Equipment control method applied to auxiliary defecation equipment and auxiliary defecation equipment

Abstract

The embodiment of the invention discloses an equipment control method applied to auxiliary defecation equipment and the auxiliary defecation equipment. According to one specific embodiment, the method comprises the steps that a micro pressure pump is controlled to drive cleaning liquid stored in a liquid storage box to conduct pipeline cleaning on an infusion pipeline included in the auxiliary defecation equipment; in response to the condition that cleaning is completed and the current mode is an auxiliary defecation mode, collecting a rectum and intestinal tract image sequence; performing intestinal tract state recognition on the rectal intestinal tract image sequence to generate intestinal tract state information; determining a lubrication mode according to the intestinal tract lubrication degree and the intestinal tract closure degree; the lubricating liquid stored in the liquid storage box is conveyed to the inner wall of the rectum and the intestinal tract through the liquid conveying pipeline; hydraulic rod control information is generated; an electric hydraulic rod included in the auxiliary defecation equipment is controlled to stretch out and draw back. By means of the implementation mode, the defecation assisting effect is effectively promoted, and meanwhile the injury risk and the infection risk caused by manually drawing out the corresponding rectum inner wall and the anus area are effectively reduced.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the fields of computer technology and medical devices, and in particular to a device control method for an auxiliary defecation device and an auxiliary defecation device. Background Art

[0002] In the ward environment, patients who are bedridden for a long time often suffer from constipation symptoms, so medical staff need to use manual extraction and other auxiliary defecation methods to assist patients in defecation during care. However, manual extraction methods will cause great psychological pressure on both doctors and patients, and may also increase the risk of damage to the inner wall of the rectum and anus area and the risk of infection.

[0003] The above information disclosed in this Background section is only for enhancement of understanding of the background of the inventive concept and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the invention

[0004] The content of this disclosure is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0005] Some embodiments of the present disclosure propose a device control method and an auxiliary defecation device applied to an auxiliary defecation device to solve the technical problems mentioned in the above background technology section.

[0006] In a first aspect, some embodiments of the present disclosure provide a device control method for an auxiliary defecation device, the method comprising: in response to the auxiliary defecation device being successfully connected to a control terminal and the current mode being a cleaning mode, controlling a micro pressure pump to drive the cleaning fluid stored in a liquid storage box to clean the infusion pipeline included in the auxiliary defecation device; in response to the cleaning being completed and the current mode being the auxiliary defecation mode, collecting a rectal intestinal image sequence through a micro camera; performing intestinal state recognition on the rectal intestinal image sequence to generate intestinal state information, wherein the intestinal state information comprises: intestinal lubrication, intestinal closure and an attachment information set, wherein the attachment information represents attachments attached to the inner wall of the rectum, and the attachment information comprises: attachment type and attachment position; determining a lubrication mode according to the intestinal lubrication and the intestinal closure; according to the lubrication mode, delivering the lubricating fluid stored in the liquid storage box to the inner wall of the rectum through the infusion pipeline; generating hydraulic rod control information according to the intestinal state information and the lubrication mode; and controlling the extension and retraction of the electric hydraulic rod included in the auxiliary defecation device according to the hydraulic rod control information.

[0007] In a second aspect, some embodiments of the present disclosure provide an auxiliary defecation device, which is applied to any of the above-mentioned device control methods in the first aspect, and is characterized in that it includes: a deep-going component, an electric hydraulic rod, a power supply and control component, wherein: the deep-going component includes: a flexible silicone body, a multi-section support frame, a miniature waterproof camera, a miniature pressure pump, a liquid storage box, an infusion pipeline and a connecting piece, wherein the multi-section support frame is embedded in the flexible silicone body to support the flexible silicone body to swing at a micro-angle, the miniature waterproof camera is arranged at the head of the flexible silicone body, the infusion pipeline is arranged inside the flexible silicone body, the liquid storage box is used to store any one of a cleaning liquid, a lubricating liquid, and a liquid laxative, the liquid storage box is respectively connected to the pipelines between the infusion pipeline and the miniature pressure pump, the connecting piece is used to connect the deep-going component with the electric hydraulic rod, and a charging contact point is arranged on the first side of the connecting piece, and the charging contact point is connected to the miniature pressure pump and the miniature pressure pump through the power supply line arranged in the connecting piece. Power supply for waterproof camera; the above-mentioned electric hydraulic rod includes: a primary hydraulic rod and a secondary hydraulic rod, wherein the above-mentioned secondary hydraulic rod is connected to the above-mentioned connecting piece, and the second side of the above-mentioned secondary hydraulic rod is provided with an annular power supply contact ring, and the above-mentioned first side and the above-mentioned second side are opposite, and when the above-mentioned connecting piece is connected to the above-mentioned secondary hydraulic rod, the charging contact point is connected to the annular power supply contact ring; the above-mentioned power supply and control component includes: a power supply module, a control module and a wireless receiver, the above-mentioned power supply and control component is connected to the above-mentioned primary hydraulic rod, the above-mentioned power supply module is used to power the above-mentioned micro waterproof camera, the above-mentioned micro pressure pump and the above-mentioned electric hydraulic rod, the above-mentioned control module is used to control the above-mentioned micro waterproof camera, the above-mentioned micro pressure pump and the above-mentioned electric hydraulic rod, in the wireless communication mode, the above-mentioned auxiliary defecation device is connected to the control terminal through the above-mentioned wireless receiver, the above-mentioned power supply module includes: a battery and a charging interface, in the wired communication mode, the above-mentioned auxiliary defecation device is connected to the control terminal through the above-mentioned charging interface.

[0008] In a third aspect, some embodiments of the present disclosure provide a device control apparatus for an auxiliary defecation device, the device comprising: a first control unit, configured to control a micro pressure pump in response to the auxiliary defecation device being successfully connected to a control terminal and the current mode being a cleaning mode, so as to drive the cleaning liquid stored in the liquid storage box to clean the infusion pipeline included in the auxiliary defecation device; a collection unit, configured to collect a rectal intestinal image sequence through a micro camera in response to the cleaning being completed and the current mode being the auxiliary defecation mode; and an intestinal state recognition unit, configured to perform intestinal state recognition on the rectal intestinal image sequence to generate intestinal state information, wherein the intestinal state information comprises: A set of intestinal lubrication, intestinal closure and attachment information, wherein the attachment information represents attachments attached to the inner wall of the rectum and the attachment information includes: attachment type and attachment position; a determination unit, configured to determine a lubrication mode according to the above-mentioned intestinal lubrication and the above-mentioned intestinal closure; a delivery unit, configured to deliver the lubricating fluid stored in the above-mentioned storage box to the inner wall of the rectum through the above-mentioned infusion pipeline according to the above-mentioned lubrication mode; a generation unit, configured to generate hydraulic rod control information according to the above-mentioned intestinal state information and the above-mentioned lubrication mode; a second control unit, configured to control the extension and retraction of the electric hydraulic rod included in the above-mentioned auxiliary defecation device according to the above-mentioned hydraulic rod control information.

