending angle, endoscope tube is straightened using corresponding straightening strategy.The present application not only can improve straightening efficiency and straightening precision, but also can further improve the adaptability of the rectification method.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of endoscope tube processing, in particular to a method for correcting an endoscope tube. BACKGROUND

[0002] Optical endoscopes (such as laparoscopes, thoracoscopes, ear-nose-throat endoscopes, etc.) have a wide range of clinical applications and cover many hospital departments (such as general surgery departments, ear-nose-throat departments, etc.), and have achieved rapid development in recent years. This is closely related to the maturation of the upstream technology of optical endoscopes, especially the assembly quality of optical components inside the optical endoscope, which has been greatly improved. However, with the continuous growth of the demand for clinical application of optical endoscopes, the assembly quality and precision requirements of optical endoscopes will be increasingly high.

[0003] As shown in Figure 1 The tube is an important component of the optical endoscope, and has a great influence on the assembly quality of the optical components inside the optical endoscope and the installation precision. Especially after the tube and the scope of the optical endoscope are welded, the distance between each axis point on the central axis of the tube and the center line of the bottom surface of the scope (the offset between the axis point and the center line) or the size of the tube curvature 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 tube and the center line of the bottom surface of the scope is 0, i.e. each axis point on the central axis of the tube coincides with the center line O of the bottom surface of the scope, otherwise, at least part of the axis points on the central axis of the tube are not on the center line O of the bottom surface of the scope. Since the tube wall thickness of the tube itself is very thin (less than 0.2 mm) and the tube diameter length is relatively small (such as 4-10 mm, the tube diameter length of the thicker laparoscope and thoracoscope is about 10 mm, and the tube diameter length of the thinner ear-nose-throat endoscope is about 4 mm), but the length of the tube body of the tube is relatively long (such as 320 mm), so that the long-span structure part with a small cross-sectional area to length ratio is prone to bending or large deformation in the production process. If it is not found in time, it will lead to problems such as uneven fiber arrangement space, optical column offset or even normal assembly in the subsequent assembly process of the optical endoscope.

[0004] Currently, the offset between the axis of the optical endoscope tube and the center of the bottom surface of the scope is mainly detected by manual operation, i.e. by manual visual observation or with the help of simple distance detection tools for measurement. This not only has low efficiency, but also easily introduces human error, reducing the accuracy of detection. Moreover, for the optical endoscope tube whose axis and the center of the bottom surface of the scope do not meet the requirements, there is a lack of corresponding straightening tool, and manual straightening is usually relied on according to experience, greatly reducing the straightening efficiency and accuracy. SUMMARY

[0005] (1) Technical problems to be solved

[0006] The present application provides a method for correcting an endoscope tube, which aims to obtain a plurality of target bending offset amounts and a plurality of target bending angles of the endoscope tube having a one-to-one mapping relationship, determine the bending type of the endoscope tube based on the plurality of target bending offset amounts and the plurality of target bending angles, determine the corresponding straightening strategy according to the bending type, and straighten the endoscope tube according to the target bending angle by using the corresponding straightening strategy. This method not only improves the straightening efficiency and accuracy, but also further improves the adaptability of the correction method.

[0007] (2) Technical solutions

[0008] Embodiments of the present application provide a method for correcting an endoscope tube, comprising the following steps:

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

[0010] Determining the bending type of the endoscope tube based on the plurality of target bending offset amounts and the plurality of target bending angles;

[0011] Determining the corresponding straightening strategy based on the bending type;

[0012] Straightening the endoscope tube by using the corresponding straightening strategy based on the plurality of target bending angles.

[0013] In a possible implementation, the obtaining of the plurality of target bending offset amounts and the plurality of target bending angles of the endoscope tube comprises

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

[0015] Determining the arrangement positions of the detection points for synchronously detecting the plurality of to-be-detected positions based on the plurality of to-be-detected positions;

[0016] Driving the endoscope tube to rotate one revolution around the rotation center axis at a first preset rotation angle and a first preset rotation number, while obtaining the plurality of target bending offset amounts and the plurality of target bending angles corresponding to the plurality of to-be-detected positions.

[0017] In a possible implementation, the obtaining of the plurality of target bending offset amounts and the plurality of target bending angles of the endoscope tube comprises

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

[0019] based on the plurality of to-be-detected positions, determining arrangement positions of detection points for sequentially detecting the plurality of to-be-detected positions;

[0020] driving the detection points to move to the plurality of to-be-detected positions along the rotation center axis direction in a preset movement length and a preset movement number;

[0021] driving the endoscope tube to rotate around the rotation center axis by a second preset rotation angle and a second first preset rotation number after the detection points move to each of the to-be-detected positions, to sequentially obtain a plurality of target bending offsets and a plurality of target bending angles corresponding to the plurality of to-be-detected positions.

[0022] In a possible implementation, the obtaining of the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions includes

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

[0024] based on each of the first detection distance or each of the second detection distance, determining a plurality of corresponding first rotation numbers and second rotation numbers;

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

[0026] performing difference processing on each of the second detection distance and the corresponding first detection distance to obtain a plurality of detection distance difference values corresponding thereto;

[0027] based on the detection distance difference value being greater than an offset threshold, determining the detection distance difference value as the target bending offset.

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

[0029] based on the plurality of target bending angles and the plurality of target bending offsets, obtaining a bending direction of the endoscope tube;

[0030] based on the bending direction of the endoscope tube, determining the bending type of the endoscope tube.

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

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

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

[0034] driving the endoscope tube to rotate around the rotation center axis by a first preset rotation angle and a first preset rotation number of times, while obtaining the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions; or driving a detection point to move to the plurality of to-be-detected positions along the direction of the rotation center axis by a preset movement length and a preset movement number of times, and driving the endoscope tube to rotate around the rotation center axis by a second preset rotation angle and a second preset rotation number of times after the detection point moves to each of the to-be-detected positions, to sequentially obtain the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions;

[0035] respectively performing difference processing on two target bending offsets adjacent in sequence number to obtain a plurality of target bending offset differences corresponding thereto, and respectively performing difference processing on two target bending angles adjacent in sequence number to obtain a plurality of target bending angle differences corresponding thereto;

[0036] based on the plurality of target bending angle differences not being within an angle deviation threshold range, determining that the bending direction of the endoscope tube is a multi-lateral bending direction; based on the plurality of target bending angle differences being within the angle deviation threshold range and the plurality of target bending offset differences being non-negative numbers, determining that the bending direction of the endoscope tube is a single-lateral bending direction; and based on the plurality of target bending angle differences being within the angle deviation threshold range and the plurality of target bending offset differences including non-negative numbers and negative numbers, determining that the bending direction of the endoscope tube is a double-lateral bending direction.

[0037] In a possible implementation, the straightening the endoscope tube based on the plurality of target bending angles by using the corresponding straightening strategy comprises:

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

[0039] determining a plurality of to-be-straightened positions in the plurality of to-be-detected positions based on the plurality of target bending offsets;

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

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

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

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

[0044] Based on the plurality of to-be-straightened positions, a non-straightened position adjacent to a to-be-straightened position with a smallest serial number on the endoscope tube is obtained.

[0045] The auxiliary support clamps are driven to move to the non-straightened position or the to-be-straightened position after being straightened, for assisting in supporting the non-straightened position or the to-be-straightened position after being straightened.

[0046] The deviation correction clamps are sequentially driven to straighten the plurality of to-be-straightened positions.

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

[0048] When the bending type is a second bending type, movable first straightening deviation correction clamps and second straightening deviation correction clamps are arranged on both sides of the endoscope tube, respectively, and a curve graph formed by projections of all to-be-detected positions on the endoscope tube in a vertical direction is obtained.

[0049] Based on the curve graph, a wave crest position and a wave trough position on the curve graph are obtained.

[0050] Based on the plurality of to-be-straightened positions, a non-straightened position adjacent to a to-be-straightened position with a smallest serial number on the endoscope tube is obtained.

[0051] drive the first straightening and deviation correction clamp block to move to the non-straightening position or the straightened to-be-straightened position for auxiliary support of the non-straightening position or the straightened to-be-straightened position;

[0052] drive the second straightening and deviation correction clamp block to straighten the to-be-straightened position, and after the second straightening and deviation correction clamp block completes straightening on the to-be-straightened position corresponding to the wave peak position or the wave valley position, switch the second straightening and deviation correction clamp block to auxiliary support of the straightened to-be-straightened position and the first straightening and deviation correction clamp block to straighten the to-be-straightened position, until the first straightening and deviation correction clamp block completes straightening on the to-be-straightened position corresponding to the next adjacent wave valley position or wave peak position, and then switch back the first straightening and deviation correction clamp block to auxiliary support of the straightened to-be-straightened position and the second straightening and deviation correction clamp block to straighten the to-be-straightened position, until straightening on all to-be-straightened positions on the endoscope tube is completed.

