Lens rotation optimization method and equipment based on endoscope

Abstract

The invention aims to provide a lens rotation optimization method and equipment based on an endoscope, the endoscope comprises a lens, a motor and a steel wire, and the motor pulls the steel wire through rotation to adjust rotation of the lens; when an instruction sent by a user for bending and steering the lens is detected, the motor starts to pull the steel wire; when the current power, detected in real time, of the motor is smaller than or equal to the preset low-load power threshold value, the rotating speed of the motor is increased, so that the motor pulls the steel wire in a no-load mode; when the steel wire is tensioned and the power, detected in real time, of the motor after being increased is larger than the preset low-load power threshold value, the current rotating speed of the motor is adjusted to the preset motor working speed, so that the motor load pulls the steel wire to adjust rotation of the lens, delay of bending and steering of the lens of the endoscope is reduced, and the endoscope can rotate more stably. The convenience of fine adjustment operation of a user is improved, a pipeline of a steel wire in the endoscope can be bent by a smaller radius, the storage performance is improved, and the service life is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field related to endoscopes, and in particular to an endoscope-based lens rotation optimization method and device. Background Art

[0002] In order to solve the high delay problem of bending and turning when users operate endoscopes, the existing endoscope-related technologies traditionally use multi-speed switching to solve the problem, but there are many shortcomings; for example, although the delay is low at high speed, it is impossible to accurately fine-tune to the desired angle due to too fast steering. When turning at medium and low speeds, although it can be accurately adjusted to the desired angle, delays cannot be avoided, especially at low speeds. The extremely long delay will make the user experience extremely poor. In order to solve the ductility problem of the steel wire in the endoscope during long-term use, a steel wire made of multiple strands is often used. This method can only delay the time when the ductility occurs, and cannot completely solve this problem; if the user uses it for a long time, the bending angle does not meet the standard due to the extension of the steel wire, and it can only be sent back to the manufacturer for disassembly and repair by the manufacturer. In traditional debugging, manufacturers cannot tighten and fix every traction wire in the endoscope. A certain margin must be left to provide space for the length of the pipeline to bend. If the margin is too much, the bending and turning delay during user operation will be particularly high. If the margin is too little or not given, the lens line tube of the endoscope will be unsmooth and twisted during the bending process. In extreme cases, the wire will break or other damage will occur. Summary of the invention

[0003] One purpose of the present application is to provide an endoscope-based lens rotation optimization method and device, which reduces the delay in the bending and turning of the endoscope lens, improves the convenience of user fine-tuning operations, and allows the steel wire pipeline in the endoscope to be bent to a smaller radius, thereby improving the storage capacity and service life.

[0004] According to one aspect of the present application, a lens rotation optimization method based on an endoscope is provided, wherein the method comprises:

[0005] A lens rotation optimization method based on an endoscope, wherein the endoscope comprises a lens, a motor and a steel wire, and the motor pulls the steel wire by rotating to adjust the rotation of the lens, wherein the method comprises:

[0006] When detecting a user's instruction to bend or turn the lens of the endoscope, the motor starts to pull the steel wire;

[0007] The current power of the motor is detected in real time, and when the current power of the motor is less than or equal to a preset low-load power threshold, the speed of the motor is increased so that the motor pulls the steel wire without load;

[0008] When the steel wire is tightened, it is detected in real time that the current power of the motor increases;

[0009] When the increased power of the motor is greater than the preset low-load power threshold, the current rotation speed of the motor is adjusted to the preset motor working speed, so that the motor load pulls the steel wire to adjust the rotation of the lens.

[0010] Furthermore, in the above method, the method further comprises:

[0011] When the current power of the motor is less than or equal to a preset low-load power threshold, the rotation speed of the motor is increased to the maximum speed preset by the motor manufacturer, so that the motor pulls the steel wire without load.

[0012] Furthermore, in the above method, the method further comprises:

[0013] When the increased power of the motor is greater than the preset low-load power threshold, the current speed of the motor is adjusted to the speed corresponding to the target gear selected by the user, wherein the motor includes speeds of at least two gears.

[0014] Furthermore, in the above method, the method further comprises:

[0015] The real-time detection of the current power of the motor, when the current power of the motor is less than or equal to a preset low-load power threshold, speeding up the speed of the motor so that the motor pulls the steel wire without load, is replaced by:

[0016] The motor pulls the steel wire to a preset no-load distance at a maximum speed preset by the motor manufacturer.

[0017] Furthermore, in the above method, the method comprises:

[0018] In the process of optimizing the rotation of the endoscope lens, the distance the motor rotates = the preset no-load distance the motor pulls the steel wire when no-load + the distance the motor pulls the steel wire when loaded.

