Precise control method and device for intelligent endoscope auxiliary clamping system

Abstract

The invention discloses a precise control method and device for an intelligent endoscope auxiliary clamping system, relates to the technical field of endoscope control, and aims to avoid irreversible injury to a patient caused by sudden change of the clamping force of an endoscope due to the fact that the body of the patient or a doctor accidentally touches the endoscope auxiliary clamping system in an actual operation. According to the technical scheme, collision forces with different intensities are applied to the endoscope auxiliary clamping system before an operation, collision in the operation is simulated, and parameters of the PID controller are adjusted to control clamping of an endoscope of the endoscope auxiliary clamping system, so that the clamping force of the endoscope can be timely and effectively adjusted according to the adjusted parameters of the PID controller during the operation; the situation that the endoscope is unstable is reduced, and damage to a patient is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of endoscope control, and particularly relates to a precise control method and device for an intelligent endoscope-assisted clamping system. Background Art

[0002] An endoscope-assisted clamping system is a device used in medical diagnosis and treatment. It aims to achieve precise operations on tissues in a patient's body by combining endoscope technology and a clamping device. Such a system is usually equipped with a high-precision robotic arm or gripper, which can perform minimally invasive operations on the target site under the guidance of an endoscope, such as biopsy, tumor resection, sampling, etc. It provides real-time images through the endoscope to guide the doctor during the operation. At the same time, the clamping system can provide stable support and operation accuracy, thereby improving the safety and efficiency of the operation and reducing the operation difficulty for the doctor.

[0003] Generally speaking, an endoscope-assisted clamping system usually sets an endoscope clamp mouth. The clamp mouth of the endoscope is opened by pressing a button, the endoscope is inserted, then the locking button is pressed to lock the endoscope, and the free-dragging button is pressed to drag the robotic arm to adjust the position and angle of the endoscope. After releasing the free-dragging button, the endoscope is fixed, thus achieving the purpose of supporting the endoscope to assist the doctor in the operation. At the same time, the endoscope-assisted clamping system is provided with a PID controller. The PID controller precisely adjusts the clamping force of the endoscope by continuously monitoring the position and posture changes of the endoscope, ensuring that the endoscope always maintains a stable and safe state during the operation.

[0004] However, although the endoscope-assisted clamping system can provide relatively precise control under normal operations, during actual surgeries, if the patient's body or the doctor accidentally touches the endoscope-assisted clamping system, it may cause a sudden change in the clamping force of the endoscope. Such a sudden change may interfere with the control of the system. Especially when the existing PID controller responds slowly, it may not be able to effectively adjust the clamping force of the endoscope in a timely manner, resulting in an unstable situation of the endoscope and even potentially causing irreversible damage to the patient. Summary of the Invention

[0005] The object of the present invention is to solve the above-mentioned problems and provide a precise control method and device for an intelligent endoscope-assisted clamping system.

[0006] In the first aspect of the implementation of the present invention, a precise control method for an intelligent endoscope-assisted clamping system is first proposed. The method includes: Before the endoscope-assisted clamping system performs surgery, different intensities of impact forces are applied to the endoscope-assisted clamping system, and the response time data of the PID controller under different intensities of impact forces are recorded; Record the trajectory change data of the endoscope under collision forces of different intensities, and jointly analyze the stability and qualification degree of the endoscope-assisted clamping system in combination with the response time data of the PID controller under collision forces of different intensities; When the stability and qualification degree of the endoscope-assisted clamping system is low, jointly adjust the PID controller parameters according to the trajectory change data and the response time data; Control the clamping of the endoscope in the endoscope-assisted clamping system according to the adjusted PID controller parameters.

[0007] Optionally, record the response time data of the PID controller under collision forces of different intensities, and calculate the response instability value of the PID controller according to the response time data of the PID controller under collision forces of different intensities, which is used to evaluate the response smoothness of the PID controller when facing collisions. The calculation steps of the response instability value are as follows: Apply a collision force of the same intensity to the endoscope-assisted clamping system at different time points, and record the response time of the PID controller under the collision force of the same intensity to obtain a response time sequence ; Construct a network of response times, and regard each response time as a node in the network, and the connection weight between nodes is defined based on the response time difference between any two time points and in the time series. The calculation formula is: ; Finally, a weighted response time network diagram is obtained; Calculate the connection degree of each node in the weighted response time network diagram with other nodes, and record it as the connection degree value; the calculation formula is: ; where, is the connection degree value, is the total number of the response time sequence; is the indicator function. If there is a response time difference between and , it is 1; if there is no response time difference between and , it is 0; is the connection degree value of node ; Calculate the importance of each node in the weighted response time network diagram during the response time propagation process, and record it as the importance value; the calculation formula is: ; In the formula, is the importance value, represents the total number of the shortest paths calculated by the shortest path algorithm between node and node in the weighted response time network diagram; Indicates the number of shortest paths passing through from node to node in the total number of shortest paths; Calculate the clustering coefficient of each node in the weighted response time network graph , and the calculation formula is: , where represents the number of triangles directly connected to node in the weighted response time network graph; According to the connection degree value , importance value and clustering coefficient of each node, calculate the response instability value of the PID controller, and the calculation formula is: ; where is the response instability value of the PID controller.

