Nasal cavity endoscope driving method, electronic equipment and storage medium

Abstract

The invention discloses a nasal cavity endoscope driving method, electronic equipment and a storage medium, and belongs to the technical field of image data processing.The method comprises the steps that a real-time probing image in a nasal cavity is collected through an endoscope; determining a real-time probing position where the endoscope reaches according to the real-time probing image and a preset endoscope navigation path of the endoscope, and determining the secretion stock at the real-time probing position according to the real-time probing image; determining a moving speed parameter of the endoscope at the real-time probing position according to a preset collision parameter corresponding to the real-time probing position and the secretion stock at the real-time probing position; and adjusting the real-time driving rotating speed of a driving motor of the endoscope according to the moving speed parameter. The nasal cavity endoscope can be reasonably driven to move in the nasal cavity, the situation that the nasal cavity mucous membrane is damaged by the electric endoscope due to the fact that the movement speed of the nasal cavity endoscope is not appropriate is avoided, the discomfort in the nasal cavity endoscopy operation is reduced, and the postoperative recovery effect of the nasal cavity endoscopy operation is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of image data processing, and in particular relates to a nasal endoscope driving method, an electronic device and a storage medium. Background Art

[0002] Nasal endoscopy is a technology that uses an endoscope to observe the internal structure of the nasal cavity and perform diagnosis and treatment. Medical image recognition technology has important applications in nasal endoscopy, which can help doctors quickly identify the site of the lesion. However, due to the limited space inside the nasal cavity, frequent instrument entry and exit and operation may cause damage to the nasal mucosa, increasing the risk of intraoperative bleeding and postoperative infection. Especially when using an electric endoscope that uses a motor drive to achieve the movement and steering of the probe, it is easy for the electric endoscope to damage the nasal mucosa due to the inappropriate movement speed of the electric endoscope, which affects the postoperative recovery effect of the nasal endoscopy.

[0003] In view of this, there is an urgent need to propose a nasal endoscope driving method so as to reasonably drive the nasal endoscope to move inside the nasal cavity, avoid the electric endoscope causing damage to the nasal mucosa due to inappropriate movement speed of the nasal endoscope, reduce the discomfort during nasal endoscopy, and improve the postoperative recovery effect of nasal endoscopy. Summary of the invention

[0004] In order to overcome the problems existing in the prior art, the present invention provides a nasal endoscope driving method, an electronic device and a storage medium. The nasal endoscope driving method can reasonably drive the nasal endoscope to move inside the nasal cavity, avoid the electric endoscope causing damage to the nasal mucosa due to inappropriate movement speed of the nasal endoscope, reduce the discomfort during nasal endoscopy examination, and improve the postoperative recovery effect of nasal endoscopy examination.

[0005] The present invention provides a nasal endoscope driving method, comprising: The real-time nasal in-situ images are collected through endoscope. Determine the real-time insertion position reached by the endoscope according to the real-time insertion image and the endoscope navigation path preset by the endoscope, and determine the amount of secretions at the real-time insertion position according to the real-time insertion image; Determining a moving speed parameter of the endoscope at the real-time probing position according to a preset collision parameter corresponding to the real-time probing position and the amount of secretions at the real-time probing position; The real-time driving speed of the driving motor of the endoscope is adjusted according to the moving speed parameter.

[0006] Further, determining the real-time penetration position reached by the endoscope according to the real-time penetration image and the endoscope navigation path preset by the endoscope includes: Preprocessing the real-time penetration image to obtain a preprocessed image; Inputting the preprocessed image into a nasal structure classification model to obtain a predicted probe position output by the nasal structure classification model; wherein the nasal structure classification model is a model trained based on a nasal structure sample image training set; Based on the predicted insertion position and the endoscope navigation path, it is determined whether the predicted insertion position can be determined as the real-time insertion position.