[0019] According to another aspect of the present application, a non-volatile storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions can be executed by a processor, the processor implements the endoscope-based lens rotation optimization method as described above.

[0020] According to another aspect of the present application, a lens rotation optimization device based on an endoscope is also provided, wherein the device comprises:

[0021] one or more processors;

[0022] A computer readable medium for storing one or more computer readable instructions,

[0023] When the one or more computer-readable instructions are executed by the one or more processors, the one or more processors implement the above-mentioned endoscope-based lens rotation optimization method.

[0024] Compared with the prior art, the endoscope in the present application includes a lens, a motor and a steel wire, and the motor pulls the steel wire by rotating to adjust the rotation of the lens; in actual application scenarios, when an instruction issued by a user to bend and turn the lens of the endoscope is detected, the motor starts to pull the steel wire; the current power of the motor is detected in real time, and when the current power of the motor is less than or equal to a preset low-load power threshold, the speed of the motor is accelerated so that the motor pulls the steel wire without load; when the steel wire is tightened, it is detected in real time that the current power of the motor increases; when the increased power of the motor is greater than the preset low-load power threshold, the current speed of the motor is adjusted to the preset motor working speed, so that the motor load pulls the steel wire to adjust the rotation of the lens, which not only reduces the delay in the bending and turning of the endoscope lens, but also improves the convenience of the user's fine-tuning operation, so that the steel wire pipeline in the endoscope can be bent to a smaller radius, thereby improving the storage performance and service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0026] Figure 1 A schematic flow chart showing a method for optimizing lens rotation based on an endoscope according to one aspect of the present application is shown;

[0027] Figure 2 A schematic diagram showing a processing flow of an endoscope-based lens rotation optimization method in an actual application scenario according to one aspect of the present application;

[0028] Figure 3 A schematic diagram of a reduced version of the processing flow of an endoscope-based lens rotation optimization method in an actual application scenario according to one aspect of the present application is shown.

[0029] The same or similar reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0030] The present application is described in further detail below in conjunction with the accompanying drawings.

[0031] In a typical configuration of the present application, the terminal, the device of the service network and the trusted party all include one or more processors (CPU), input / output interfaces, network interfaces and memories.

[0032] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0033] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0034] like Figure 1 Show, Figure 1 A flow chart of a lens rotation optimization method based on an endoscope is provided as one aspect of the present application. The method is applied to an endoscope to optimize the lens rotation of the endoscope during use, wherein the endoscope comprises a lens, a motor and a steel wire, wherein the steel wire connects the lens and the motor, and the motor pulls the steel wire by rotating to adjust the rotation of the lens, wherein the method comprises step S11, step S12, step S13 and step S14, specifically comprising the following steps:

[0035] Step S11, when detecting an instruction from a user to bend or turn the lens of the endoscope, the motor starts to pull the steel wire;

[0036] Step S12, detecting the current power of the motor in real time, and when the current power of the motor is less than or equal to a preset low-load power threshold, speeding up the speed of the motor so that the motor pulls the steel wire without load;

[0037] Step S13, when the steel wire is tightened, it is detected in real time that the current power of the motor increases;

[0038] Step S14, when the increased power of the motor is greater than the preset low-load power threshold, the current speed of the motor is adjusted to the preset motor working speed, so that the motor load pulls the steel wire to adjust the rotation of the lens.

[0039] In the present application, through the above-mentioned steps S11 to S14, not only the delay from the user issuing a command to bend and turn the endoscope lens to the bending and turning of the lens is reduced, the lens response time is accelerated, but also the user's experience of fine-tuning the endoscope lens is improved; not only the problem of the user's bending and turning angle not meeting the standard due to the extension of the traction rope made of steel wire or other materials during long-term use is solved, but also the problem of the lens pipeline not bending smoothly due to the steel wire being too tight during the debugging process is solved, so that the steel wire pipeline in the endoscope can be bent to a smaller radius, thereby improving the storage capacity and service life.