[0053] In a possible implementation, the third straightening strategy is adopted to straighten the plurality of to-be-straightened positions, including

[0054] based on the third bending type, determining installation positions of a third straightening and deviation correction clamp block, a fourth straightening and deviation correction clamp block, and an auxiliary support clamp block, wherein the third straightening and deviation correction clamp block and the fourth straightening and deviation 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 endoscope tube away from the lens body of the endoscope along the direction of the rotation center axis;

[0055] based on the plurality of to-be-straightened positions in ascending order, obtaining the to-be-straightened position with the minimum sequence in the sorting sequence;

[0056] driving the auxiliary support clamp block to be sleeved on the endoscope tube away from the lens body of the endoscope;

[0057] driving the third straightening and deviation correction clamp block and the fourth straightening and deviation correction clamp block to move to the to-be-straightened position with the minimum sequence number;

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

[0059] driving the third straightening and deviation correction clamp block and the fourth straightening and deviation correction clamp block to synchronously move to the to-be-straightened position with the next adjacent sequence number, until straightening on all to-be-straightened positions on the endoscope tube is completed.

[0060] (3) Advantageous effects

[0061] In conclusion, the present application can improve the straightening efficiency and precision, and further improve the adaptability of the correction method by acquiring a plurality of target bending offset amounts and a plurality of target bending angles of the endoscope tube with one-to-one mapping relationship, determining the bending type of the endoscope tube based on the plurality of target bending offset amounts and the plurality of target bending angles, determining the corresponding straightening strategy according to the bending type, and straightening the endoscope tube according to the target bending angle and the corresponding straightening strategy. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

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

[0064] Figure 2 is a flowchart of a correction method of an endoscope tube of the present application.

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

[0066] Figure 4 is a detection process schematic diagram of acquiring a target bending offset amount of the present application.

[0067] Figure 5 is a projection schematic diagram of acquiring a target bending angle on a horizontal plane of the present application.

[0068] Figure 6 is a structural schematic diagram of an endoscope tube with a plurality of to-be-detected positions of the present application.

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

[0070] Figure 8a is a change trend diagram between the to-be-detected positions and the target detection distances when the endoscope tube is of a first bending type of the present application.

[0071] Figure 8b is a change trend diagram between the to-be-detected positions and the target detection distances when the endoscope tube is of a second bending type of the present application.

[0072] Figure 8c is a change trend diagram between the to-be-detected positions and the target detection distances when the endoscope tube is of a third bending type of the present application.

[0073] Figure 9a is a change trend chart between a to-be-detected position and a target bending angle when an endoscope tube of the present application is of a first bending type.

[0074] Figure 9b is a change trend chart between a to-be-detected position and a target bending angle when an endoscope tube of the present application is of a second bending type.

[0075] Figure 9c is a change trend chart between a to-be-detected position and a target bending angle when an endoscope tube of the present application is of a third bending type.

[0076] Figure 10 is a process schematic diagram of straightening an endoscope tube by adopting a first straightening strategy of the present application.

[0077] Figure 11 is a process schematic diagram of straightening an endoscope tube by adopting a second straightening strategy of the present application.

[0078] Figure 12 is a process schematic diagram of straightening an endoscope tube by adopting a third straightening strategy of the present application. DETAILED DESCRIPTION

[0079] The embodiments of the present application will be described in further detail below with reference to the drawings and examples. The detailed description and drawings of the following examples are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, i.e., the present application is not limited to the described examples, and covers any modification, replacement and improvement of parts, components and connection modes without departing from the spirit of the present application.

[0080] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0081] Figure 2 shows a flowchart of a straightening method of an endoscope tube of the present application, as Figure 2 shown, the straightening method of the disclosed embodiments of the present application can include the following steps S10-S40.

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

[0083] In a possible implementation, before straightening the endoscope tube, the bending parameters of the endoscope tube need to be obtained, which are used to determine whether the endoscope tube needs straightening treatment. The bending parameters include a target bending angle of the endoscope tube and target bending offset. The target bending offset is all bending offsets of the endoscope tube that are greater than an offset threshold. The bending offset refers to a maximum detection distance between a detection distance between all points on a motion track formed by any cross section of the endoscope tube on a horizontal plane or a vertical plane and a corresponding detection point, for example, as shown in FIGS. 10 and 11. The center point A0 of any cross section of the endoscope tube 100 on the horizontal direction (i.e., the endoscope tube 100 is arranged in a vertical state) is rotated one circle around the center line P on the bottom surface of the endoscope body 110 in the clockwise direction N, so that any cross section of the endoscope tube 100 forms a motion track containing S1, S2 and S3 positions on the horizontal plane, wherein S1 is the initial position of the cross section center point A0, S2 is the first detection position, i.e., the minimum detection distance position, of the cross section center point when moving from A0 to A1, and S3 is the second detection position, i.e., the maximum detection distance position, of the cross section center point when moving from A0 to A2. The first detection distance L1 of the endoscope tube 100 at the S2 position and the second detection distance L2 of the endoscope tube 100 at the S3 position can be obtained by the detection point 30 arranged horizontally. The bending offset is obtained by subtracting the second detection distance from the first detection distance, i.e., ΔL = L2-L1, wherein the first detection distance L1 represents the minimum detection distance from the laser sensor 30 to the outer surface of the endoscope tube 100 when any cross section of the endoscope tube 100 is at the S2 position, and the second detection distance L2 represents the maximum detection distance from the laser sensor 30 to the outer surface of the endoscope tube 100 when any cross section of the endoscope tube 100 is at the S3 position. The bending offset ΔL is compared with the offset threshold L0, and all bending offsets greater than the offset threshold are target bending offsets, wherein 0.1mm≤L0≤0.2mm, and preferably 0.2mm. Figure 3 and Figure 4 As shown in FIGS. 10 and 11, the center point A0 of any cross section of the endoscope tube 100 on the horizontal direction (i.e., the endoscope tube 100 is arranged in a vertical state) is rotated one circle around the center line P on the bottom surface of the endoscope body 110 in the clockwise direction N, so that any cross section of the endoscope tube 100 forms a motion track containing S1, S2 and S3 positions on the horizontal plane, wherein S1 is the initial position of the cross section center point A0, S2 is the first detection position, i.e., the minimum detection distance position, of the cross section center point when moving from A0 to A1, and S3 is the second detection position, i.e., the maximum detection distance position, of the cross section center point when moving from A0 to A2. The first detection distance L1 of the endoscope tube 100 at the S2 position and the second detection distance L2 of the endoscope tube 100 at the S3 position can be obtained by the detection point 30 arranged horizontally. The bending offset is obtained by subtracting the second detection distance from the first detection distance, i.e., ΔL = L2-L1, wherein the first detection distance L1 represents the minimum detection distance from the laser sensor 30 to the outer surface of the endoscope tube 100 when any cross section of the endoscope tube 100 is at the S2 position, and the second detection distance L2 represents the maximum detection distance from the laser sensor 30 to the outer surface of the endoscope tube 100 when any cross section of the endoscope tube 100 is at the S3 position. The bending offset ΔL is compared with the offset threshold L0, and all bending offsets greater than the offset threshold are target bending offsets, wherein 0.1mm≤L0≤0.2mm, and preferably 0.2mm.

[0084] The target bending angle is a bending angle in one-to-one correspondence with the target bending offset of any cross section on the endoscope tube, and the bending angle is a rotation angle of any cross section on the endoscope tube corresponding to a detection distance between all points on a motion track formed by any cross section on the endoscope tube rotating one circle around a central axis of a scope bottom surface of the endoscope on a horizontal plane or a vertical plane, the bending angle being a first bending angle when the detection distance is a first detection distance, and the bending angle being a second bending angle when the detection distance is a second detection distance, both the first bending angle and the second bending angle being target bending angles, specifically, the first bending angle is preferably selected as the target bending angle, and an example is shown in Figures 3 to 5 The center point A0 of any cross section on the endoscope tube 100 in the horizontal direction rotates one circle around the projection C point of the center line P of the endoscope scope bottom surface 110 on the horizontal plane in the clockwise direction N, so that the center point A0 of the cross section has a plurality of angular position projections on the horizontal plane, as shown in Figure 5 When the center point A0 rotates to the center point A1 position, the detection point obtains the first detection distance, and the angular position of the center point A1 is the first bending angle, and when the center point A0 continues to rotate to the center point A2 position, the detection point obtains the second detection distance, and the angular position of the center point A2 is the second bending angle, specifically, rotating a preset rotation angle a for a preset number of times k until rotating 360°, that is, k = 360° / a, and k is a positive integer, and after rotating the endoscope tube 100 by a preset rotation angle a each time, the distance from the outer surface of the endoscope tube 100 to the laser sensor 30 is detected by the horizontally arranged detection point, that is, the laser sensor 30, to obtain the corresponding detection distance at the current rotation angle, the current rotation angle being n*α, where n is the current rotation number, and after the endoscope tube 100 rotates one circle, that is, 360°, the corresponding detection distances at k current rotation angles are obtained, and the first detection distance and the second detection distance are screened out from the k detection distances, so as to obtain the first bending angle and the second bending angle corresponding to the first detection distance and the second detection distance respectively, wherein 0≤a≤45°, and a is preferably 10°, 8≤k≤360, and k is preferably 36, and it should be noted that the smaller the preset angle a, the higher the accuracy of the first detection distance and the second detection distance, and thus the higher the accuracy of the target bending offset.