[0007] Furthermore, determining whether the predicted insertion position can be determined as the real-time insertion position based on the predicted insertion position and the endoscope navigation path includes: When the predicted penetration position is on the endoscope navigation path and the distance error between the predicted distance and the actual penetration distance of the endoscope is less than a preset error threshold, the predicted penetration position is determined as the real-time penetration position; The predicted distance is the distance between the predicted insertion position and the starting position of the endoscope navigation path.

[0008] Further, determining the amount of secretions at the real-time probe position according to the real-time probe image includes: Performing contrast enhancement processing on the real-time probe image to obtain a contrast enhanced image; Performing threshold segmentation on the contrast-enhanced image to obtain an initial secretion region image; Detecting the image edge of the secretion area image, and filling the image edge through morphological operation to obtain a target secretion area image; The secretion stock at the real-time probe position is determined based on the regional pixel number and pixel area of ​​the target secretion region image.

[0009] Furthermore, determining the secretion inventory at the real-time probe position based on the number of regional pixels and the pixel area of ​​the target secretion region image includes: The secretion inventory at the real-time probe position is calculated by the following formula 1, wherein the formula 1 is: , in, The secretion stock at the real-time probe position is the coverage area of ​​the secretions in the nasal cavity, expressed in pixel area; is the number of pixels in the region, is the preset pixel area.

[0010] Further, determining the moving speed parameter of the endoscope at the real-time probe position according to the preset collision parameter corresponding to the real-time probe position and the amount of secretions at the real-time probe position includes: Determining the existence status of the nasal mucosa at the real-time probe position; The moving speed parameter at the real-time probe position is determined based on the preset collision parameter corresponding to the real-time probe position, the preset basic speed, the secretion stock at the real-time probe position and the existence state of the nasal mucosa.

[0011] Furthermore, the moving speed parameter at the real-time probe position is determined based on the preset collision parameter corresponding to the real-time probe position, the preset basic speed, the secretion inventory at the real-time probe position, and the existence state of the nasal mucosa, including: The moving speed parameter at the real-time probe position is calculated by the following formula 2, wherein the formula 2 is: , in, is the moving speed parameter, Preset collision parameters corresponding to the real-time probe position; is the basic speed quantity;

[0012] is the secretion lubrication speed coefficient; is the state of nasal mucosa existence. When the state of nasal mucosa existence is the state of nasal mucosa existence, , when the nasal mucosa existence state is no nasal mucosa, ; The buffer speed.

[0013] Further, adjusting the real-time driving speed of the driving motor of the endoscope according to the moving speed parameter includes: The real-time driving speed is adjusted until the moving speed of the endoscope reaches the moving speed parameter.

[0014] The present invention also provides an electronic device, comprising: Processor; and A memory having executable codes stored thereon, which, when executed by a processor, causes the processor to execute the method as described in any one of the first aspects.

[0015] The present invention further provides a non-transitory machine-readable storage medium having executable codes stored thereon. When the executable codes are executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0016] The technical solution provided by the present invention may include the following beneficial effects: The nasal endoscope driving method, electronic device and storage medium provided by the present invention collect real-time penetration images in the nasal cavity through the endoscope, and then determine the real-time penetration position reached by the endoscope according to the real-time penetration image and the endoscope navigation path preset by the endoscope, and determine the secretion stock at the real-time penetration position according to the real-time penetration image, so as to help the inspector know the penetration progress of the endoscope and the state at the real-time penetration position; and then determine the movement speed parameter of the endoscope at the real-time penetration position according to the preset collision parameter corresponding to the real-time penetration position and the secretion stock at the real-time penetration position, so as to help the inspector know the appropriate movement speed through the real-time penetration position; and then adjust the real-time driving speed of the driving motor of the endoscope according to the movement speed parameter, so as to realize the real-time adjustment of the movement speed of the endoscope, and avoid the real-time penetration position being damaged due to passing through the real-time penetration position at a faster movement speed.