[0009] In a fourth aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner of the above-mentioned first aspect.

[0010] In a fifth aspect, some embodiments of the present disclosure provide a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the method described in any implementation manner of the above-mentioned first aspect is implemented.

[0011] The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the device control method applied to the auxiliary defecation device of some embodiments of the present disclosure, the risk of injury and infection caused by manual extraction of the corresponding rectal inner wall and anus area is effectively reduced. Specifically, the reason for the high risk of injury and infection is that the manual extraction method requires medical staff to insert their fingers (for example, with finger cots) deep into the patient's rectum to stimulate the inner wall of the rectum, thereby promoting the patient's defecation. However, the inner wall of the rectum and the anus area are relatively sensitive. When the finger force is improper or the disinfection is improper, it is very easy to cause the risk of injury and infection. Based on this, the device control method applied to the auxiliary defecation device of some embodiments of the present disclosure, first, in response to the auxiliary defecation device being successfully connected to the control terminal and the current mode being the cleaning mode, the micro pressure pump is controlled to drive the cleaning liquid stored in the liquid storage box to clean the infusion pipeline included in the above-mentioned auxiliary defecation device. In this way, the self-cleaning of the auxiliary defecation device is achieved, thereby reducing the risk of infection. Secondly, in response to the completion of the cleaning and the current mode being the auxiliary defecation mode, the rectal intestinal image sequence is collected by the micro camera. In this way, as the auxiliary defecation device goes deeper into the rectum, the image of the inner wall of the rectum is collected. Then, the intestinal state recognition is performed on the above-mentioned rectal intestinal image sequence to generate intestinal state information, wherein the intestinal state information includes: intestinal lubrication, intestinal closure and attachment information set, wherein the attachment information represents the attachment attached to the inner wall of the rectum, and the attachment information includes: attachment type and attachment position. In this way, the lubrication, closure and attachments in the patient's rectum are automatically identified. Compared with the manual extraction method, the state of the patient's rectum can be determined more visually and accurately. Further, according to the above-mentioned intestinal lubrication and the above-mentioned intestinal closure, the lubrication mode is determined. In this way, the lubrication mode is automatically adjusted to avoid the risk of abrasion to the inner wall of the patient's rectum. Next, according to the above-mentioned lubrication mode, the lubricating liquid stored in the above-mentioned liquid storage box is delivered to the inner wall of the rectum through the above-mentioned infusion pipeline. In addition, according to the above-mentioned intestinal state information and the above-mentioned lubrication mode, hydraulic rod control information is generated. Finally, according to the above-mentioned hydraulic rod control information, the electric hydraulic rod included in the above-mentioned auxiliary defecation device is controlled to be extended and retracted. By controlling the extension and retraction of the electric hydraulic rod, the patient's rectum and intestines are stimulated periodically to improve the effect of assisted defecation. In summary, the above method effectively promotes the effect of assisted defecation, while effectively reducing the risk of damage and infection to the corresponding rectal inner wall and anal area caused by manual extraction. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0013] Figure 1 is a flow chart of some embodiments of a device control method applied to an auxiliary defecation device according to the present disclosure; Figure 2 It is a structural schematic diagram corresponding to the auxiliary defecation equipment; Figure 3 It is a schematic diagram of the structure corresponding to the in-depth component and the secondary hydraulic rod; Figure 4 It is a cross-sectional schematic diagram corresponding to the in-depth component; Figure 5 It is a schematic diagram of the effect of the pressure relief nozzle in the closed state and the open state; Figure 6 It is a schematic diagram of the structure corresponding to the charging contact point and the annular power supply contact ring; Figure 7 It is a schematic diagram of the structure corresponding to the power supply and control components; Figure 8 It is a schematic diagram of the air flow during the residual liquid cleaning process; Fig. 9 is a schematic structural diagram of some embodiments of a device control device applied to an auxiliary defecation device according to the present disclosure; Fig.10 It is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0014] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0015] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0016] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0017] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0018] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0019] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0020] refer to Figure 1 , shows a process 100 of some embodiments of a device control method for an auxiliary defecation device according to the present disclosure. The device control method for an auxiliary defecation device comprises the following steps: Step 101, in response to the auxiliary defecation device being successfully connected to the control terminal and the current mode being the cleaning mode, controls the micro pressure pump to drive the cleaning fluid stored in the liquid storage box to clean the infusion pipeline included in the auxiliary defecation device.

[0021] In some embodiments, the execution subject (e.g., a computing device) of the device control method applied to the auxiliary defecation device can control a micro pressure pump in response to the auxiliary defecation device being successfully connected to the control terminal and the current mode being the cleaning mode, so as to drive the cleaning fluid stored in the liquid storage box to clean the infusion pipeline included in the auxiliary defecation device. The auxiliary defecation device can be a device for assisting constipation patients in defecation. The control terminal can be a mobile terminal connected to the auxiliary defecation device. For example, the control terminal can be a medical PDA (Personal Digital Assistant) terminal.

[0022] Specifically, first, see Figure 2 The schematic diagram of the structure of the auxiliary defecation device shown in the figure, wherein the auxiliary defecation device includes: a deep component 1, an electric hydraulic rod 2, and a power supply and control component 3. Figure 3 The schematic diagram of the structure corresponding to the penetration assembly and the secondary hydraulic rod shown, and Figure 4 The cross-sectional schematic diagram corresponding to the penetration component shown, wherein the penetration component 1 includes: a flexible silicone body 4, a multi-section support skeleton 5, a miniature waterproof camera 6, a miniature pressure pump 7, a liquid storage box 8, an infusion pipeline 11 and a connector 12.

[0023] Among them, the above-mentioned multi-section support skeleton 5 is embedded in the flexible silicone body 4 to support the flexible silicone body 4 to swing at a micro-angle. For example, the multi-section support skeleton 5 can use hard silicone with a hardness greater than that of the flexible silicone body 4 as the skeleton. In practice, the use of a relatively soft flexible silicone body 4 can avoid damage to the inner wall of the patient's rectum as much as possible. However, the relatively soft flexible silicone body 4 may have the problem of insufficient support, which is manifested as the inability to effectively advance into the patient's rectum, so a multi-section support skeleton 5 is embedded in the flexible silicone body 4. In particular, considering that the rectum has a certain curvature, the flexible silicone body 4 can swing at a micro-angle to avoid damage to the inner wall of the patient's rectum caused by the flexible silicone body 4 going straight in and out.