[0085] In a possible implementation, since the endoscope tube is in a cylindrical structure, the first bending angle corresponding to the first detection distance and the second bending angle corresponding to the second detection distance are angularly symmetrically distributed in the projection of the horizontal plane. Specifically, if the target bending angle corresponding to the first detection distance is α, 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, the target bending angle corresponding to the first detection distance is 180°+α. For example, as shown in Figure 5 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] The steps S110-S130 or steps S110-S113 can be included in the acquisition of the plurality of target bending offsets and the plurality of target bending angles of the endoscope tube.

[0087] In step S110, the rotation center axis of the endoscope tube and a plurality of to-be-detected positions on the endoscope tube are determined, and the plurality of to-be-detected positions are equidistantly distributed on the endoscope tube.

[0088] In a possible implementation, in order to obtain the parameter data of the plurality of target bending offsets and the plurality of target bending angles of the endoscope tube, the plurality of to-be-detected positions on the endoscope tube and the rotation center axis of the endoscope tube are determined in advance. The rotation center axis is driven to rotate around the rotation center axis to change the motion positions of the plurality of to-be-detected positions on the endoscope tube, so as to obtain the target bending offsets and the corresponding target bending angles of all the to-be-detected positions on the endoscope tube. In order to ensure the continuity of the target bending offset and target bending angle related parameter data, the plurality of to-be-detected positions are equidistantly distributed on the endoscope tube. Specifically, the to-be-detected positions on the endoscope tube are equidistantly arranged according to the total length of the endoscope tube and a rotation mechanism is arranged. The endoscope tube is installed on the rotation center axis of the rotation mechanism, so that the endoscope tube can rotate around the rotation center axis under the driving of the rotation mechanism. For example, as shown in Figure 6 the total length of the endoscope tube 100 is L, the preset length is L', the number of to-be-detected positions N=L / L', N is a positive integer, the distance between adjacent two to-be-detected positions 120 is the preset length L', and each to-be-detected position 120 corresponds to each cross section on the endoscope tube 100. 300mm≤L≤360mm, preferably 320mm, 5mm≤L'≤20mm, preferably 10mm, that is, 15≤N≤72, preferably 32.Figure 3 As shown, the rotating mechanism comprises setting a rotating platform 12, and setting a rotating motor 11 below the rotating platform 12 to drive the rotating platform 12 to rotate, preferably, the rotating motor 11 is a servo motor, 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, then the bottom surface of the endoscope tube 110 is installed on the rotating platform 12 and the center line P of the bottom surface of the endoscope tube 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 tube 110, 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 plurality of to-be-detected positions, determining the arrangement position of the detection point for synchronously detecting the plurality of to-be-detected positions.

[0090] In a possible implementation, in order to obtain the target bending offset and the target bending angle corresponding to the plurality of to-be-detected positions, a first detection distance and a second detection distance and the first bending angle and the second bending angle corresponding thereto are screened out from a plurality of detection distances obtained by rotating the plurality of to-be-detected positions around the rotation center axis one round by using corresponding detection points, specifically, a plurality of detection points are arranged side by side on one side of the rotation center axis and the number of the detection points is the same as the number of the plurality of to-be-detected positions, and the position of each detection point is on the same plane as the corresponding to-be-detected position, in order to reduce the loss of detection data caused by the failure of any detection point, the detection points can also be arranged side by side on both sides of the rotation center axis, and the number of the detection points on any side is the same as the number of the plurality of to-be-detected positions, and the positions of the detection points on both sides are on the same plane as the corresponding to-be-detected positions, for example, as shown in the figure, a plurality of laser sensors 30 are arranged side by side and fixed on one side of the rotation center axis, that is, the center line P of the bottom surface of the endoscope tube 110, and the number of the laser sensors 30 is the same as the number of the plurality of to-be-detected positions 120, and each laser sensor 30 is on the same horizontal plane as the to-be-detected position to be detected. Figure 3

[0091] S130, driving the endoscope tube to rotate around the rotation center axis one round at a first preset rotation angle and a first preset rotation number, while obtaining the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions.

[0092] ​In a possible implementation, in order to obtain the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions, a rotation angle, that is, a first preset rotation angle, is set in advance, and the total number of times, that is, a first preset rotation number, of rotating one round, that is, 360°, with respect to the rotation angle is determined, so as to facilitate detection of the detection distance of the to-be-detected position after each rotation by a preset rotation angle, thereby simultaneously obtaining a plurality of detection distances corresponding to different to-be-detected positions and a rotation angle corresponding to each detection distance, and obtaining the plurality of target bending offsets and the plurality of first bending angles and the plurality of second bending angles corresponding thereto by screening a first detection distance and a second detection distance from the plurality of detection distances corresponding to different to-be-detected positions.

[0093] S111, determining, based on the plurality of to-be-detected positions, arrangement positions of detection points for sequentially detecting the plurality of to-be-detected positions.

[0094] In a possible implementation, in order to further reduce the cost of the detection device, the embodiment differs from the plurality of detection points used in step S120 in that one detection point is used. Specifically, one detection point capable of moving along the rotation center axis is arranged on one side of the rotation center axis, and the detection point is fixedly installed on a linear movement mechanism. The linear movement mechanism can drive the detection point to move to the to-be-detected position and the to-be-detected position is located on the same plane. In order to avoid the defect that the detection data is lost due to the failure of a single detection point, two detection points can also be arranged symmetrically 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, as shown in the drawing, the linear movement mechanism includes a first sliding table 31, a first servo motor 36, a first lead screw 35, and a first sliding block 32 arranged on the first sliding table 31. The driving end of the first servo motor 36 is connected with the first lead screw 35. The first sliding block 32 is sleeved on the first lead screw 35 and is threadedly connected with the first lead screw 35. The laser sensor 30 is fixedly installed on the first sliding block 32. The first servo motor 36 drives the first lead screw 35 to drive the first sliding block 32 to reciprocate on the first sliding table 31. The rotation angle of the first servo motor 36 is controlled to accurately control the linear movement distance of the laser sensor 30, thereby improving the accuracy of obtaining the first detection distance, the first detection distance, and the corresponding first bending angle and second bending angle. Figure 7

[0095] S112, driving the detection point to move to the plurality of to-be-detected positions along the rotation center axis in a preset movement length and a preset movement number of times.

[0096] ​In a possible implementation, since only a single detection point is arranged, in order to sequentially obtain the target bending offset and the target bending angle corresponding to all the to-be-detected positions on the endoscope tube, the interval between two adjacent to-be-detected positions is obtained in advance, so that the detection point can accurately move to the next to-be-detected position after detecting the current to-be-detected position, and the number of times of driving the detection point to move is obtained based on the interval between the two adjacent to-be-detected positions and the total length of the endoscope tube, so that the detection of all the to-be-detected positions on the endoscope tube is sequentially completed by pre-setting the movement distance of the detection point along the rotation center axis, that is, the preset movement length, and the number of times of driving the detection point to move, that is, the preset movement number.

[0097] S113, drive the endoscope tube to rotate around the rotation center axis by a second preset rotation angle and a second preset rotation number after the detection point moves to each to-be-detected position, and sequentially obtain a plurality of target bending offsets and a plurality of target bending angles corresponding to the plurality of to-be-detected positions.

[0098] In a possible implementation, the difference between the above step S130 and the step of obtaining the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions is that, in the embodiment, the single detection point sequentially detects all the to-be-detected positions on the endoscope tube based on the preset movement number and the preset movement length in step S112, which is lower in cost than simultaneously arranging a plurality of detection points, and the first preset rotation angle is the same as the second preset rotation angle, and the first preset rotation number is the same as the second preset rotation number.

[0099] The step of obtaining the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions in the disclosed embodiment can include steps S1310-S1350.

[0100] S1310, obtain a first detection distance and a second detection distance of each to-be-detected position.

[0101] In a possible implementation, in order to obtain the target bending offset of the to-be-detected position, a plurality of detection distances of the detection point at different positions on the to-be-detected position rotating around the rotation center axis for one revolution are obtained, and the maximum value, that is, the second detection distance, and the minimum value, that is, the first detection distance, of the plurality of detection distances are screened out.