[0040] In this embodiment, the working state of the motor is determined by detecting the power change of the motor of the endoscope, and the delay problem is reduced by adjusting the rotation speed (i.e., the running speed) of the motor in different states. Figure 2 As shown, in the actual application scenario of the present application, after the endoscope receives a bending and turning instruction for bending and turning the lens from the user input terminal, the motor starts to pull the steel wire to work, and detects the current power or current current of the motor in real time. At this time, due to the margin on the steel wire, the load of the motor is small when the motor is just started, so that the current power of the motor detected is also small, and it is judged whether the current power of the motor exceeds the preset low load power threshold (corresponding to Figure 2 ), if it does not exceed, that is, the current power of the motor is less than or equal to the preset low-load power threshold, the speed of the motor is increased to make the motor run at a high speed, so as to quickly pull the remaining amount of the steel wire through; when the steel wire is tightened, fine-tuning operation is still required, the load of the motor increases, so that the power required by the motor also increases, resulting in the detected power also increasing. At this time, it is continued to be determined whether the increased power of the motor exceeds the preset low-load power threshold. If it exceeds, that is, the increased power of the motor is greater than the preset low-load power threshold, the current speed of the motor is adjusted to the preset motor working speed (corresponding to in the actual application scenario Figure 2 The normal working speed of the motor in the motor is adjusted so that the motor load pulls the steel wire to adjust the rotation of the lens or adjusts the rotation of the lens through other materials, thereby reducing the delay time from the user issuing a bending and turning instruction to the lens bending and turning, and further achieving the purpose of improving the user experience.

[0041] Following the above embodiments of the present application, an endoscope-based lens rotation optimization method proposed in one aspect of the present application also includes:

[0042] When the current power of the motor is less than or equal to a preset low-load power threshold, the rotation speed of the motor is increased to the maximum speed preset by the motor manufacturer, so that the motor pulls the steel wire without load.

[0043] In another preferred embodiment of the present application, when the current power of the motor is less than or equal to a preset low-load power threshold, not only can the rotation speed of the motor be accelerated to make the motor run at a high speed, thereby quickly pulling the remaining steel wire, but the rotation speed of the motor can also be rotated at the maximum speed preset by the motor manufacturer of the endoscope during factory settings, so that the motor can quickly pull the steel wire at no load, wherein the maximum speed preset by the motor manufacturer is a safe speed allowed by the rotation speed of the motor of the endoscope.

[0044] Following the above embodiments of the present application, an endoscope-based lens rotation optimization method proposed in one aspect of the present application also includes:

[0045] When the increased power of the motor is greater than the preset low-load power threshold, the current speed of the motor is adjusted to the speed corresponding to the target gear selected by the user, wherein the motor includes speeds of at least two gears.

[0046] In order to improve user participation and experience, when the increased power of the motor is greater than the preset low-load power threshold, the current speed of the motor can also be adjusted to the speed corresponding to the target gear selected by the user to meet the user's rotation speed requirements when fine-tuning the motor, wherein the motor includes at least two gears of speed for the user to choose.

[0047] Following the above embodiments of the present application, an endoscope-based lens rotation optimization method proposed in one aspect of the present application also includes:

[0048] The real-time detection of the current power of the motor, when the current power of the motor is less than or equal to a preset low-load power threshold, speeding up the speed of the motor so that the motor pulls the steel wire without load, is replaced by:

[0049] The motor pulls the steel wire to a preset no-load distance at a maximum speed preset by the motor manufacturer.

[0050] In the process of pulling the steel wire of the endoscope, in the traditional mode, the distance the motor rotates = the distance the user issues a bending and turning command, that is, the distance the motor pulls the steel wire, but in the preferred embodiment of the present application, in the process of optimizing the rotation of the endoscope lens, the distance the motor rotates = the preset no-load distance that the motor pulls the steel wire + the distance that the motor pulls the steel wire with load. It can be seen that in the preferred embodiment of the present application, the endoscope lens can make a turning movement after the user issues a fine-tuning command, while in the traditional mode, if the moving distance issued by the user is less than the no-load margin of the steel wire, then the steering of the endoscope lens will not change at this time. At the same time, the embodiment of the present application is not affected by the increased delay caused by the extension of the steel wire due to long-term use. Based on the above-mentioned calculation formula for the distance the motor rotates in the preferred embodiment of the present application, an abridged version of the method flow chart in an actual application scenario can also be made, such as Figure 3 As shown, the motor detection or current detection is removed, and the above step S12 is replaced by: the motor pulls the steel wire to a preset no-load distance at the maximum speed preset by the motor manufacturer, that is, the distance of the motor pulling the steel wire at high speed and no-load is set to a factory value (corresponding to Figure 3 The preset no-load distance in the circuit is a preset no-load distance, i.e., a preset no-load distance), and the preset no-load distance is modified later by manual adjustment or program writing; thereafter, when the steel wire is tightened, it is detected in real time that the current power of the motor increases; when the increased power of the motor is greater than the preset low-load power threshold, the current speed of the motor is adjusted to the preset motor working speed (corresponding to Figure 3 The normal working speed of the motor in the motor) is used so that the motor load pulls the steel wire to adjust the rotation of the lens.

[0051] In the preferred embodiment of the application, since there is a margin in the steel wire in the endoscope, if the margin is too tight, the lens pipeline cannot be bent. At the same time, the margin of the steel wire cannot be too much, which will cause a long delay. If it is too little, the steel wire coil will not move. In order to solve the delay and other problems, more margin can be released during debugging, so that the lens pipeline of the endoscope can be bent to a smaller radius, thereby improving the storage performance, reducing the probability of damage to the lens pipeline and increasing its service life.