[0024] The above-mentioned micro waterproof camera 6 is arranged at the head of the above-mentioned flexible silicone body 4. In practice, as the in-depth component 1 is pushed into the rectum of the patient, the micro waterproof camera 6 can collect images of the inner wall of the rectum. Since the rectum has a certain degree of humidity, a micro waterproof camera 6 with waterproof capability is selected to improve working stability.

[0025] Among them, the infusion line 11 is arranged inside the above-mentioned flexible silicone body 4. In practice, the flexible silicone body 4 adopts a multi-level structure, and the joints of each two adjacent structures include a micro-liquid outlet, and the micro-liquid outlet is connected to the infusion line 11. In order to avoid damage to the inner wall of the rectum, lubricating liquid is output through the infusion line 11 to reduce friction. Specifically, since the flexible silicone body 4 can swing at a micro-angle, the infusion line 11 is made of soft materials. For example, it is made of PVC (polyvinyl chloride plastic) material or TPE (high-performance polyolefin thermoplastic elastomer) material. In addition, cleaning liquid can also be output through the infusion line 11 to clean the joints of each two adjacent structures in the flexible silicone body 4, as well as to clean the inside of the infusion line 11. Furthermore, liquid laxatives can also be output through the infusion line 11 to further promote defecation in patients with constipation.

[0026] Among them, the liquid storage box 8 is externally placed outside the deep component 1. In practice, the external placement can facilitate liquid filling and observation of the remaining liquid in the liquid storage box 8. The above-mentioned liquid storage box 8 is used to store any one of a cleaning liquid, a lubricating liquid, and a liquid laxative. Specifically, the cleaning liquid can be physiological saline. The lubricating liquid can be medical grade glycerin. The liquid laxative can be a suppository or medical grade glycerin. In addition, the liquid storage box 8 can also include: a box cover 9. Opening the box cover 9 facilitates liquid filling.

[0027] Wherein, the above-mentioned micro pressure pump 7 is respectively connected with the pipeline between the above-mentioned infusion pipeline 11 and the above-mentioned liquid storage box 8. In practice, the micro pressure pump 7 is arranged between the liquid storage box 8 and the infusion pipeline 11, so as to pump the liquid in the liquid storage box 8 into the infusion pipeline 11. Wherein, the micro pressure pump 7 can adopt a liquid-gas dual-purpose micro diaphragm liquid pump. By adopting a liquid-gas dual-purpose micro diaphragm liquid pump, the liquid in the liquid storage box 8 can be pumped into the infusion pipeline 11, and the residual liquid in the infusion pipeline 11 can be removed by pumping in air when the residual liquid is cleaned. Specifically, the micro pressure pump 7 includes: a liquid (gas) outlet and a liquid (gas) inlet. The liquid (gas) outlet is connected to the infusion pipeline 11. The liquid (gas) inlet is connected to the liquid storage box 8. In particular, considering that during the residual liquid cleaning, when the micro pressure pump 7 is pumping air into the infusion pipeline 11, if the liquid storage box 8 uses a conventional box cover, the liquid storage box 8 will be in an underpressure state, which may cause the shell of the liquid storage box 8 to be damaged. Therefore, see further Figure 5 The schematic diagram of the effect of the pressure relief nozzle in the closed state and the open state is shown, wherein the box cover 9 includes a pressure relief nozzle 10 made of silicone material. An opening is provided on the pressure relief nozzle 10. In the (normal pressure) closed state, the pressure relief nozzle 10 is sealed. When the liquid storage box 8 is under-pressured, the pressure relief nozzle 10 opens, so that the liquid storage box 8 can inhale external air to maintain the balance between the liquid storage box 8 and the external air pressure.

[0028] The connecting member 12 is used to connect the penetration assembly 1 with the electric hydraulic rod 2. Figure 6 The schematic diagram of the structure corresponding to the charging contact point and the annular power supply contact ring is shown, wherein a charging contact point 15 is provided on the first side of the above-mentioned connecting member 12, and the charging contact point 15 supplies power to the above-mentioned micro pressure pump 7 and the above-mentioned micro waterproof camera 6 through the power supply line provided in the above-mentioned connecting member 12.

[0029] The electric hydraulic rod 2 includes: a primary hydraulic rod 14 and a secondary hydraulic rod 13, wherein the secondary hydraulic rod 13 is connected to the connecting piece 12. In practice, the secondary hydraulic rod 13 and the connecting piece 12 are threadedly connected. Specifically, the connecting piece 12 adopts an external thread. The secondary hydraulic rod 13 adopts an internal thread. An annular power supply contact ring 16 is provided on the second side of the secondary hydraulic rod 13, and the first side and the second side are opposite to each other. When the connecting piece 12 is connected to the secondary hydraulic rod 13, the charging contact point 15 is connected to the annular power supply contact ring 16.

[0030] See further Figure 7The schematic diagram of the structure corresponding to the power supply and control component shown in the figure, wherein the power supply and control component 3 includes: a power supply module 17, a control module 18 and a wireless receiver 19. The power supply and control component 3 is connected to the first-level hydraulic rod 14. The power supply module 17 is used to power the micro waterproof camera 6, the micro pressure pump 7 and the electric hydraulic rod 2. The control module 18 is used to control the micro waterproof camera 6, the micro pressure pump 7 and the electric hydraulic rod 2. In the wireless communication mode, the auxiliary defecation device is connected to the control terminal through the wireless receiver 19, and the power supply module 17 includes: a battery 20 and a charging interface 21. In the wired communication mode, the auxiliary defecation device is connected to the control terminal through the charging interface 21. Specifically, the power supply module 17 may also include a battery management chip. The charging interface 21 may use a Type-C interface. The wireless receiver 19 may use a Bluetooth receiver. The control module 18 may include a control circuit based on an MCU (Microcontroller Unit).

[0031] The above-mentioned auxiliary defecation device is the core invention of the present invention. It can effectively assist medical staff to assist patients with constipation symptoms in defecation. At the same time, during the auxiliary defecation process, the risk of damage to the inner wall of the rectum and the anus area and the risk of infection can be effectively reduced. At the same time, the use of a method of separating the control terminal from the auxiliary defecation device can also effectively control the manufacturing cost of the auxiliary defecation device, and utilize the existing medical PDA terminal to reduce the user's procurement cost. In addition, the dual-mode (wired communication mode, wireless communication mode) communication method allows medical staff to effectively control the auxiliary defecation device and intuitively observe the situation in the patient's rectum.