[0017] In general, the present invention can reasonably drive the nasal endoscope to move inside the nasal cavity, avoid damage to the nasal mucosa caused by the electric endoscope due to inappropriate movement speed of the nasal endoscope, reduce the discomfort during nasal endoscopy, and improve the postoperative recovery effect of nasal endoscopy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is one of the flowcharts of the nasal endoscope driving method shown in the embodiment of the present invention; Figure 2 This is the second flow chart of the nasal endoscope driving method shown in the embodiment of the present invention; Figure 3 FIG3 is a flow chart of a method for driving a nasal endoscope according to an embodiment of the present invention; Figure 4 is a schematic diagram of the structure of an electronic device shown in an embodiment of the present invention; In the figure: 400 - electronic device, 410 - memory, 420 - processor. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0020] Due to the limited space inside the nasal cavity, frequent instrument entry and exit and operation may cause damage to the nasal mucosa, increasing the risk of intraoperative bleeding and postoperative infection. Especially when using an electric endoscope that uses a motor drive to achieve the movement and steering of the probe, it is easy for the electric endoscope to damage the nasal mucosa due to inappropriate movement speed, affecting the postoperative recovery effect of nasal endoscopy.

[0021] The present invention proposes a nasal endoscope driving method, so as to reasonably drive the nasal endoscope to move inside the nasal cavity, avoid the electric endoscope causing damage to the nasal mucosa due to inappropriate movement speed of the nasal endoscope, reduce the discomfort during nasal endoscopy examination, and improve the postoperative recovery effect of nasal endoscopy examination.

[0022] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0023] Example 1

[0024] See also Figure 1 The nasal endoscope driving method shown in the embodiment of the present application includes: S101, collect real-time probe images of the nasal cavity through an endoscope. An endoscope is a medical device used to examine and treat internal organs of the human body. It is inserted into a natural cavity or a small incision of the human body, and uses optical or electronic imaging technology to transmit images in the body to an external display to help doctors diagnose and treat. In an embodiment of the present invention, the endoscope can be an electric endoscope, and the movement and steering of the probe can be achieved by motor drive. The drive motor of the endoscope usually adopts a micro motor, and these motors adjust the speed and torque through a gear box (reducer). The output speed and torque of the motor can be adjusted by controlling the input voltage and current, thereby achieving control of the movement speed of the endoscope probe.

[0025] S102, determine the real-time penetration position reached by the endoscope according to the real-time penetration image and the preset endoscope navigation path of the endoscope, and determine the amount of secretions at the real-time penetration position according to the real-time penetration image. Before the endoscopic examination, the endoscope navigation path can be preset based on the nasal CT image data of the subject, and specifically, the nasal CT image data can be imported into the navigation software to generate a virtual navigation path. During the examination, the endoscope can gradually reach the lesion area along the virtual navigation path.

[0026] S103, determining the moving speed parameter of the endoscope at the real-time probe position according to the preset collision parameter corresponding to the real-time probe position and the secretion stock at the real-time probe position. Before the inspection, a preset collision parameter can be set for each part of the nasal cavity according to the anatomical structure of the nasal cavity. This is because the softness of each part of the nasal cavity is different. The corresponding preset collision parameter of the position with high softness is set lower, such as 0.5. On the contrary, the corresponding preset collision parameter of the position with low softness is set higher, such as 1.2. It needs to be determined according to the actual application situation and is not limited here.

[0027] On the other hand, since the secretions in the nasal cavity are transparent or watery and thin, in acute rhinitis or mild inflammation, the secretions may be mucous and lighter in color, usually light yellow. When there is infection or chronic inflammation in the nasal cavity or sinus, the secretions may be mucopurulent or pure purulent, darker in color, usually yellow or yellow-green. But no matter what color the secretions in the nasal cavity are, their main components are a mixture of mucin and watery liquid. Mucin is a high-molecular glycoprotein with strong adhesion and lubricity, which can make the secretions present a greasy texture and have a certain lubricity. Therefore, it can reduce the friction between the endoscope and the inside of the nasal cavity to a certain extent, so that the moving speed of the endoscope can be adaptively increased in the position where the secretions are more.