[0102] S1320, difference processing is performed on each second detection distance and the corresponding first detection distance, and a plurality of detection distance differences are obtained.

[0103] In a possible implementation, in order to obtain the maximum bending offset, the second detection distance and the first detection distance are subtracted to obtain the maximum bending offset at each to-be-detected position, i.e., the detection distance difference.

[0104] In S1330, the detection distance difference is determined as the target bending offset based on the detection distance difference being greater than the offset threshold.

[0105] In a possible implementation, because the detection distance differences corresponding to all to-be-detected positions on the endoscope tube are not completely the same, the detection distance difference is compared with the 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, as shown in FIG. 6, the second detection distance is L2, the first detection distance is L1, the detection distance difference is ΔL=L2-L1, and the detection distance difference ΔL is compared with the offset threshold L0. When ΔL>L0, the detection distance difference ΔL can be used as the target bending offset ΔL, i.e., the to-be-detected position needs to be straightened. Otherwise, the to-be-detected position is determined as a non-straightening position, i.e., the to-be-detected position does not need to be straightened. Figure 4

[0106] In S1340, a plurality of corresponding first rotation times and second rotation times are determined based on the first detection distance or the second detection distance.

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

[0108] In S1350, the plurality of target bending angles are determined based on the preset rotation angle and the first rotation time or the second rotation time.

[0109] In a possible implementation, the first bending angle and the second bending angle corresponding to the first detection distance or the second detection distance can be obtained by multiplying the preset rotation angle and the corresponding first rotation time or second rotation time. Therefore, the first bending angle of all to-be-detected positions on the endoscope tube can be determined as the target bending angle.

[0110] In S20, the bending type of the endoscope tube is determined based on the plurality of target bending offsets.

[0111] ​In a possible implementation, since there are various bending types of the endoscope tube, in order to correct the endoscope tube of different bending types by using different straightening strategies, the specific bending type of the endoscope tube needs to be determined in advance, which can improve the straightening efficiency and accuracy of the endoscope tube correction, and also improve the adaptability to endoscope tubes of different bending types.

[0112] The bending type of the endoscope tube based on the plurality of target bending offsets in the disclosed embodiment of the present application can include the following steps S210-S220.

[0113] S210, based on the plurality of target bending angles and the plurality of target bending offsets, the bending direction of the endoscope tube is obtained.

[0114] In a 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 the bending direction of the endoscope tube needs to be determined based on the change relationship between the plurality of target bending angles and the change relationship between the plurality of target bending offsets.

[0115] The bending direction of the endoscope tube based on the plurality of target bending angles and the plurality of target bending offsets in the disclosed embodiment of the present application can include the following steps S2110-S2150.

[0116] S2110, the rotation center axis of the endoscope tube and a plurality of to-be-detected positions on the endoscope tube are determined, and the plurality of to-be-detected positions are sequentially sorted in ascending order along the direction of the rotation center axis away from the scope of the endoscope, wherein the plurality of to-be-detected positions are equidistantly distributed on the endoscope tube.

[0117] In a possible implementation, the determination of the rotation center axis of the endoscope tube and the plurality of to-be-detected positions on the endoscope tube in step S2110 in this embodiment is the same as step S110, which will not be repeated here. However, in order to obtain the bending direction of the endoscope tube, the plurality of to-be-detected positions on the endoscope tube need to be sorted in ascending order in advance, so as to obtain the change trend between the difference values of the two target bending offsets with adjacent serial numbers and the change trend between the difference values of the two target bending angles with adjacent serial numbers. Specifically, the plurality of to-be-detected positions are sequentially sorted in ascending order along the rotation center axis from the end of the endoscope scope to the end away from the endoscope scope, so as to obtain the serial numbers of the target bending offsets and the target bending angles corresponding to the plurality of to-be-detected positions. For example, as shown in the following table, the plurality of to-be-detected positions are sequentially sorted in ascending order along the rotation center axis from the end of the endoscope scope to the end away from the endoscope scope, so as to obtain the serial numbers of the target bending offsets and the target bending angles corresponding to the plurality of to-be-detected positions.Figure 6 As shown, the plurality of to-be-detected positions 120 on the endoscope tube 100 are sequentially marked with serial numbers 1, 2, 3…n in a preset moving length L’ along the direction of the rotation center axis and from left to right, i.e. S direction, wherein the nth is the rightmost to-be-detected position on the endoscope tube 100, wherein L’ is 10 mm, n is 32, so that the serial numbers of the corresponding target bending offset and target bending angle are also in the range of 1-32.

[0118] S2120, based on the plurality of to-be-detected positions, determining the arrangement position of the detection points for synchronously detecting the plurality of to-be-detected positions or the arrangement position of the detection points for sequentially detecting the plurality of to-be-detected positions.

[0119] In a possible implementation, in order to realize the detection of the plurality of to-be-detected positions to obtain the corresponding plurality of target bending offsets, the way of synchronously detecting the arrangement position of the detection points of the plurality of to-be-detected positions in step S2120 in this embodiment is the same as that in step S120, and the way of sequentially detecting the arrangement position of the detection points of the plurality of to-be-detected positions in step S2120 in this embodiment is the same as that in step S112, which will not be repeated here.

[0120] S2130, driving the endoscope tube to rotate around the rotation center axis by a first preset rotation angle and a first preset rotation number of times, while obtaining the plurality of target bending offsets on the plurality of to-be-detected positions; or driving the detection points to move to the plurality of to-be-detected positions in sequence along the direction of the rotation center axis by a preset moving length and a preset moving number of times, and driving the endoscope tube to rotate around the rotation center axis by a second preset rotation angle and a second preset rotation number of times after the detection points move to each of the to-be-detected positions, sequentially obtaining the plurality of target bending offsets on the plurality of to-be-detected positions.

[0121] In a possible implementation, in order to realize the detection of the plurality of to-be-detected positions to obtain the corresponding plurality of target bending offsets, the way of synchronously detecting the arrangement position of the detection points of the plurality of to-be-detected positions in step S2130 in this embodiment is the same as that in step S130, and the way of sequentially detecting the arrangement position of the detection points of the plurality of to-be-detected positions in step S2130 in this embodiment is the same as that in step S113, which will not be repeated here. The number of the plurality of target bending offsets and the plurality of target bending angles is not greater than the number of the plurality of to-be-detected positions, but the serial numbers of the plurality of target bending offsets and the plurality of target bending angles are consistent with the serial numbers of the corresponding to-be-detected positions.

[0122] S2140. Perform difference processing on the bending offset of two adjacent targets with the same serial number to obtain the corresponding multiple target bending offset differences, and perform difference processing on the bending angle of two adjacent targets with the same serial number to obtain the corresponding multiple target bending angle differences.

[0123] In one possible implementation, to obtain the changing trends of the multiple target bending offsets and the multiple target bending angles, the difference between two adjacent target bending offsets and two adjacent target bending angles can be performed to obtain corresponding differences in multiple target bending offsets and corresponding differences in multiple target bending angles. By analyzing the changing trends or characteristics of these differences, the bending direction of the endoscope tube can be determined. Specifically, a corresponding curve relationship graph can be constructed based on the correspondence between the multiple detection positions on the endoscope tube of different bending types and the bending offsets (i.e., the first detection distance and the second detection distance) and bending angles. Using the positional change relationships between the multiple target bending offsets and the multiple target bending angles and the detection positions shown in the curve relationship graph, the changing trends of the multiple target bending offsets and the multiple target bending angles can be intuitively obtained. For example, as shown... Figures 8a to 9c As shown, where, Figures 8a to 8c The horizontal axis of the curve relationship diagram shown represents the specific locations of all the positions to be detected on the endoscope tube along the length 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 axis represents 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 is represented as a radar chart. The continuous black lines in the chart represent the bending angles corresponding to all detection positions with lengths from 0mm to 310mm, thus visually reflecting the trend of bending angle changes. Figure 8a As shown, at the detection position with a length of 40mm, the first detection distance is 29.9mm and the second detection distance is 30.1mm, meaning the bending offset at this detection position can be obtained as 0.2mm. Since the bending offset at this detection position is equal to the offset threshold (0.2mm), the bending offset cannot be used as the target bending offset. However, at all detection positions with lengths from 50mm to 310mm, the difference between the first and second detection distances, i.e., the bending offset, is greater than the offset threshold, and the bending offset on the entire curve graph shows a roughly increasing trend. Therefore, it can be determined that the differences between multiple target bending offsets are all non-negative. Similarly, as... Figure 8bAs shown, the corresponding target bending offset amounts in the to-be-detected positions with lengths of 0 mm to 310 mm can be determined to alternately change in a roughly increasing and decreasing trend, so it can be determined that the target bending offset amount difference values are non-negative in the increasing stage and are non-positive in the decreasing stage; and Figure 8c As shown, the corresponding target bending offset amounts in the to-be-detected positions with lengths of 0 mm to 310 mm can be determined to alternately change in a roughly increasing and decreasing trend, so it can be determined that the target bending offset amount difference values are non-negative in the increasing stage and are non-positive in the decreasing stage; and Figure 9a As shown, it can be directly determined that the bending angles corresponding to the first detection distances in the to-be-detected positions with lengths of 0 mm to 310 mm are roughly on the same straight line and are located in the same angle interval, i.e., 0°-45°, so the corresponding target bending angle difference value is nearly 0; and Figure 9b As shown, it can be directly determined that the bending angles corresponding to the first detection distances in the to-be-detected positions with lengths of 0 mm to 310 mm are roughly on the same straight line and are located in the same angle interval, i.e., 0°-45°, so the corresponding target bending angle difference value is nearly 0; and Figure 9c As shown, it can be directly determined that the bending angles corresponding to the first detection distances in the to-be-detected positions with lengths of 0 mm to 310 mm are roughly on the same curve and cover the entire angle interval of a circle, so the corresponding target bending angle difference value has a large deviation and a growth trend.