[0032] It should be noted that the above-mentioned computing device can be hardware or software. When the computing device is hardware, it can be implemented as a single device. When the computing device is embodied as software, it can be installed in the hardware devices listed above. It can be implemented as a single software or software module. No specific limitation is made here. In practice, the above-mentioned computing device can be the control module 18.

[0033] In some optional implementations of some embodiments, the execution subject controls the micro pressure pump to drive the cleaning liquid stored in the liquid storage box to clean the infusion pipeline included in the auxiliary defecation device, including: The first step is to control the micro pressure pump to drive the cleaning liquid stored in the liquid storage box at a first pressure value to pre-clean the infusion pipeline for a first preset time.

[0034] In practice, since the infusion line is connected to the outside world, the cleanliness of the infusion line may be affected. Therefore, in order to ensure the cleanliness of the auxiliary defecation equipment, pre-cleaning is first performed to soften the residue in the infusion line and moisten the infusion line. Therefore, a smaller first pressure value can be set (only to ensure that the cleaning liquid can be driven into the infusion line) to achieve the purpose of pre-cleaning the infusion line.

[0035] In the second step, in response to the completion of the pre-cleaning, the micro pressure pump is controlled to drive the cleaning liquid stored in the liquid storage box at a second pressure value to perform positive cleaning on the infusion pipeline for a second preset time.

[0036] Among them, the second pressure value is greater than the first pressure value. In practice, since the pre-cleaning has been done, the residues attached to the infusion line have been loosened due to infiltration. Therefore, a second pressure value greater than the first pressure value can be used to drive the cleaning liquid to flush the infusion line to discharge the residues out of the infusion line. In addition, considering that the storage capacity of the liquid storage box is limited, the first preset time length can be greater than the second preset time length, so as to achieve the purpose of sufficient infiltration and rapid flushing.

[0037] The third step is, in response to the positive cleaning being completed, controlling the micro pressure pump to clean the residual liquid in the infusion pipeline at a third pressure value for a third preset time period.

[0038] In practice, after cleaning, a lubricant or a liquid laxative needs to be injected into the liquid storage box. Therefore, the cleaning liquid in the liquid storage box and the infusion line needs to be discharged as much as possible. At this time, the third pressure value can be greater than the second pressure value, so that the cleaning liquid is discharged as much as possible.

[0039] As an example, see Figure 8 The schematic diagram of air flow during the residual liquid cleaning process is shown in FIG. 1 , wherein, since the micro pressure pump 7 can be a liquid-gas dual-purpose micro diaphragm liquid pump, air can be pumped into the infusion pipeline 11 during residual liquid cleaning, which will cause the liquid storage box 8 to be in an underpressure state. At this time, the pressure relief nozzle 10 on the box cover 9 will open to inhale external air, so that air can enter the liquid storage box 8 from the outside and be pumped into the infusion pipeline 11 through the micro pressure pump 7.

[0040] In practice, after the auxiliary defecation device is used, the first to third steps can be performed again to achieve the purpose of cleaning the auxiliary defecation device.

[0041] Step 102, in response to the cleaning being completed and the current mode being the assisted defecation mode, a rectal intestinal image sequence is collected by a micro camera.

[0042] In some embodiments, the execution subject may collect a rectal intestinal image sequence through a micro camera in response to the cleaning being completed and the current mode being the assisted defecation mode. In practice, as the deep-draining component included in the assisted defecation device is pushed into the rectal intestinal tract of the patient, the micro camera may be turned on, and images of the rectal intestinal tract of the patient may be collected through the micro camera as a rectal intestinal image sequence. Since the deep-draining component moves in the rectal intestinal tract of the patient, a plurality of different rectal intestinal images may be collected.

[0043] Step 103: Perform intestinal state recognition on the rectal intestinal image sequence to generate intestinal state information.

[0044] In some embodiments, the execution subject can perform intestinal state recognition on the rectal intestinal image sequence to generate intestinal state information. The intestinal state information includes: intestinal lubrication, intestinal closure and attachment information set, wherein intestinal lubrication represents the lubrication degree of the inner wall of the patient's rectum and intestine, and can be represented by a numerical value of 0-1. Specifically, the larger the value, the higher the lubrication degree. Intestinal closure represents the contraction degree of the patient's rectum and intestine, and can be represented by a numerical value of 0-1. Specifically, the larger the value, the greater the intestinal opening (the smaller the value, the higher the intestinal contraction degree).

[0045] The attachment information represents the attachments attached to the inner wall of the rectum, and the attachment information includes: attachment type and attachment location. Specifically, a YOLO (You Only Look Once) target detection model can be used as the backbone network to perform attachment recognition and obtain an attachment information set. At the same time, the target detection model is connected to two classifiers to determine the intestinal lubricity and intestinal closure respectively.

[0046] In some optional implementations of some embodiments, the execution subject performs intestinal state recognition on the rectal intestinal image sequence to generate intestinal state information, including: In the first step, each rectal intestinal image in the rectal intestinal image sequence is enhanced to generate an enhanced rectal intestinal image, thereby obtaining an enhanced rectal intestinal image sequence.

[0047] In practice, the brightness of the rectal intestinal image can be enhanced by using a histogram equalization method to generate an enhanced rectal intestinal image.

[0048] In the second step, approximate image elimination is performed on the enhanced rectal intestinal image sequence to obtain a eliminated rectal intestinal image sequence.

[0049] In practice, as the in-depth component moves in the rectum, more repeated rectum images are collected. In order to reduce the amount of data processing in the subsequent recognition process, the image similarity calculation method can be used to eliminate similar images to reduce the number of enhanced rectum images in the enhanced rectum image sequence. Specifically, the enhanced rectum image can be converted into an image vector, and the similarity of the image vectors corresponding to each two adjacent enhanced rectum images is calculated to determine whether they are similar images.