[0008] Optionally, record the trajectory change data of the endoscope under collision forces of different intensities, and calculate the clamping instability value of the endoscope according to the trajectory change data. The calculation steps are as follows: Establish a three-dimensional coordinate system and obtain the three-dimensional coordinates of the endoscope in real time; Apply a collision force of the same intensity to the endoscope-assisted clamping system, and record the three-dimensional coordinates of the endoscope during the whole process from the start of rest to the final rest, to obtain the time trajectory sequence under the corresponding intensity of the collision force; and the first three-dimensional coordinate in the time trajectory sequence is the center of the circle, which is the coordinate when the endoscope is initially at rest; Calculate the Euclidean distance from each three-dimensional coordinate in the time trajectory sequence to the origin, and record the three-dimensional coordinate point corresponding to the maximum Euclidean distance as the target coordinate point, and make a sphere with the radius from the origin to the target coordinate point, and take the space volume occupied by the sphere as the motion range space under the corresponding intensity of the collision force; For every two coordinate points in the time trajectory sequence, calculate the direction vector between the two coordinate points, calculate the included angle between them, and add up the included angles corresponding to the entire time trajectory sequence to obtain the trajectory complexity of the time trajectory sequence; Normalize the space volume occupied by the sphere and the trajectory complexity, map them to the interval of 0-1, and perform weighted summation on the normalized space volume occupied by the sphere and the trajectory complexity to obtain the clamping instability value under each intensity of the collision force.

[0009] Optionally, the steps for jointly analyzing the stable qualification degree of the endoscope-assisted clamping system in combination with the response time data of the PID controller under collision forces of different intensities are as follows: Record the response instability value of the controller and the clamping instability value of the endoscope of the endoscopic assisted clamping system under collision forces of various intensities, establish a two-dimensional coordinate system for the response instability value and the clamping instability value under collision forces of various intensities, and map the response instability value of the controller and the clamping instability value of the endoscope under collision forces of various intensities into the two-dimensional coordinates; the coordinate points respectively correspond to the response instability value and the clamping instability value. Calculate the distance from the coordinate points in the two-dimensional coordinate system under collision forces of various intensities to the origin to obtain the instability degree of the endoscopic assisted clamping system corresponding to the collision force of the corresponding intensity. Compare the instability degree of the endoscopic assisted clamping system under collision forces of various intensities with the preset instability threshold value. If the instability degree is less than the preset instability threshold value, record the stability qualification degree of the endoscopic assisted clamping system corresponding to the collision force of the corresponding intensity as qualified. If the instability degree is not less than the preset instability threshold value, record the stability qualification degree of the endoscopic assisted clamping system corresponding to the collision force of the corresponding intensity as unqualified. If the stability qualification degrees of the endoscopic assisted clamping systems under all collision forces are all qualified, then the overall stability qualification degree of the endoscopic assisted clamping system is relatively high; there is no need to control the parameters of the PID controller. If the stability qualification degree of the endoscopic assisted clamping system under any one collision force is unqualified, then the overall stability qualification degree of the endoscopic assisted clamping system is relatively low, and it is necessary to adjust the parameters of the PID controller according to the instability degree of the endoscopic assisted clamping system.

[0010] Optionally, when the overall stability qualification degree of the endoscopic assisted clamping system is relatively low, it is necessary to adjust the parameters of the PID controller according to the instability degree of the endoscopic assisted clamping system. The steps of controlling the clamping of the endoscope in the endoscopic assisted clamping system according to the adjusted parameters of the PID controller are as follows: Normalize the instability degrees of the endoscopic assisted clamping systems under collision forces of various intensities so that the value range is between 0 and 1. And calculate the difference between the preset instability threshold value and the average value of the normalized instability degrees, and record the difference as , and increase the feedback gain of the controller to adjust the parameters of the PID controller - proportional , integral and differential parameters. The formula for adjusting the gain is: , , ; where, , , are gain adjustment coefficients, and , , are all greater than 0, and , greater than ; According to the adjusted PID controller parameters, apply collision forces of different intensities to the endoscopic-assisted clamping system again, and determine the overall stability qualification degree of the endoscopic-assisted clamping system again. If the overall stability qualification degree of the endoscopic-assisted clamping system is relatively high, use the corresponding adjusted PID controller parameters as the final control parameters to control the clamping of the endoscope in the endoscopic-assisted clamping system; If the overall stability qualification degree of the endoscopic-assisted clamping system is relatively low, continue to adjust the PID controller parameters until the overall stability qualification degree of the endoscopic-assisted clamping system is relatively high.