[0124] S2150, based on the multiple target bending angle difference values not being uniformly within the angle deviation threshold range, determining that the bending direction of the endoscope tube is a multi-lateral bending direction; based on the multiple target bending angle difference values being within the angle deviation threshold range and the multiple target bending offset amount difference values being non-negative, determining that the bending direction of the endoscope tube is a single-lateral bending direction; based on the multiple target bending angle difference values being within the angle deviation threshold range and the multiple target bending offset amount difference values including non-negative numbers and negative numbers, determining that the bending direction of the endoscope tube is a double-lateral bending direction.

[0125] In a possible implementation, since the change direction of the target bending angle is obviously irregular when the bending direction of the endoscope tube is a multi-lateral bending direction compared with the bending direction of the endoscope tube being a single-lateral bending direction or a double-lateral bending direction, the to-be-detected positions corresponding to the target bending angles are not on the same straight line, and thus it is determined that the bending direction is a multi-lateral bending direction only by the fact that the plurality of target bending angle differences are not all within an angle deviation threshold range, where the angle deviation threshold is ±0.5°, and since the target bending angles of the single-lateral bending direction or the double-lateral bending direction are on the same straight line, it is necessary to increase the change trend of the target bending offset as a judgment basis to determine the bending direction of the endoscope tube, that is, to determine the bending direction of the endoscope tube by the characteristic that the target bending offset differences of the single-lateral bending direction are all non-negative numbers, and to determine the bending direction of the endoscope tube by the fact that the target bending offset differences of the single-lateral bending direction include both negative numbers and non-negative numbers.

[0126] S220, determining a bending type of the endoscope tube based on the bending direction of the endoscope tube.

[0127] In a possible implementation, based on the bending direction of the endoscope tube being a multi-lateral bending direction, it is determined that the bending type of the endoscope tube is a third bending type, that is, a spiral offset bending type; based on the bending direction of the endoscope tube being a single-lateral bending direction, it is determined that the bending type of the endoscope tube is a first bending type, that is, a single-lateral offset bending type; and based on the bending direction of the endoscope tube being a double-lateral bending direction, it is determined that the bending type of the endoscope tube is a second bending type, that is, a double-lateral offset bending type.

[0128] S30, determining a corresponding straightening strategy based on the bending type.

[0129] In a 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 tube of different bending types can be straightened through a limited number of tests, so as to form an optimal straightening strategy according to a 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, straightening the endoscope tube by using the corresponding straightening strategy based on the plurality of target bending angles.

[0131] In a possible implementation, before the endoscope tube is straightened, the endoscope tube needs to be rotated to positions corresponding to the plurality of target bending angles, so that the current positions of the target bending angle corresponding positions on the endoscope tube after the endoscope tube is rotated to the target bending angle can be straightened by using the corresponding straightening equipment.

[0132] The straightening of the endoscope tube based on the plurality of target bending angles and using the corresponding straightening strategies in the disclosed embodiments of the present application can include steps S410-S430.

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

[0134] In a possible implementation, before the endoscope tube is straightened, a rotation center axis is determined so that the endoscope tube can rotate to positions corresponding to the target bending angles about the rotation center axis, and a plurality of to-be-detected positions on the endoscope tube are determined, and the plurality of to-be-detected positions are sequentially sorted in ascending order along the rotation center axis in a direction away from the endoscope tube, so that the straightening equipment can sequentially straighten the plurality of to-be-detected positions, thereby improving the straightening efficiency and stability. Specifically, step S410 in this embodiment is the same as step S2110, which will not be described here.

[0135] S420, determine a plurality of to-be-straightened positions in the plurality of to-be-detected positions based on the plurality of target bending offsets.

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

[0137] S430, drive the endoscope tube to rotate about the rotation center axis to positions corresponding to the plurality of target bending angles, and straighten the plurality of to-be-straightened positions using the corresponding straightening strategies, wherein the corresponding straightening strategies include a first straightening strategy, a second straightening strategy, and a third straightening strategy.

[0138] In a possible implementation, the endoscope tubes of the first bending type, the second bending type and the third bending type can be straightened respectively by adopting a straightening device, so as to continuously adjust the relevant motion parameters of the straightening device according to the target straightening effect of high straightening efficiency and high straightening accuracy, to ensure that the endoscope tube of the corresponding bending type reaches the optimal in the straightening process, and to form the corresponding first straightening strategy, the second straightening strategy and the third straightening strategy.

[0139] The step S441-S444 can be included in the step S440.

[0140] S441, based on the bending type being the first bending type, the movable auxiliary support clamping block and the deviation correction clamping block are 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 needs to be used. Since the endoscope tube is long, in the straightening process, the side away from the deviation direction of the to-be-straightened position needs to be supported and the side facing the deviation direction needs to be extruded. Specifically, the straightening device includes movable auxiliary support clamping blocks and deviation correction clamping blocks arranged on both sides of the endoscope tube along the direction of the rotation center axis, for example, as shown in the figure, the straightening device includes movable auxiliary support clamping blocks 20 and deviation correction clamping blocks 2 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 rotation motor 11 for driving the endoscope tube 100 to rotate and step motors (not shown in the figure) for driving the auxiliary support clamping blocks 20 and the deviation correction clamping blocks 2 to move up and down along the direction of the rotation center axis. Figure 10

[0142] S442, based on the plurality of to-be-straightened positions, a non-straightened position adjacent to the to-be-straightened position with the smallest serial number on the endoscope tube is obtained.

[0143] In a possible implementation, since the bending direction of the first bending type is unilateral bending, in order to straighten the to-be-straightened position, the corresponding support position, i.e., the non-straightened position adjacent to the to-be-straightened position with the smallest serial number, i.e., the to-be-detected position with a bending deviation amount not greater than a deviation threshold, needs to be determined in advance when the to-be-straightened position with the smallest serial number is straightened. Specifically, based on the to-be-detected positions after sorting, the serial number of the to-be-detected position corresponding to the minimum value in the target bending deviation amount can be screened out and recorded as the first to-be-straightened position, and the to-be-detected position corresponding to the previous serial number adjacent to the to-be-detected position corresponding to the minimum value in the target bending deviation amount is the non-straightened position. For example, as shown in the figure, the to-be-detected position 1 is the first to-be-straightened position, and the to-be-detected position 2 is the non-straightened position. Figure 10 ​The position of the endoscope tube 100 in the same horizontal plane as the auxiliary support clamp 20 is a non-straightening position, and the position of the endoscope tube 100 in the same horizontal plane as the straightening and correcting clamp 2 is a position to be straightened.

[0144] S443, drive the auxiliary support clamp to move to the non-straightening position or the straightened position to be straightened for auxiliary support.

[0145] In a possible implementation, in order to realize the function of the auxiliary support clamp being able to assist in supporting the non-straightening position on the endoscope tube, a telescopic cylinder can be arranged to drive the auxiliary support clamp to reciprocate along the direction of approaching or moving away from the endoscope tube. In order to ensure that the auxiliary support clamp can move to the non-straightening position on the endoscope tube or the straightened position to be straightened, the movement stroke of the telescopic cylinder driving the auxiliary support clamp to move can be pre-set, so that the maximum movement stroke of the telescopic cylinder is the distance from the telescopic cylinder in the contracted state to the non-straightening position or the straightened position to be straightened. When the telescopic cylinder moves to its maximum stroke, the auxiliary support clamp just abuts or is in contact with the non-straightening position or the straightened position to be straightened, so as to realize the auxiliary support of the non-straightening position or the straightened position to be straightened on the endoscope tube. For example, as shown in FIG. B of the drawings, Figure 10 FIG. B of the drawings, the auxiliary support clamp 20 is moved to the left until it stops at its maximum movement stroke, that is, the auxiliary support clamp 20 abuts the non-straightening position or the straightened position to be straightened on the endoscope tube 100.