[0050] As an example, the enhanced rectal intestinal image sequence may include: enhanced rectal intestinal image A, enhanced rectal intestinal image B. Taking enhanced rectal intestinal image A as an example, the image size of the enhanced rectal intestinal image may be N×M, so it can be converted into an image vector A of 1×(N×M)×3, where "3" represents the three channels of R, G, and B. Similarly, the enhanced rectal intestinal image B will also correspond to an image vector B of 1×(N×M)×3. When calculating the cosine similarity of image vector A and image vector B, the cosine similarity of the vectors of the corresponding channels in image vector A and image vector B can be calculated respectively and weighted summed, as the final image similarity, which can be represented by the following formula: Image similarity (enhanced rectal intestinal image A, enhanced rectal intestinal image B) = β1×Sim(image vector A(R), image vector B(R))+β2×Sim(image vector A(G), image vector B(G))+β3×Sim(image vector A(B), image vector B(B)). Among them, image vector A(R) represents the vector of 1×(N×M) corresponding to the R (red) channel in image vector A. Image vector A(G) represents the vector of 1×(N×M) corresponding to the G (green) channel in image vector A. Image vector A(B) represents the vector of 1×(N×M) corresponding to the B (blue) channel in image vector A. Image vector B(R) represents the vector of 1×(N×M) corresponding to the R (red) channel in image vector B. Image vector B(G) represents the vector of 1×(N×M) corresponding to the G (green) channel in image vector B. The image vector B(B) represents the 1×(N×M) vector corresponding to the B (blue) channel in the image vector B.

[0051] The third step is to determine the intestinal state information based on the above-mentioned rectal intestinal image sequence after elimination and the pre-trained intestinal state recognition model.

[0052] In practice, the intestinal state recognition model can use the CSPDarknet model as the backbone network structure. In addition, the CSPDarknet model is connected to a three-layer FPN (Feature Pyramid Networks) network for downsampling of image features. Furthermore, the FPN network is connected to a locator (YOLO Head) and two classifiers (first classifier, second classifier) ​​to output the attachment information set, (first classifier output) intestinal lubricity, and (second classifier output) intestinal closure, respectively. Through the CSPDarknet model and the FPN network, shallow features can be effectively extracted, while enhancing the model's ability to express features of different scales. In addition, the CSP structure in the CSPDarknet model can also effectively reduce repeated gradient information, thereby reducing computational redundancy, so that the model can reduce the demand for computing resources while ensuring high performance, especially reducing the computing pressure of the control module.

[0053] Specifically, the intestinal state recognition model can be trained in a supervised training manner, wherein the training samples can be images pre-labeled with intestinal lubricity, intestinal closure, and attachment information, and supervised training is performed by constructing a joint loss function.

[0054] Step 104, determining a lubrication mode according to the intestinal lubrication and intestinal closure.

[0055] In some embodiments, the execution subject may determine the lubrication mode according to the intestinal lubricity and intestinal closure. In practice, when the intestinal lubricity is low and / or the intestinal closure is high, a lubrication mode that pumps out more lubricating fluid may be used.

[0056] Optionally, the lubrication mode includes: a first lubrication mode, a second lubrication mode, a third lubrication mode and a fourth lubrication mode. Among them, the first lubrication mode represents the output of the lubricating liquid stored in the above-mentioned liquid storage box in a fixed frequency and quantitative manner. The second lubrication mode represents the increase of the output liquid volume of the lubricating liquid according to the above-mentioned intestinal state information. The third lubrication mode represents the reduction of the output frequency of the lubricating liquid according to the above-mentioned intestinal state information. The fourth lubrication mode represents the increase of the output liquid volume of the lubricating liquid and the reduction of the output frequency of the lubricating liquid according to the above-mentioned intestinal state information. In practice, the reason for reducing the output frequency of the lubricating liquid in the third lubrication mode and the fourth lubrication mode is that the intestinal closure is small, which represents the greater contraction of the rectum, which may be caused by the patient's tension. At the same time, due to the temperature difference between the liquid temperature of the lubricating liquid and the intestinal temperature of the rectum (generally manifested as the liquid temperature is lower than the intestinal temperature), the high-frequency output of the lubricating liquid with a lower temperature will further stimulate the patient's rectal intestinal contraction and increase the risk of damaging the inner wall of the rectum. At the same time, by increasing the output liquid volume of the lubricating liquid, the risk of damage to the inner wall of the rectum caused by friction is further reduced.

[0057] In some optional implementations of some embodiments, the execution subject determines the lubrication mode according to the intestinal lubrication and intestinal closure, including: In the first step, in response to the intestinal lubrication being greater than a preset intestinal lubrication and the intestinal closure being greater than a preset intestinal closure, the lubrication mode is determined to be the first lubrication mode.

[0058] In a second step, in response to the intestinal lubrication being less than or equal to a preset intestinal lubrication and the intestinal closure being greater than a preset intestinal closure, the lubrication mode is determined to be the second lubrication mode.

[0059] In a third step, in response to the intestinal lubrication being greater than a preset intestinal lubrication and the intestinal closure being less than or equal to a preset intestinal closure, the lubrication mode is determined to be a third lubrication mode.

[0060] In practice, since the smaller the intestinal closure, the higher the degree of contraction of the rectum and intestine, it is necessary to select the third lubrication mode to reduce the output frequency of the lubricating fluid.

[0061] In a fourth step, in response to the intestinal lubrication being less than or equal to a preset intestinal lubrication and the intestinal closure being less than or equal to a preset intestinal closure, the lubrication mode is determined to be a fourth lubrication mode.

[0062] In practice, the smaller the intestinal closure, the higher the degree of contraction of the rectum, and the smaller the intestinal lubrication, the less smooth the rectum. Therefore, it is necessary to select the fourth lubrication mode to increase the output volume of the lubricating fluid to improve the lubrication of the intestinal wall, while reducing the output frequency of the lubricating fluid to reduce irritation.

[0063] Step 105 , according to the lubrication mode, the lubricating liquid stored in the liquid storage box is delivered to the inner wall of the rectum through the infusion pipeline.

[0064] In practice, the above-mentioned execution subject can deliver the lubricating liquid stored in the liquid storage box to the inner wall of the rectum through the infusion pipeline according to the lubrication mode. Specifically, the pumping pressure and pumping frequency of the micro pressure pump can be adjusted according to the lubrication mode, and then the lubricating liquid stored in the liquid storage box can be delivered to the inner wall of the rectum through the infusion pipeline, so as to adjust the output liquid volume and output frequency of the lubricating liquid delivered to the inner wall of the rectum.

[0065] Step 106, generating hydraulic rod control information according to the intestinal state information and the lubrication mode.

[0066] In some embodiments, the above-mentioned execution entity can generate hydraulic rod control information based on the intestinal state information and the lubrication mode. Among them, the hydraulic rod control information represents the control information of the electric hydraulic rod. In practice, the hydraulic rod control information may include: movement speed and movement cycle. In practice, in order to effectively assist defecation, the auxiliary defecation device can drive the electric hydraulic rod to reciprocate and periodically stimulate the patient's rectum. Different patients have different sensitivities to stimulation, so it is necessary to adjust the movement speed and movement cycle of the electric hydraulic rod according to actual conditions.