[0011] In the second aspect of the implementation of the present invention, an accurate control device for an intelligent endoscopic-assisted clamping system is proposed. The device includes: Response time module: Before the endoscopic-assisted clamping system performs surgery, apply collision forces of different intensities to the endoscopic-assisted clamping system, and record the response time data of the PID controller under collision forces of different intensities; Stability qualification module: Record the trajectory change data of the endoscope under collision forces of different intensities, and jointly analyze the stability qualification degree of the endoscopic-assisted clamping system in combination with the response time data of the PID controller under collision forces of different intensities; Adjustment module: When the stability qualification degree of the endoscopic-assisted clamping system is relatively low, jointly adjust the PID controller parameters according to the trajectory change data and the response time data; Control module: Control the clamping of the endoscope in the endoscopic-assisted clamping system according to the adjusted PID controller parameters.

[0012] The response time module includes: Response time series module: Apply collision forces of the same intensity to the endoscopic-assisted clamping system at different time points, and record the response time of the PID controller under the collision force of the same intensity to obtain a response time series ; Connection weight module: Construct a network of response times, and regard each response time as a node in the network. The connection weight between nodes is defined based on the response time difference between any two time points in the time series and The calculation formula is: ; Finally, a weighted response time network diagram is obtained; Connection degree value module: Calculate the connection degree of each node in the weighted response time network diagram with other nodes, denoted as the connection degree value; The calculation formula is: ; where, is the connection degree value, is the total number of response time series; is an indicator function. If and have a response time difference, it is 1; if and have no response time difference, it is 0; is the connection degree value of node ; Importance value module: Calculate the importance of each node in the response time propagation process in the weighted response time network diagram, denoted as the importance value; the calculation formula is: ; In the formula, is the importance value, represents the total number of shortest paths calculated by the shortest path algorithm between node and node in the weighted response time network diagram; represents the number of shortest paths passing through from node to node among the total number of shortest paths from node Clustering coefficient module: Calculate the clustering coefficient of each node in the weighted response time network diagram , and the calculation formula is: , in the formula, represents the number of triangles directly connected to node in the weighted response time network diagram; Response instability value module: Calculate the response instability value of the PID controller according to the connection degree value of each node, the importance value and the clustering coefficient , and the calculation formula is: ; In the formula, is the response instability value of the PID controller.

[0013] Optionally, the stability qualification module includes: Three-dimensional coordinate module: Establish a three-dimensional coordinate system and obtain the three-dimensional coordinates of the endoscope in real time; Time trajectory sequence module: Apply the same intensity of collision force to the endoscope-assisted clamping system, and record the three-dimensional coordinates of the endoscope during the whole process from the start of rest to the final rest, to obtain the time trajectory sequence under the corresponding intensity of collision force; and the first three-dimensional coordinate in the time trajectory sequence is the center of the circle, which is the coordinate when the endoscope is initially at rest; Motion range space module: Calculate the Euclidean distance from each three-dimensional coordinate in the time trajectory sequence to the origin, and record the three-dimensional coordinate point corresponding to the maximum Euclidean distance as the target coordinate point. Then, make a sphere with the radius from the center to the target coordinate point, and take the space volume occupied by the sphere as the motion range space corresponding to the intensity collision force; Trajectory complexity module: For every two coordinate points in the time trajectory sequence, calculate the direction vector between the two coordinate points, calculate the angle between them, and sum up the angles corresponding to the entire time trajectory sequence to obtain the trajectory complexity of the time trajectory sequence; Gripping instability value module: Normalize the space volume occupied by the sphere and the trajectory complexity, map them to the interval of 0 - 1, and perform weighted summation on the normalized space volume occupied by the sphere and the trajectory complexity to obtain the gripping instability value under each intensity collision force.