[0146] S444, drive the correcting clamp to straighten the plurality of positions to be straightened in sequence.

[0147] In a possible implementation, in order to realize the function of the correcting clamp being able to straighten the position to be straightened on the endoscope tube, another telescopic cylinder can also be arranged to drive the correcting clamp to reciprocate along the direction of approaching or moving away from the endoscope tube, that is, the movement stroke of the other telescopic cylinder driving the correcting clamp to move is set, so that the maximum movement stroke of the correcting clamp is the distance from the other telescopic cylinder in the contracted state to the non-straightening position, that is, when the other telescopic cylinder moves to its maximum stroke, the correcting clamp can extrude the position to be straightened to be coaxial with the non-straightening position, so as to complete the straightening of the position to be straightened. And by driving the auxiliary support clamp to move to the straightened position to be straightened in sequence and then driving the correcting clamp to move to the next position to be straightened, until all the positions to be straightened are straightened, for example, as shown in Figure 10As shown in FIGS. B to D in the drawings, the deviation correction clamp block 2 is driven to move rightward until it reaches the maximum movement stroke and stops, that is, the deviation correction clamp block 2 extrudes the straightening position on the endoscope tube 100 to be moved to be flush with the previous straightened straightening position, and then the auxiliary support clamp block 20 is driven to retract and move upward again (that is, driven by the stepping motor) and then move leftward to the straightened straightening position, and then the deviation correction clamp block 2 is driven to retract and move upward again and then move rightward to the next straightened straightening position.

[0148] The second straightening strategy for straightening the plurality of straightening positions in the disclosed embodiments of the present application can include the following steps S451-S455.

[0149] S451, when the bending type is the second bending type, the movable first straightening deviation correction clamp block and the second straightening deviation correction clamp block are arranged on both sides of the endoscope tube, and a curve graph formed by the projection of all the to-be-detected positions 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 needs to be used. Since the bending direction of the second bending type is bilateral bending, the action of the corresponding straightening deviation correction module on the straightening position needs to be switched during the straightening process of the straightening positions on different sides. Specifically, the straightening device includes the movable first straightening deviation correction clamp block and the second straightening deviation correction clamp block arranged on both sides of the endoscope tube along the direction of the rotation center axis, and based on the particularity of the bilateral bending of the endoscope tube, a curve graph formed by the projection of the endoscope tube in the vertical direction can be obtained, so as to intuitively judge the change trend of the straightening position. For example, as shown in the drawings, Figure 11 The straightening device includes the movable first straightening deviation correction clamp block 40 and the second straightening deviation correction clamp block 4 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 the rotation motor 11 for driving the endoscope tube 100 to rotate and the stepping motor (not shown in the drawings) for driving the first straightening deviation correction clamp block 40 and the second straightening deviation correction clamp block 4 to move up and down along the direction of the rotation center axis.

[0151] S452, based on the curve graph, the peak position and the valley position on the curve graph are obtained.

[0152] In a possible implementation, since the bending direction of the second bending type is bilateral bending, multiple peak positions and multiple valley positions are formed on the curve diagram, and each peak position and each valley position is an inflection point where the bending direction changes from one side of the endoscope tube to the other side, and the straightening manner of the previous and the next straightening positions corresponding to the peak positions and the valley positions is different, so it is necessary to obtain the peak positions and the valley positions on the curve diagram for the straightening of the endoscope tube of the second bending type. In order to simplify the principle description in the subsequent straightening process, only one peak position and one valley position are set on the curve diagram, for example, as shown in FIG. E. Figure 11

[0153] S453, based on the plurality of straightening positions, obtaining a non-straightening position adjacent to the straightening position with the smallest serial number on the endoscope tube.

[0154] In a possible implementation, although the bending direction of the second bending type is bilateral bending, the bending direction between a pair of peak positions and valley positions with adjacent serial numbers is actually unilateral bending, so the first straightening strategy can be used for straightening all the straightening positions between the pair of peak positions and valley positions, and when the straightening position with the smallest serial number needs to be straightened, the corresponding support position, that is, the non-straightening position adjacent to the straightening position with the smallest serial number, is determined in advance, that is, the straightening position with a bending offset less than the offset threshold. The step S453 in this embodiment is the same as the step S442, which will not be described here. For example, as shown in FIG. E, the position on the endoscope tube 100 in the same horizontal plane as the first straightening and deviation correction clamp block 40 is a non-straightening position, and the position on the endoscope tube 100 in the same horizontal plane as the second straightening and deviation correction clamp block 4 is a straightening position. Figure 11

[0155] S454, driving the first straightening and deviation correction clamp to move to the non-straightening position or the straightened straightening position, for assisting in supporting the non-straightening position or the straightened straightening position.

[0156] In a possible implementation, the step S454 in this embodiment is the same as the step S443, which will not be described here. For example, as shown in FIG. E, the first straightening and deviation correction clamp 40 is driven to move to the left until it stops after reaching the maximum movement stroke, that is, the first straightening and deviation correction clamp 40 and the non-straightening position or the straightened straightening position on the endoscope tube 100 are mutually attached. Figure 11

[0157] ​​​S455, drive the second straightening and deviation correcting clamp block to straighten the position to be straightened, and after the second straightening and deviation correcting clamp block completes straightening of the position to be straightened corresponding to the position of the wave crest or the position of the wave trough, switch the second straightening and deviation correcting clamp block to assist in supporting the straightened position to be straightened and the first straightening and deviation correcting clamp block to straighten the position to be straightened, until the first straightening and deviation correcting clamp block completes straightening of the position to be straightened corresponding to the next adjacent position of the wave trough or the position of the wave crest, and then switch back to the first straightening and deviation correcting clamp block to assist in supporting the straightened position to be straightened and the second straightening and deviation correcting clamp block to straighten the position to be straightened, until straightening of the plurality of positions to be straightened is completed.

[0158] In a possible implementation, the step S455 of the embodiment is the same as the step S444 of an embodiment in the manner of straightening the position to be straightened. Here, the second straightening and correcting clamp block completes straightening of the position to be straightened corresponding to the wave peak position or the wave valley position, and then straightens all the positions to be straightened that are unilaterally curved between a pair of wave peak positions and wave valley positions of adjacent serial numbers. After the straightening and correcting clamp block completes straightening of the position to be straightened corresponding to the wave peak position or the wave valley position, the positions to be straightened that are not subjected to the straightening process are offset to the extrusion direction of the second straightening and correcting clamp block by an offset amount that is the cumulative amount of the target bending offset amount of all the positions to be straightened corresponding to the wave peak position and the wave valley position. Therefore, in order to continue straightening the positions to be straightened that are not subjected to the straightening process, the processing mode of the first straightening and correcting clamp block and the second straightening and correcting clamp block for the positions to be straightened that are not subjected to the straightening process needs to be switched. Specifically, the first straightening and correcting clamp block currently serving as an auxiliary support for the position to be straightened is switched to a straightening function for the position to be straightened that is not subjected to the straightening process, and the second straightening and correcting clamp block currently serving as a straightening function for the position to be straightened is switched to an auxiliary support function for the position to be straightened that is not subjected to the straightening process. That is, the first straightening and correcting clamp block and the second straightening and correcting clamp block after the switching function continue to sequentially straighten the positions to be straightened that are not subjected to the straightening process in the first straightening strategy. It should be noted that the maximum movement stroke of the telescopic cylinder for driving the first straightening and correcting clamp block and the second straightening and correcting clamp block to move and the stepping motor for moving upward to the next position to be straightened are the same as those of the step S444 of an embodiment, and thus are not described herein. After the position to be straightened corresponding to the wave peak position or the wave valley position is straightened, the offset cumulative amount of the positions to be straightened that are not subjected to the straightening process needs to be eliminated before the positions to be straightened that are not subjected to the straightening process are sequentially straightened in the first straightening strategy. Of course, the offset cumulative amount of the positions to be straightened that are not subjected to the straightening process can not be eliminated. That is, the first straightening and correcting clamp block cannot be attached to the corresponding position to be straightened when it moves to the left to the maximum movement stroke, and the second straightening and correcting clamp block needs to be driven to move to the right to the maximum movement stroke to extrude the corresponding position to be straightened until the position to be straightened is straightened and attached to the first straightening and correcting clamp block. For example, Figure 11As shown in FIG. E and FIG. G, the first straightening and correcting clamp block 40 is driven to move left until it stops at the maximum stroke, that is, the first straightening and correcting clamp block 40 is in close contact with the non-straightened position or the straightened position to be straightened on the endoscope tube 100, then the second straightening and correcting clamp block 4 is driven to move right until it stops at the maximum stroke, that is, the second straightening and correcting clamp block 4 extrudes the position to be straightened on the endoscope tube 100 to be flush with the previous straightened position to be straightened, until the second straightening and correcting clamp block 4 completes the straightening of the wave peak position P1, then the second straightening and correcting clamp block 4 is driven to move right until it stops at the maximum stroke, that is, the second straightening and correcting clamp block 4 is used to assist in supporting the straightened position to be straightened on the endoscope tube 100, then the first straightening and correcting clamp block 40 is driven to move left until it stops at the maximum stroke, that is, the first straightening and correcting clamp block 40 extrudes the position to be straightened on the endoscope tube 100 to be flush with the previous straightened position to be straightened, until the first straightening and correcting clamp block 40 completes the straightening of the wave valley position P2, then the first straightening and correcting clamp block 40 and the second straightening and correcting clamp block 4 are switched again, until the straightening of all the positions to be straightened is completed.