[0067] In some optional implementations of some embodiments, the execution subject generates hydraulic rod control information according to the intestinal state information and the lubrication mode, including: In the first step, in response to the current movement direction of the electric hydraulic rod being forward and the lubrication mode being not the first lubrication mode, according to the lubrication mode, the current movement speed of the electric hydraulic rod is reduced by a first preset ratio to obtain an updated movement speed.

[0068] In practice, the current movement direction is positive, indicating that the deep component is deep into the rectum of the patient. That is, in the second lubrication mode, the third lubrication mode, and the fourth lubrication mode, the current movement speed of the electric hydraulic rod is reduced to reduce the probability of damage to the inner wall of the intestine caused by friction. Specifically, the first preset magnification can range from 0.6 to 0.5. That is, the updated movement speed = the first preset magnification × the current movement speed.

[0069] In a second step, in response to the current movement direction of the electric hydraulic rod being forward and the lubrication mode being the first lubrication mode, the current movement speed of the electric hydraulic rod is determined as the updated movement speed.

[0070] In a third step, in response to the current movement direction of the electric hydraulic rod being reverse and the lubrication mode being the first lubrication mode or the second lubrication mode, the current movement speed of the electric hydraulic rod is determined as the updated movement speed.

[0071] In practice, since the electrohydraulic rod moves periodically, the current direction of movement being reversed represents the removal of the penetration component from the rectal intestine of the patient.

[0072] In the fourth step, in response to the current movement direction of the electric hydraulic rod being reverse and the lubrication mode being the third lubrication mode or the fourth lubrication mode, according to the lubrication mode, the current movement speed of the electric hydraulic rod is reduced by a second preset ratio to obtain an updated movement speed.

[0073] Among them, the first preset ratio is less than the second preset ratio. Specifically, the value range of the second preset ratio can be 0.8 to 0.6. That is, the updated movement speed = the second preset ratio × the current movement speed. In practice, since the output volume of the lubricating fluid has been increased in the third lubrication mode or the fourth lubrication mode, the lubrication of the inner wall of the rectum is greater when the current movement direction is reverse than when the current movement is forward. Therefore, by achieving the effect of slow in and fast out, the probability of abrasion to the inner wall of the rectum can be reduced, and at the same time, the stimulation to the inner wall of the rectum can be increased to promote the auxiliary defecation effect.

[0074] The fifth step is to determine the probability of defecation based on the attachment information set included in the above intestinal status information.

[0075] In practice, the intestinal state recognition model may further include a third classifier to output the defecation probability based on the attachment information set. The third classifier may be integrated with the intestinal recognition model for supervised model training.

[0076] The sixth step is to update the motion cycle of the electric hydraulic rod according to the defecation probability to obtain an updated motion cycle.

[0077] In practice, when the probability of defecation is high, the motion cycle is reduced. When the probability of defecation is low, the motion cycle is increased to obtain an updated motion cycle. Specifically, the motion cycle can be updated by constructing a mapping table between the probability of defecation and the motion cycle.

[0078] The seventh step is to determine the updated movement speed and updated movement period as the hydraulic rod control information.

[0079] In some optional implementations of some embodiments, the above method further includes: The above-mentioned rectal intestinal image sequence after elimination is synchronized to the above-mentioned control terminal in real time, so as to be displayed in real time on the above-mentioned control terminal.

[0080] In practice, through real-time synchronization, medical staff can monitor the patient's rectal intestinal status in real time through the control terminal.

[0081] Step 107, controlling the extension and retraction of the electric hydraulic rod included in the auxiliary defecation equipment according to the hydraulic rod control information.

[0082] In some embodiments, the execution subject can control the extension and retraction of the electric hydraulic rod included in the auxiliary defecation device according to the hydraulic rod control information, and specifically, control the movement speed and movement cycle of the electric hydraulic rod.

[0083] The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the device control method applied to the auxiliary defecation device of some embodiments of the present disclosure, the risk of injury and infection caused by manual extraction of the corresponding rectal inner wall and anus area is effectively reduced. Specifically, the reason for the high risk of injury and infection is that the manual extraction method requires medical staff to insert their fingers (for example, with finger cots) deep into the patient's rectum to stimulate the inner wall of the rectum, thereby promoting the patient's defecation. However, the inner wall of the rectum and the anus area are relatively sensitive. When the finger force is improper or the disinfection is improper, it is very easy to cause the risk of injury and infection. Based on this, the device control method applied to the auxiliary defecation device of some embodiments of the present disclosure, first, in response to the auxiliary defecation device being successfully connected to the control terminal and the current mode being the cleaning mode, the micro pressure pump is controlled to drive the cleaning liquid stored in the liquid storage box to clean the infusion pipeline included in the above-mentioned auxiliary defecation device. In this way, the self-cleaning of the auxiliary defecation device is achieved, thereby reducing the risk of infection. Secondly, in response to the completion of the cleaning and the current mode being the auxiliary defecation mode, the rectal intestinal image sequence is collected by the micro camera. In this way, as the auxiliary defecation device goes deeper into the rectum, the image of the inner wall of the rectum is collected. Then, the intestinal state recognition is performed on the above-mentioned rectal intestinal image sequence to generate intestinal state information, wherein the intestinal state information includes: intestinal lubrication, intestinal closure and attachment information set, wherein the attachment information represents the attachment attached to the inner wall of the rectum, and the attachment information includes: attachment type and attachment position. In this way, the lubrication, closure and attachments in the patient's rectum are automatically identified. Compared with the manual extraction method, the state of the patient's rectum can be determined more visually and accurately. Further, according to the above-mentioned intestinal lubrication and the above-mentioned intestinal closure, the lubrication mode is determined. In this way, the lubrication mode is automatically adjusted to avoid the risk of abrasion to the inner wall of the patient's rectum. Next, according to the above-mentioned lubrication mode, the lubricating liquid stored in the above-mentioned liquid storage box is delivered to the inner wall of the rectum through the above-mentioned infusion pipeline. In addition, according to the above-mentioned intestinal state information and the above-mentioned lubrication mode, hydraulic rod control information is generated. Finally, according to the above-mentioned hydraulic rod control information, the electric hydraulic rod included in the above-mentioned auxiliary defecation device is controlled to be extended and retracted. By controlling the extension and retraction of the electric hydraulic rod, the patient's rectum and intestines are stimulated periodically to improve the effect of assisted defecation. In summary, the above method effectively promotes the effect of assisted defecation, while effectively reducing the risk of damage and infection to the corresponding rectal inner wall and anal area caused by manual extraction. Further references Fig. 9 As an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a device control device for an auxiliary defecation device. These device embodiments are similar to Figure 1 Corresponding to the method embodiments shown, the device control apparatus applied to the auxiliary defecation device can be specifically applied to various electronic devices.