[0028] S104, adjusting the real-time driving speed of the driving motor of the endoscope according to the moving speed parameter. The real-time driving speed can be adjusted until the moving speed of the endoscope reaches the moving speed parameter, so that the endoscope can pass through the real-time probe position at a suitable speed, ensuring that the real-time probe position will not be damaged by the endoscope.

[0029] The embodiment of the present invention collects real-time probe images in the nasal cavity through an endoscope, and then determines the real-time probe position reached by the endoscope based on the real-time probe image and the endoscope navigation path preset by the endoscope, and determines the amount of secretions at the real-time probe position based on the real-time probe image, so as to help the inspector know the probe progress of the endoscope and the state at the real-time probe position. Then, the moving speed parameter of the endoscope at the real-time probe position is determined based on the preset collision parameters corresponding to the real-time probe position and the amount of secretions at the real-time probe position, so as to help the inspector know the appropriate movement speed through the real-time probe position. Then, the real-time driving speed of the driving motor of the endoscope is adjusted according to the moving speed parameter, so as to realize the real-time adjustment of the movement speed of the endoscope, and avoid damage to the real-time probe position caused by passing through the real-time probe position at a faster movement speed.

[0030] In general, the present invention can reasonably drive the nasal endoscope to move inside the nasal cavity, avoid damage to the nasal mucosa caused by the electric endoscope due to inappropriate movement speed of the nasal endoscope, reduce the discomfort during nasal endoscopy, and improve the postoperative recovery effect of nasal endoscopy.

[0031] Preferably, the process of determining the real-time probing position and the amount of secretion at the real-time probing position can be further designed. Figure 2 This is a second flow chart of the nasal endoscope driving method shown in an embodiment of the present invention. Figure 2 The nasal endoscope driving method shown in the embodiment of the present invention includes: S201, collecting real-time probing images of the nasal cavity through an endoscope. In an embodiment of the present invention, the endoscope will continue to probe along a preset endoscope navigation path until it reaches the target lesion location. During the probing process, the endoscope continuously collects real-time probing images of the nasal cavity through a probe for imaging.

[0032] S202, preprocessing the real-time probe image to obtain a preprocessed image. In an embodiment of the present invention, the preprocessing may include but is not limited to image deblurring and image enhancement. Among them, since the nasal endoscopy image is often blurred due to factors such as motion and lighting, it is necessary to reduce the visual artifacts in the image through image deblurring. For example, Wiener Filter can be used to restore the image by minimizing the mean square error; or inverse convolution can be used to directly perform an inverse convolution operation on the blurred image, so as to achieve non-blind deblurring (NBD). In addition, the image enhancement processing can be achieved by using technologies such as histogram equalization (HE) and adaptive histogram equalization (CLAHE) algorithm to achieve image enhancement, so as to achieve the purpose of improving the image quality of the real-time probe image.

[0033] S203, input the preprocessed image into the nasal structure classification model to obtain the predicted probe position output by the nasal structure classification model. The nasal structure classification model is a model obtained by training based on the nasal structure sample image training set. In the training process of the nasal structure classification model, a large number of images of the internal structure of the nasal cavity (e.g., 50,000 images) can be collected to form a training set and a verification set, such as training images of the nasal vestibule, nasal wing, nasal septum, inferior turbinate, middle turbinate, superior turbinate, frontal sinus opening, ethmoid sinus opening, sphenoid sinus opening, maxillary sinus opening, etc., and then each training image is annotated, and then the annotated training image is input into the initial ResNet deep convolutional neural network classification model for training, the initial learning rate is set to 0.01 or 0.001, the batch size is set to 32, 64 or 128, the optimizer includes SGD (stochastic gradient descent) and Adam, and the cross entropy loss function is used to determine whether the loss function has converged, for example, the value of the loss function is compared with a preset convergence threshold, and if it is less than the convergence value, it means that the loss function has converged. If convergence occurs, the final nasal structure classification model can be output, so that the model can have the recognition ability to distinguish different nasal structures based on the input image. In actual operation, the nasal structure type with the highest predicted probability can be used as the predicted probe position.