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

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

[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 different straightening device is needed for straightening, and specifically, the straightening device includes a third straightening and correcting clamp block, a fourth straightening and correcting clamp block, an auxiliary limiting clamp block, a rotary motor, and a stepping motor, wherein the third straightening and correcting clamp block and the fourth straightening and correcting clamp block are symmetrically arranged on both sides of the endoscope tube along the rotation center axis direction, the auxiliary limiting clamp block is arranged on the endoscope tube away from the lens body of the endoscope at one end along the rotation center axis direction, and an example is as shown in Figure 12As shown, the straightening device includes movable third straightening and deviation correcting clamping block 5 and fourth straightening and deviation correcting clamping block 50 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, a rotating motor 11 for driving the rotation of the endoscope tube 100, and a step motor (not shown in the figure) for driving the third straightening and deviation correcting clamping block 5 and the fourth straightening and deviation correcting clamping block 50 to move up and down along the direction of the rotation center axis, respectively. The auxiliary limiting clamping block 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 deviating excessively during the straightening process and affecting the straightening effect.

[0162] S462, based on the plurality of straightening positions in ascending order, obtaining the straightening position with the smallest sequence in the sorting sequence.

[0163] In a possible implementation, since the third bending type is a spiral deviation bending type, the target bending deviation variation trend corresponding to the plurality of straightening positions is irregular. Therefore, before straightening the endoscope tube of the third bending type, an initial straightening position needs to be determined so that the third straightening and deviation correcting clamping block and the fourth straightening and deviation correcting clamping block form a surrounding state at the initial straightening position, i.e. the initial straightening position is tightly held. Since there are a plurality of straightening positions, in order to improve the straightening efficiency, the third straightening and deviation correcting clamping block and the fourth straightening and deviation correcting clamping block can be driven synchronously and in the direction away from the rotating motor along the endoscope tube, so that the plurality of straightening positions can be sequentially straightened in order. Therefore, the straightening position with the smallest sequence in the sorting sequence is determined as the initial straightening position.

[0164] S463, driving the auxiliary limiting clamping block to be sleeved on the end of the endoscope tube away from the scope of the endoscope.

[0165] In a possible implementation, in order to prevent the end of the endoscope tube away from the scope of the endoscope from deviating excessively during the straightening process and affecting the straightening effect, the swing range of the end of the endoscope tube away from the scope of the endoscope needs to be limited. Therefore, the auxiliary limiting clamping block is used to be sleeved on the end of the endoscope tube away from the scope of the endoscope. For example, as shown in the figure, the auxiliary limiting clamping block 51 is internally provided with a hole slot (not shown in the figure) for accommodating the end of the endoscope tube away from the scope of the endoscope and limiting the rotation range of the end of the endoscope tube around the rotation center axis. Figure 12

[0166] ​S464, drive the third straightening and deviation correction clamp and the fourth straightening and deviation correction clamp to move to the minimum sequence number of the straightening position.

[0167] In a possible implementation, after determining the initial straightening position, i.e., the straightening position of the minimum sequence number, a corresponding telescopic cylinder is needed to drive the third straightening and deviation correction clamp and the fourth straightening and deviation correction clamp to move to the initial straightening position synchronously or sequentially. In order to ensure that the third straightening and deviation correction clamp and the fourth straightening and deviation correction clamp can move to the initial straightening position on the endoscope tube, the movement stroke of the two telescopic cylinders driving the third straightening and deviation correction clamp and the fourth straightening and deviation correction clamp is pre-set, so that the maximum movement stroke of the telescopic cylinder is the distance from the telescopic cylinder in the contracted state to the rotation center axis. That is, when the telescopic cylinder moves to the maximum stroke, the third straightening and deviation correction clamp and the fourth straightening and deviation correction clamp are in contact with and pressed against the initial straightening position on the endoscope tube. For example, as shown in FIG. K of Figure 12 , the third straightening and deviation correction clamp 5 and the fourth straightening and deviation correction clamp 50 move to the maximum stroke under the driving of the corresponding telescopic cylinder, and are in contact with and embrace the initial straightening position on the endoscope tube 100, so as to press the initial straightening position on the endoscope tube 100. Figure 12

[0168] S465, drive the endoscope tube to rotate around the rotation center axis, so that the third straightening and deviation correction clamp and the fourth straightening and deviation correction clamp straighten the straightening position.

[0169] In a possible implementation, the straightening position pressed in the third straightening and deviation correction clamp and the fourth straightening and deviation correction clamp is straightened by driving the endoscope tube to rotate around the rotation center axis. In order to ensure the straightening precision, the corresponding rotation time or rotation number is obtained through a limited number of experiments in advance, so that driving the endoscope tube to rotate around the rotation center axis to the corresponding preset time or rotation number can complete the straightening of the straightening position. For example, as shown in FIG. K of Figure 12 , the endoscope tube is driven by the rotating motor 11 to rotate around the rotation center axis in the clockwise direction of the pointer M for 30 seconds or 10 revolutions, and the straightening of the straightening position is completed. Figure 12

[0170] S466, drive the third straightening and deviation correction clamp and the fourth straightening and deviation correction clamp to move to the straightening position of the next adjacent sequence number synchronously, until the straightening of all the straightening positions on the endoscope tube is completed.

[0171] ​​In a possible implementation, in order to improve the straightening efficiency of all the positions to be straightened on the endoscope tube, the third straightening and deviation rectifying clamp block and the fourth straightening and deviation rectifying clamp block can be synchronously moved to the next adjacent position to be straightened while still being in contact with and pressing the next adjacent position to be straightened on the endoscope tube, until the straightening of all the positions to be straightened is completed, for example, as shown in FIG. L in Figure 12 FIG. L, the third straightening and deviation rectifying clamp block 5 and the fourth straightening and deviation rectifying clamp block 50 are synchronously moved upward in a ringed state, i.e., moved to the next adjacent position to be straightened along the length direction of the endoscope tube 100 toward the end of the auxiliary limiting clamp block 51, while the rotating motor 11 continuously drives the endoscope tube 100 to rotate around the rotation center axis in the clockwise direction of the pointer M, to ensure that the synchronous upward movement of the third straightening and deviation rectifying clamp block 5 and the fourth straightening and deviation rectifying clamp block 50 to all the positions to be straightened can synchronously complete the straightening of all the positions to be straightened. In order to achieve a high-quality straightening effect, the third straightening and deviation rectifying clamp block 5 and the fourth straightening and deviation rectifying clamp block 50 can be kept in the ringed state for 30 seconds at the corresponding position to be straightened. It should be noted that when the position to be straightened limited in the auxiliary limiting clamp block 51 needs to be straightened, the auxiliary limiting clamp block 51 is removed in advance to expose the position to be straightened in it.

[0172] It should be clear that each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment mainly describes the differences from other embodiments. The present application is not limited to the specific steps and structures described above and shown in the drawings. Moreover, for the sake of brevity, detailed descriptions of known methods and techniques are omitted here.