[0084] like Fig. 9 As shown, in some embodiments, the device control apparatus 900 applied to the auxiliary defecation device includes: a first control unit 901, a collection unit 902, an intestinal state recognition unit 903, a determination unit 904, a delivery unit 905, a generation unit 906, and a second control unit 907. The first control unit 901 is configured to control the micro pressure pump in response to the auxiliary defecation device being successfully connected to the control terminal and the current mode being the cleaning mode, so as to drive the cleaning liquid stored in the liquid storage box to clean the infusion pipeline included in the above-mentioned auxiliary defecation device; the collection unit 902 is configured to collect a rectal intestinal image sequence through a micro camera in response to the completion of cleaning and the current mode being the auxiliary defecation mode; the intestinal state recognition unit 903 is configured to perform intestinal state recognition on the above-mentioned rectal intestinal image sequence to generate intestinal state information, wherein the intestinal state information includes: intestinal lubrication, intestinal closure and attachment information set, wherein In the embodiment, the attachment information represents the attachment attached to the inner wall of the rectum, and the attachment information includes: the attachment type and the attachment position; the determination unit 904 is configured to determine the lubrication mode according to the above-mentioned intestinal lubrication and the above-mentioned intestinal closure; the delivery unit 905 is configured to deliver the lubricating fluid stored in the above-mentioned storage box to the inner wall of the rectum through the above-mentioned infusion pipeline according to the above-mentioned lubrication mode; the generation unit 906 is configured to generate hydraulic rod control information according to the above-mentioned intestinal state information and the above-mentioned lubrication mode; the second control unit 907 is configured to control the extension and retraction of the electric hydraulic rod included in the above-mentioned auxiliary defecation device according to the above-mentioned hydraulic rod control information.

[0085] It is understood that the units described in the device control device 900 for auxiliary defecation equipment are similar to those described in the reference Figure 1 Therefore, the operations, features and beneficial effects described above for the method are also applicable to the device control device 900 used for the auxiliary defecation device and the units contained therein, and will not be repeated here. Reference below Fig.10 , which shows a schematic diagram of the structure of an electronic device (eg, a computing device) suitable for implementing some embodiments of the present disclosure. Fig.10 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure. Fig.10As shown, the computer device includes a processor, a memory and a network interface connected via a system bus, wherein the memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may store an operating system and a computer program. The computer program includes program instructions, which, when executed, enable the processor to execute any front-end page monitoring method. The processor is used to provide computing and control capabilities to support the operation of the entire computer device. The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium, which, when executed by the processor, enables the processor to execute any front-end page monitoring method. The network interface is used for network communications, such as sending assigned tasks, etc. Those skilled in the art will appreciate that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present disclosure, and does not constitute a limitation on the computer device to which the scheme of the present disclosure is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0086] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be 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. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0087] In one embodiment, the processor is used to run a computer program stored in a memory to implement the following steps: in response to the auxiliary defecation device being successfully connected to the control terminal and the current mode being the cleaning mode, controlling a micro pressure pump to drive the cleaning fluid stored in the liquid storage box to clean the infusion pipeline included in the auxiliary defecation device; in response to the cleaning being completed and the current mode being the auxiliary defecation mode, collecting a rectal intestinal image sequence through a micro camera; performing intestinal state recognition on the rectal intestinal image sequence to generate intestinal state information, wherein the intestinal state information includes: intestinal lubrication, intestinal closure and attachment information set, wherein the attachment information represents attachments attached to the inner wall of the rectum, and the attachment information includes: attachment type and attachment position; determining a lubrication mode based on the intestinal lubrication and the intestinal closure; based on the lubrication mode, delivering the lubricating fluid stored in the liquid storage box to the inner wall of the rectum through the infusion pipeline; generating hydraulic rod control information based on the intestinal state information and the lubrication mode; and controlling the extension and retraction of the electric hydraulic rod included in the auxiliary defecation device based on the hydraulic rod control information.

[0088] The embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the various embodiments of the device control method applied to auxiliary defecation equipment in the present disclosure.

[0089] The computer-readable storage medium may be an internal storage unit of the computer device described in the above embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., provided on the computer device.

[0090] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0091] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A device control method for an auxiliary defecation device, characterized in that: include: In response to the auxiliary defecation device being successfully connected to the control terminal and the current mode being the cleaning mode, controlling the micro pressure pump to drive the cleaning liquid stored in the liquid storage box to clean the infusion pipeline included in the auxiliary defecation device; In response to the cleaning being completed and the current mode being the assisted defecation mode, a rectal intestinal image sequence is collected by a micro camera; Performing intestinal state recognition on the rectal intestinal image sequence to generate intestinal state information, wherein the intestinal state information includes: intestinal lubrication, intestinal closure and attachment information set, wherein the attachment information represents attachments attached to the inner wall of the rectal intestinal tract, and the attachment information includes: attachment type and attachment position; Determining a lubrication mode according to the intestinal lubricity and the intestinal closure degree; According to the lubrication mode, the lubricating liquid stored in the liquid storage box is delivered to the inner wall of the rectum through the infusion pipeline; generating hydraulic rod control information according to the intestinal state information and the lubrication mode; According to the hydraulic rod control information, the extension and retraction of the electric hydraulic rod included in the auxiliary defecation equipment is controlled.

2. The method according to claim 1, characterized in that The controlling of the micro pressure pump to drive the cleaning liquid stored in the liquid storage box to clean the infusion pipeline included in the auxiliary defecation device includes: Controlling the micro pressure pump to drive the cleaning liquid stored in the liquid storage box at a first pressure value to pre-clean the infusion pipeline for a first preset time; In response to the pre-cleaning being completed, controlling the micro pressure pump to drive the cleaning liquid stored in the liquid storage box at a second pressure value to perform positive cleaning on the infusion pipeline for a second preset time, wherein the second pressure value is greater than the first pressure value; In response to the positive cleaning being completed, the micro pressure pump is controlled to clean the residual liquid in the infusion pipeline at a third pressure value for a third preset time period.