[0034] S204, based on the predicted penetration position and the endoscope navigation path, determine whether the predicted penetration position can be determined as the real-time penetration position. Due to the complex internal structure of the nasal cavity, the structure output by the nasal structure classification model needs to be further verified to ensure that the predicted penetration position can be determined as the real-time penetration position. In an embodiment of the present invention, if the predicted penetration position is on the endoscope navigation path, and the distance error between the predicted distance and the actual penetration distance of the endoscope is less than a preset error threshold, the predicted penetration position can be determined as the real-time penetration position. Among them, the predicted distance is the position distance between the predicted penetration position and the starting position of the endoscope navigation path.

[0035] S205, determining the secretion stock at the real-time probe position according to the real-time probe image. In an embodiment of the present invention, first, the real-time probe image can be subjected to contrast enhancement processing to obtain a contrast-enhanced image. For example, the CLAHE (Contrast Limited Adaptive Histogram Equalization) image enhancement algorithm can be used to enhance the contrast of the image through local histogram equalization while avoiding excessive enhancement of noise or details. Then, the contrast-enhanced image can be subjected to threshold segmentation to obtain an initial secretion region image. For example, the global threshold can be calculated by the Otsu method (maximum inter-class variance method, an algorithm for automatically selecting an image binarization threshold), so as to separate the secretion region from the background according to the global threshold. Next, the Canny algorithm can be used to detect the image edge of the secretion region image, and the image edge can be filled by morphological operations to obtain the target secretion region image. Finally, the secretion stock at the real-time probe position can be determined based on the number of regional pixels and the pixel area of ​​the target secretion region image. In an embodiment of the present invention, the secretion stock at the real-time probe position can be calculated by the following formula 1, wherein the formula 1 is: , in, The secretion stock at the real-time probe position is the coverage area of ​​the secretions in the nasal cavity, expressed in pixel area; is the number of pixels in the region, is the preset pixel area.

[0036] Preferably, in order to further protect the nasal mucosa, it is also necessary to determine the moving speed parameter in combination with the existence status of the nasal mucosa. Figure 3 This is a flow chart of the third method for driving a nasal endoscope according to an embodiment of the present invention. Figure 3 The nasal endoscope driving method shown in the embodiment of the present invention includes: S301, determine the existence state of the nasal mucosa at the real-time probe position. The existence state of the nasal mucosa at the real-time probe position is determined according to the anatomical structure of the nasal cavity. For example, the nasal septum is located in the middle of the nasal cavity, composed of cartilage and bone, and the surface is covered with mucosa. For example, the inferior turbinate, middle turbinate and superior turbinate are composed of bone and mucosa. For example, the frontal sinus opening, ethmoid sinus opening, sphenoid sinus opening and maxillary sinus opening are also covered with mucosa. When the real-time probe position reaches the aforementioned position, the existence state of the nasal mucosa can be determined as the existence of nasal mucosa. On the other hand, for example, the nasal vestibule is mainly composed of skin and a small amount of glands. When the real-time probe position reaches the nasal vestibule, the existence state of the nasal mucosa can be determined as the absence of nasal mucosa.