[0173] The above only describes the embodiments of the present application and does not limit the present application. The present application can have various modifications and changes for those skilled in the art without departing from the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method of straightening an endoscope scope, comprising: Comprising Obtaining a plurality of target bending deflection amounts and a plurality of target bending angles of the endoscope tube, comprising determining a rotation center axis of the endoscope tube and a plurality of to-be-detected positions on the endoscope tube; Obtaining corresponding plurality of target bending deflection amounts and the plurality of target bending angles on the plurality of to-be-detected positions, wherein the plurality of target bending deflection amounts and the plurality of target bending angles have a one-to-one mapping relationship; The obtaining corresponding plurality of target bending deflection amounts and the plurality of target bending angles on the plurality of to-be-detected positions comprises obtaining a first detection distance and a second detection distance of each to-be-detected position; based on each first detection distance or each second detection distance, a plurality of corresponding first rotation times and second rotation times are determined; based on a plurality of first rotation times or a plurality of second rotation times and a preset rotation angle, the plurality of target bending angles are determined; the second detection distance is processed by difference with the corresponding first detection distance to obtain a plurality of detection distance difference values; based on the detection distance difference value being greater than a deflection threshold, the detection distance difference value is determined as the target bending deflection amount; Based on the plurality of target bending deflection amounts and the plurality of target bending angles, determining the bending type of the endoscope tube, comprising based on the plurality of target bending angles and the plurality of target bending deflection amounts, obtaining the bending direction of the endoscope tube; The obtaining of the bending direction of the endoscope tube based on the plurality of target bending angles and the plurality of target bending offsets comprises determining a rotation center axis of the endoscope tube and a plurality of to-be-detected positions on the endoscope tube, and sequentially performing ascending sequence sorting on the plurality of to-be-detected positions in a direction away from the scope body of the endoscope along the rotation center axis, wherein the plurality of to-be-detected positions are equidistantly distributed on the endoscope tube; determining a rotation center axis of the endoscope tube and a plurality of to-be-detected positions on the endoscope tube, and sequentially performing ascending sequence sorting on the plurality of to-be-detected positions in a direction away from the scope body of the endoscope along the rotation center axis, wherein the plurality of to-be-detected positions are equidistantly distributed on the endoscope tube; driving the endoscope tube to rotate one circle around the rotation center axis at a first preset rotation angle and a first preset rotation number, while obtaining the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions; or driving a detection point to sequentially move to the plurality of to-be-detected positions along the rotation center axis at a preset movement length and a preset movement number, and driving the endoscope tube to rotate one circle around the rotation center axis at a second preset rotation angle and a second preset rotation number after the detection point moves to each of the to-be-detected positions, sequentially obtaining the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions; performing difference processing on two target bending offsets with adjacent sequence numbers respectively to obtain a plurality of target bending offset differences corresponding thereto, and performing difference processing on two target bending angles with adjacent sequence numbers respectively to obtain a plurality of target bending angle differences corresponding thereto; determining that the bending direction of the endoscope tube is a multi-lateral bending direction based on the plurality of target bending angle differences not being within an angle deviation threshold range; determining that the bending direction of the endoscope tube is a single-lateral bending direction based on the plurality of target bending angle differences being within the angle deviation threshold range and the plurality of target bending offset differences being all non-negative numbers; and determining that the bending direction of the endoscope tube is a double-lateral bending direction based on the plurality of target bending angle differences being within the angle deviation threshold range and the plurality of target bending offset differences including non-negative numbers and negative numbers; Based on the bending type, a corresponding straightening strategy is determined; Based on the plurality of target bending angles, the endoscope tube is straightened by using the corresponding straightening strategy.

2. The method of straightening an endoscope shaft according to claim 1, wherein The obtaining of the plurality of target bending offsets and the plurality of target bending angles of the endoscope tube further comprises Based on the plurality of to-be-detected positions, the arrangement positions of detection points for synchronously detecting the plurality of to-be-detected positions are determined, wherein the plurality of to-be-detected positions are equidistantly distributed on the endoscope tube; The endoscope tube is driven to rotate one circle around the rotation center axis at a first preset rotation angle and a first preset rotation number, while the plurality of target bending offsets and the plurality of target bending angles corresponding to the plurality of to-be-detected positions are obtained.

3. The method of straightening an endoscope shaft according to claim 1, wherein The obtaining the plurality of target bending offset amounts and the plurality of target bending angles of the endoscope tube further includes Based on the plurality of to-be-detected positions, determining arrangement positions of detection points for sequentially detecting the plurality of to-be-detected positions, wherein the plurality of to-be-detected positions are equidistantly distributed on the endoscope tube; Driving the detection points to sequentially move to the plurality of to-be-detected positions along the direction of the rotation center axis at a preset movement length and a preset movement number of times; Driving the endoscope tube to rotate around the rotation center axis by a second preset rotation angle and a second preset rotation number of times after the detection points move to each of the to-be-detected positions, to sequentially obtain a plurality of the target bending offset amounts and the plurality of target bending angles corresponding to the plurality of to-be-detected positions.

4. The method of straightening an endoscope shaft according to claim 1, wherein The determining the bending type of the endoscope tube based on the plurality of target bending angles and the plurality of target bending offset amounts further includes determining the bending type of the endoscope tube based on a bending direction of the endoscope tube.

5. The method of straightening an endoscope shaft according to claim 1, wherein The straightening the endoscope tube based on the plurality of target bending angles and the corresponding straightening strategies includes Determining a rotation center axis of the endoscope tube and a plurality of to-be-detected positions on the endoscope tube, and sequentially sorting the plurality of to-be-detected positions in ascending order along the direction of the rotation center axis away from the endoscope tube, wherein the plurality of to-be-detected positions are equidistantly distributed on the endoscope tube; Based on the plurality of target bending offset amounts, determining a plurality of to-be-straightened positions in the plurality of to-be-detected positions; Driving the endoscope tube to rotate around the rotation center axis to positions of the plurality of target bending angles, and straightening the plurality of to-be-straightened positions by using the corresponding straightening strategies. The corresponding straightening strategies include a first straightening strategy, a second straightening strategy, and a third straightening strategy.

6. The method of straightening an endoscope shaft according to claim 5, wherein The straightening the plurality of to-be-straightened positions by using the first straightening strategy includes When the bending type is a single-side offset bending type, a movable auxiliary support clamp and a deviation rectification clamp are arranged on two sides of the endoscope tube, respectively; Based on the plurality of to-be-straightened positions, obtaining a non-straightened position adjacent to a to-be-straightened position with a smallest serial number on the endoscope tube; Driving the auxiliary support clamp to move to the non-straightened position or the to-be-straightened position after straightening, to assist in supporting the non-straightened position or the to-be-straightened position after straightening; Driving the deviation rectification clamp to sequentially straighten the plurality of to-be-straightened positions.

7. The method of straightening an endoscope shaft according to claim 5, wherein The straightening the plurality of to-be-straightened positions by using the second straightening strategy includes When the bending type is a double-side offset bending type, a movable first straightening deviation rectification clamp and a second straightening deviation rectification clamp are arranged on two sides of the endoscope tube, respectively, and a curve graph formed by projections of all to-be-detected positions on the endoscope tube in a vertical direction is obtained; Based on the curve graph, obtaining a wave peak position and a wave trough position on the curve graph; Based on the plurality of to-be-straightened positions, obtaining a non-straightened position adjacent to a to-be-straightened position with a smallest serial number on the endoscope tube; drive the first straightening and deviation correction clamp block to move to the non-straightening position or the straightened position of the to-be-straightened position for auxiliary support; drive the second straightening and deviation correction clamp block to straighten the to-be-straightened position, and after the second straightening and deviation correction clamp block completes straightening on the to-be-straightened position corresponding to the wave peak position or the wave valley position, switch the second straightening and deviation correction clamp block to assist support the straightened to-be-straightened position and the first straightening and deviation correction clamp block to straighten the to-be-straightened position, until the first straightening and deviation correction clamp block completes straightening on the to-be-straightened position corresponding to the next adjacent wave valley position or wave peak position, and then switch back to the first straightening and deviation correction clamp block to assist support the straightened to-be-straightened position and the second straightening and deviation correction clamp block to straighten the to-be-straightened position, until straightening on all to-be-straightened positions on the endoscope tube is completed.

8. The method of straightening an endoscope shaft according to claim 5, wherein adopt a third straightening strategy to straighten the plurality of to-be-straightened positions, including based on the bending type being a spiral offset bending type, determining installation positions of a third straightening and deviation correction clamp block, a fourth straightening and deviation correction clamp block, and an auxiliary support clamp block, wherein the third straightening and deviation correction clamp block and the fourth straightening and deviation correction clamp block are symmetrically arranged on both sides of the endoscope tube along the rotation center axis direction, and the auxiliary support clamp block is arranged on the endoscope tube away from the lens body of the endoscope along the rotation center axis direction; based on the plurality of to-be-straightened positions in ascending order, obtaining the to-be-straightened position with the smallest sequence in the sequence; drive the auxiliary support clamp block to be sleeved on the endoscope tube away from the lens body of the endoscope; drive the third straightening and deviation correction clamp block and the fourth straightening and deviation correction clamp block to move to the to-be-straightened position with the smallest sequence number; drive the endoscope tube to rotate around the rotation center axis, so that the third straightening and deviation correction clamp block and the fourth straightening and deviation correction clamp block straighten the to-be-straightened position; drive the third straightening and deviation correction clamp block and the fourth straightening and deviation correction clamp block to move synchronously to the to-be-straightened position with the next adjacent sequence number, until straightening on all to-be-straightened positions on the endoscope tube is completed.

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