3. The method according to claim 2, characterized in that The lubrication mode includes: a first lubrication mode, a second lubrication mode, a third lubrication mode and a fourth lubrication mode, wherein the first lubrication mode indicates that the lubricating liquid stored in the liquid storage box is output in a fixed frequency and quantitative manner, the second lubrication mode indicates that the output amount of the lubricating liquid is increased according to the intestinal state information, the third lubrication mode indicates that the output frequency of the lubricating liquid is reduced according to the intestinal state information, and the fourth lubrication mode indicates that the output amount of the lubricating liquid is increased and the output frequency of the lubricating liquid is reduced according to the intestinal state information; and Determining the lubrication mode according to the intestinal lubricity and the intestinal closure degree includes: In response to the intestinal lubrication being greater than a preset intestinal lubrication and the intestinal closure being greater than a preset intestinal closure, determining the lubrication mode to be the first lubrication mode; In response to the intestinal lubrication being less than or equal to a preset intestinal lubrication and the intestinal closure being greater than a preset intestinal closure, determining the lubrication mode to be the second lubrication mode; In response to the intestinal lubrication being greater than a preset intestinal lubrication and the intestinal closure being less than or equal to a preset intestinal closure, determining the lubrication mode to be a third lubrication mode; In response to the intestinal lubrication being less than or equal to a preset intestinal lubrication and the intestinal closure being less than or equal to a preset intestinal closure, the lubrication mode is determined to be a fourth lubrication mode.

4. The method according to claim 3, characterized in that The generating of hydraulic rod control information according to the intestinal state information and the lubrication mode includes: In response to the current movement direction of the electric hydraulic rod being forward and the lubrication mode not being the first lubrication mode, according to the lubrication mode, reducing the current movement speed of the electric hydraulic rod by a first preset ratio to obtain an updated movement speed; In response to the current movement direction of the electric hydraulic rod being forward and the lubrication mode being the first lubrication mode, determining the current movement speed of the electric hydraulic rod as the updated movement speed; In response to the current movement direction of the electric hydraulic rod being reverse and the lubrication mode being the first lubrication mode or the second lubrication mode, determining the current movement speed of the electric hydraulic rod as the updated movement speed; In response to the current movement direction of the electric hydraulic rod being reverse and the lubrication mode being the third lubrication mode or the fourth lubrication mode, according to the lubrication mode, reducing the current movement speed of the electric hydraulic rod by a second preset ratio to obtain an updated movement speed, wherein the first preset ratio is less than the second preset ratio; Determine the defecation probability according to the set of attachment information included in the intestinal state information; According to the defecation probability, updating the motion cycle of the electric hydraulic rod to obtain an updated motion cycle; The updated movement speed and the updated movement period are determined as the hydraulic rod control information.

5. The method according to claim 4, characterized in that The performing intestinal state recognition on the rectal intestinal image sequence to generate intestinal state information includes: Performing image brightness enhancement on each rectal intestinal image in the rectal intestinal image sequence to generate an enhanced rectal intestinal image, thereby obtaining an enhanced rectal intestinal image sequence; Performing approximate image elimination on the enhanced rectal intestinal image sequence to obtain a eliminated rectal intestinal image sequence; The intestinal state information is determined according to the eliminated rectal intestinal image sequence and a pre-trained intestinal state recognition model.

6. The method according to claim 5, characterized in that The method further comprises: The rectal intestinal image sequence after elimination is synchronized to the control terminal in real time, so as to be displayed in real time on the control terminal.

7. An auxiliary defecation device, applied to the device control method according to any one of claims 1 to 6, characterized in that: include: In-depth components, electric hydraulic rods, power supply and control components, including: The in-depth component includes: a flexible silicone body, a multi-section support frame, a miniature waterproof camera, a miniature pressure pump, a liquid storage box, an infusion pipeline and a connector, wherein the multi-section support frame is embedded in the flexible silicone body to support the flexible silicone body to swing at a micro-angle, the miniature waterproof camera is arranged at the head of the flexible silicone body, the infusion pipeline is arranged inside the flexible silicone body, the liquid storage box is used to store any one of a cleaning liquid, a lubricating liquid, and a liquid laxative, the miniature pressure pump is respectively connected to the pipeline between the infusion pipeline and the liquid storage box, the connector is used to connect the in-depth component with the electric hydraulic rod, and a charging contact point is arranged on the first side of the connector, and the charging contact point supplies power to the miniature pressure pump and the miniature waterproof camera through a power supply line arranged in the connector; The electric hydraulic rod comprises: a primary hydraulic rod and a secondary hydraulic rod, wherein the secondary hydraulic rod is connected to the connecting member, an annular power supply contact ring is provided on the second side of the secondary hydraulic rod, the first side and the second side are opposite, and when the connecting member is connected to the secondary hydraulic rod, the charging contact point is connected to the annular power supply contact ring; The power supply and control component includes: a power supply module, a control module and a wireless receiver. The power supply and control component is connected to the primary hydraulic rod. The power supply module is used to power the miniature waterproof camera, the miniature pressure pump and the electric hydraulic rod. The control module is used to control the miniature waterproof camera, the miniature pressure pump and the electric hydraulic rod. In the wireless communication mode, the auxiliary defecation device is connected to the control terminal through the wireless receiver. The power supply module includes: a battery and a charging interface. In the wired communication mode, the auxiliary defecation device is connected to the control terminal through the charging interface.

8. A device control device for auxiliary defecation equipment, characterized in that: include: The first control unit is configured to control the micro pressure pump to drive the cleaning liquid stored in the liquid storage box to clean the infusion pipeline included in the auxiliary defecation device in response to the auxiliary defecation device being successfully connected to the control terminal and the current mode being the cleaning mode; A collection unit, configured to collect a rectal intestinal image sequence through a micro camera in response to the cleaning being completed and the current mode being the assisted defecation mode; An intestinal state recognition unit is configured to perform intestinal state recognition on the rectal intestinal image sequence to generate intestinal state information, wherein the intestinal state information includes: intestinal lubrication, intestinal closure and attachment information set, wherein the attachment information represents attachments attached to the inner wall of the rectal intestinal tract, and the attachment information includes: attachment type and attachment position; a determination unit configured to determine a lubrication mode according to the intestinal lubrication degree and the intestinal closure degree; a delivery unit configured to deliver the lubricating liquid stored in the liquid storage box to the inner wall of the rectum through the infusion pipeline according to the lubrication mode; a generating unit configured to generate hydraulic rod control information according to the intestinal state information and the lubrication mode; The second control unit is configured to control the extension and retraction of the electric hydraulic rod included in the auxiliary defecation equipment according to the hydraulic rod control information.

9. An electronic device, characterized in that: include: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

10. A computer-readable medium, characterized in that A computer program is stored thereon, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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