[0037] S302, determine the moving speed parameter at the real-time probe position based on the preset collision parameters corresponding to the real-time probe position, the preset basic speed, the secretion stock at the real-time probe position, and the existence state of the nasal mucosa. In an embodiment of the present invention, since the secretions in the nasal cavity have a certain lubricity, the friction between the endoscope and the inside of the nasal cavity can be reduced to a certain extent, so that the moving speed of the endoscope can be adaptively increased at positions with a large amount of secretions. However, if there is nasal mucosa at the real-time probe position, the speed needs to be reduced in order to protect the nasal mucosa. Therefore, the embodiment of the present invention calculates the moving speed parameter at the real-time probe position by the following formula 2, wherein formula 2 is: , in, is the moving speed parameter, Preset collision parameters corresponding to the real-time probe position; is the basic speed quantity; is the secretion lubrication speed coefficient; is the state of nasal mucosa existence. When the state of nasal mucosa existence is the state of nasal mucosa existence, , when the nasal mucosa existence state is no nasal mucosa, ; The basic speed, secretion lubrication speed coefficient and buffer speed are all speed constants. For example, the basic speed can be set to 0.5 cm / s, the secretion lubrication speed coefficient can be set to 0.1 cm / s, and the buffer speed can be set to 0.2 cm / s. In practical applications, they need to be set according to the actual application situation, and are not limited here.

[0038] S303, adjusting the real-time driving speed of the driving motor of the endoscope according to the moving speed parameter. In an embodiment of the present invention, the real-time driving speed can be adjusted until the moving speed of the endoscope reaches the moving speed parameter. Specifically, the input voltage and current can be controlled by the controller to adjust the output speed and torque of the motor, so as to adjust the insertion speed of the endoscope to the moving speed parameter. By adjusting and controlling the insertion speed of the endoscope, the mucosal injury rate can be reduced by at least 50% during endoscopic examination, and the postoperative recovery time can be shortened by at least one week.

[0039] Example 2

[0040] Corresponding to the aforementioned application function implementation method, the present invention also provides an electronic device for executing a nasal endoscope driving method and corresponding embodiments.

[0041] See also Figure 4 , the electronic device 400 includes a memory 410 and a processor 420.

[0042] The processor 420 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 420 runs a preloaded nasal structure classification model, performs preprocessing and position prediction on each frame of the image, and controls the processing delay within 10 milliseconds to ensure the real-time speed adjustment.

[0043] The memory 410 includes various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 420 or other modules of the computer. The permanent storage device can be a readable and writable storage device. The permanent storage device can be a non-volatile storage device that does not lose the stored instructions and data even if the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, an optical drive). The system memory can be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory can store some or all instructions and data required by the processor at runtime. In addition, the memory 410 includes a combination of any computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks can also be used. The memory 410 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not contain carrier waves and transient electronic signals transmitted wirelessly or wired.

[0044] The memory 410 stores executable codes, and when the executable codes are processed by the processor 420 , the processor 420 can execute part or all of the methods described above.

[0045] In addition, the method according to the present invention may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing part or all of the steps in the above method of the present invention.

[0046] Alternatively, the present invention may also be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or electronic device, server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present invention.

[0047] The various logical blocks, modules, circuits, and algorithm steps described above may be implemented as electronic hardware, computer software, or a combination of both.

[0048] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system and method according to multiple embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or code includes one or more executable instructions for realizing the logical function of the specification. The function marked in the square box can occur in a sequence different from that marked in the accompanying drawings, for example, two continuous square boxes can actually be executed substantially in parallel, and they can also be executed in the opposite order sometimes, depending on the function involved. Each square box in the figure and / or the flow chart, and the combination of the square boxes in the block diagram and / or the flow chart can be realized by a special hardware-based system that performs the function or operation of the specification, or can be realized by a combination of special hardware and computer instructions.

[0049] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A nasal endoscope driving method, characterized in that: include: The real-time nasal in-situ images are collected through endoscope. Determine the real-time insertion position reached by the endoscope according to the real-time insertion image and the endoscope navigation path preset by the endoscope, and determine the amount of secretions at the real-time insertion position according to the real-time insertion image; Determining a moving speed parameter of the endoscope at the real-time probing position according to a preset collision parameter corresponding to the real-time probing position and the amount of secretions at the real-time probing position; The real-time driving speed of the driving motor of the endoscope is adjusted according to the moving speed parameter.