[0052] According to another aspect of the present application, a non-volatile storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions can be executed by a processor, the processor implements the endoscope-based lens rotation optimization method as described above.

[0053] According to another aspect of the present application, there is also provided an endoscope-based lens rotation optimization device, wherein the device comprises:

[0054] one or more processors;

[0055] A computer readable medium for storing one or more computer readable instructions,

[0056] When the one or more computer-readable instructions are executed by the one or more processors, the one or more processors implement the above-mentioned endoscope-based lens rotation optimization method.

[0057] Here, for the detailed contents of each embodiment of the device for intercepting ANR based on the operating system of the mobile terminal, please refer to the corresponding part of the embodiment of the lens rotation optimization method based on the endoscope, which will not be repeated here.

[0058] In summary, the endoscope in the present application includes a lens, a motor and a steel wire, and the motor pulls the steel wire by rotating to adjust the rotation of the lens; in actual application scenarios, when an instruction issued by a user to bend and turn the lens of the endoscope is detected, the motor starts to pull the steel wire; the current power of the motor is detected in real time, and when the current power of the motor is less than or equal to a preset low-load power threshold, the speed of the motor is accelerated so that the motor pulls the steel wire without load; when the steel wire is tightened, it is detected in real time that the current power of the motor increases; when the increased power of the motor is greater than the preset low-load power threshold, the current speed of the motor is adjusted to the preset motor working speed, so that the motor load pulls the steel wire to adjust the rotation of the lens, which not only reduces the delay in the bending and turning of the endoscope lens, but also improves the convenience of the user's fine-tuning operation, so that the steel wire pipeline in the endoscope can be bent to a smaller radius, thereby improving the storage and service life.

[0059] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, can be implemented using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of the present application (including relevant data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0060] In addition, a part of the present application may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present application through the operation of the computer. The program instruction for calling the method of the present application may be stored in a fixed or removable recording medium, and / or transmitted through a data stream in a broadcast or other signal-bearing medium, and / or stored in a working memory of a computer device that runs according to the program instruction. Here, according to an embodiment of the present application, a device is included, the device including a memory for storing computer program instructions and a processor for executing program instructions, wherein, when the computer program instruction is executed by the processor, the device is triggered to run the method and / or technical solution based on the aforementioned multiple embodiments according to the present application.

[0061] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

Claims

1. A lens rotation optimization method based on an endoscope, wherein: The endoscope comprises a lens, a motor and a steel wire, wherein the motor pulls the steel wire by rotating to adjust the rotation of the lens, wherein the method comprises: When detecting a user's instruction to bend or turn the lens of the endoscope, the motor starts to pull the steel wire; The current power of the motor is detected in real time, and when the current power of the motor is less than or equal to a preset low-load power threshold, the rotation speed of the motor is increased so that the motor pulls the steel wire without load; When the steel wire is tightened, it is detected in real time that the current power of the motor increases; When the increased power of the motor is greater than the preset low-load power threshold, the current rotation speed of the motor is adjusted to the preset motor working speed, so that the motor load pulls the steel wire to adjust the rotation of the lens.

2. The method according to claim 1, wherein: The method further comprises: When the current power of the motor is less than or equal to a preset low-load power threshold, the rotation speed of the motor is increased to the maximum speed preset by the motor manufacturer, so that the motor pulls the steel wire without load.

3. The method according to claim 1, wherein: The method further comprises: When the increased power of the motor is greater than the preset low-load power threshold, the current speed of the motor is adjusted to the speed corresponding to the target gear selected by the user, wherein the motor includes speeds of at least two gears.

4. The method according to any one of claims 1 to 3, wherein: The method further comprises: The real-time detection of the current power of the motor, when the current power of the motor is less than or equal to a preset low-load power threshold, speeding up the speed of the motor so that the motor pulls the steel wire without load, is replaced by: The motor pulls the steel wire to a preset no-load distance at a maximum speed preset by the motor manufacturer.

5. The method according to claim 4, wherein: The method comprises: In the process of optimizing the rotation of the endoscope lens, the distance the motor rotates = the preset no-load distance the motor pulls the steel wire when no-load + the distance the motor pulls the steel wire when loaded.

6. A non-volatile storage medium having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executable by a processor, the processor is enabled to implement the method according to any one of claims 1 to 5.

7. An endoscope-based lens rotation optimization device, wherein: The equipment includes: one or more processors; A computer readable medium for storing one or more computer readable instructions, When the one or more computer-readable instructions are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 5.

Images