2. The nasal endoscope driving method according to claim 1, characterized in that: Determining the real-time penetration position reached by the endoscope according to the real-time penetration image and the endoscope navigation path preset by the endoscope includes: Preprocessing the real-time penetration image to obtain a preprocessed image; Inputting the preprocessed image into a nasal structure classification model to obtain a predicted probe position output by the nasal structure classification model; wherein the nasal structure classification model is a model trained based on a nasal structure sample image training set; Based on the predicted insertion position and the endoscope navigation path, it is determined whether the predicted insertion position can be determined as the real-time insertion position.

3. The nasal endoscope driving method according to claim 2, characterized in that: Determining whether the predicted insertion position can be determined as the real-time insertion position based on the predicted insertion position and the endoscope navigation path includes: When the predicted penetration position is on the endoscope navigation path and the distance error between the predicted distance and the actual penetration distance of the endoscope is less than a preset error threshold, the predicted penetration position is determined as the real-time penetration position; The predicted distance is the distance between the predicted insertion position and the starting position of the endoscope navigation path.

4. The nasal endoscope driving method according to claim 1, characterized in that: Determining the secretion stock at the real-time probe position according to the real-time probe image comprises: Performing contrast enhancement processing on the real-time probe image to obtain a contrast enhanced image; Performing threshold segmentation on the contrast-enhanced image to obtain an initial secretion region image; Detecting the image edge of the secretion area image, and filling the image edge through morphological operation to obtain a target secretion area image; The secretion stock at the real-time probe position is determined based on the regional pixel number and pixel area of ​​the target secretion region image.

5. The nasal endoscope driving method according to claim 4, characterized in that: Determining the secretion stock at the real-time probe position based on the number of regional pixels and the pixel area of ​​the target secretion region image includes: The secretion inventory at the real-time probe position is calculated by the following formula 1, wherein the formula 1 is: ， in, The secretion stock at the real-time probe position is the coverage area of ​​the secretions in the nasal cavity, expressed in pixel area; is the number of pixels in the area, Set the pixel area.

6. The nasal endoscope driving method according to claim 1, characterized in that: Determining the moving speed parameter of the endoscope at the real-time probe position according to the preset collision parameter corresponding to the real-time probe position and the amount of secretions at the real-time probe position includes: Determining the existence status of the nasal mucosa at the real-time probe position; The moving speed parameter at the real-time probe position is determined based on the preset collision parameter corresponding to the real-time probe position, the preset basic speed, the secretion stock at the real-time probe position and the existence state of the nasal mucosa.

7. The nasal endoscope driving method according to claim 6, characterized in that: Determining the moving speed parameter at the real-time probe position based on the preset collision parameter corresponding to the real-time probe position, the preset basic speed, the secretion stock at the real-time probe position and the existence state of the nasal mucosa includes: The moving speed parameter at the real-time probe position is calculated by the following formula 2, wherein the formula 2 is: ， in, is the moving speed parameter, Preset collision parameters corresponding to the real-time probe position; is the basic speed quantity; is the secretion lubrication speed coefficient; is the state of nasal mucosa existence. When the state of nasal mucosa existence is the state of nasal mucosa existence, , when the nasal mucosa existence state is no nasal mucosa, ; The buffer speed.

8. The nasal endoscope driving method according to claim 1, characterized in that: Adjusting the real-time driving speed of the driving motor of the endoscope according to the moving speed parameter includes: The real-time driving speed is adjusted until the moving speed of the endoscope reaches the moving speed parameter.

9. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by a processor, causes the processor to execute the method according to any one of claims 1 to 8.

10. A non-transitory machine-readable storage medium, characterized in that: An executable code is stored thereon, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as claimed in any one of claims 1 to 8.

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