[0014] Optionally, the stability qualification module further includes: Two-dimensional coordinate module: Record the response instability value of the controller and the gripping instability value of the endoscope under each intensity collision force of the endoscope-assisted gripping system, establish a two-dimensional coordinate system for the response instability value and the gripping instability value under each intensity collision force, and map the response instability value of the controller and the gripping instability value of the endoscope under each intensity collision force into the two-dimensional coordinate; the coordinate points correspond to the response instability value and the gripping instability value respectively; Instability degree module: Calculate the distance from the coordinate point in the two-dimensional coordinate system under each intensity collision force to the origin to obtain the instability degree of the endoscope-assisted gripping system corresponding to the intensity collision force; Qualification module: Compare the instability degree of the endoscope-assisted gripping system under each intensity collision force with the preset instability degree threshold. If the instability degree is less than the preset instability degree threshold, record the stability qualification degree of the endoscope-assisted gripping system corresponding to the high-intensity collision force as qualified; Unqualified module: If the instability degree is not less than the preset instability degree threshold, record the stability qualification degree of the endoscope-assisted gripping system corresponding to the intensity collision force as unqualified; Parameter non-adjustment module: If the stability qualification degrees of the endoscope-assisted gripping systems under all intensity collision forces are qualified, the overall stability qualification degree of the endoscope-assisted gripping system is relatively high; there is no need to control the parameters of the PID controller; Parameter adjustment module: If the stability qualification degree of the endoscope-assisted gripping system under any intensity collision force is unqualified, the overall stability qualification degree of the endoscope-assisted gripping system is relatively low, and then it is necessary to adjust the parameters of the PID controller according to the instability degree of the endoscope-assisted gripping system.

[0015] Optionally, the parameter adjustment module includes: Normalization module: Normalize the instability of the endoscope-assisted clamping system under different intensities of collision forces so that the value range is between 0 and 1; Adjustment gain module: Calculate the difference between the preset instability threshold and the mean value of the instability after normalization, and record the difference as , and increase the feedback gain of the controller, and adjust the PID controller parameters - proportional , integral and differential parameters. The formula for adjusting the gain is: , , ; where , , are gain adjustment coefficients, and , , are all greater than 0, and , is greater than ; Re-judgment module: According to the adjusted PID controller parameters, apply collision forces of different intensities to the endoscope-assisted clamping system again, and re-judge the overall stability qualification of the endoscope-assisted clamping system. If the overall stability qualification of the endoscope-assisted clamping system is relatively high, use the corresponding adjusted PID controller parameters as the final control parameters to control the clamping of the endoscope of the endoscope-assisted clamping system; Re-adjustment module: If the overall stability qualification of the endoscope-assisted clamping system is relatively low, continue to adjust the PID controller parameters until the overall stability qualification of the endoscope-assisted clamping system is relatively high.

[0016] Advantages of the present invention: The present invention proposes a precise control method and device for an intelligent endoscope-assisted clamping system. In order to avoid the sudden change of the endoscope clamping force caused by the patient's body or the doctor accidentally touching the endoscope-assisted clamping system during actual surgery, which may cause irreversible damage to the patient, different intensities of collision forces are applied to the endoscope-assisted clamping system before the surgery to simulate the collisions during the surgery, and the PID controller parameters are adjusted to control the clamping of the endoscope of the endoscope-assisted clamping system, so that during the surgery, the endoscope clamping force can be adjusted in a timely and effective manner according to the adjusted PID controller parameters, reducing the instability of the endoscope and reducing the damage to the patient. Description of the drawings

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1It is a flowchart of a precise control method for an intelligent endoscope-assisted clamping system; Figure 2 It is a framework diagram of a precise control device for an intelligent endoscope-assisted clamping system. Specific implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] The embodiments of the present invention provide a precise control method for an intelligent endoscope-assisted clamping system. Refer to Figure 1 , Figure 1 It is a flowchart of a precise control method for an intelligent endoscope-assisted clamping system provided by an embodiment of the present invention. The method includes the following steps: Before the endoscope-assisted clamping system performs surgery, apply collision forces of different intensities to the endoscope-assisted clamping system, and record the response time data of the PID controller under collision forces of different intensities; Record the trajectory change data of the endoscope under collision forces of different intensities, and jointly analyze the stability and qualification degree of the endoscope-assisted clamping system in combination with the response time data of the PID controller under collision forces of different intensities; When the stability and qualification degree of the endoscope-assisted clamping system is low, jointly adjust the PID controller parameters according to the trajectory change data and the response time data; Control the clamping of the endoscope in the endoscope-assisted clamping system according to the adjusted PID controller parameters.

[0022] Based on the precise control method for an intelligent endoscope-assisted clamping system provided by the embodiments of the present invention, in the above manner, in order to avoid that in actual surgery, the patient's body or the doctor accidentally touches the endoscope-assisted clamping system, which may cause an irreversible injury to the patient due to a sudden change in the endoscope clamping force. Before the surgery, collision forces of different intensities are applied to the endoscope-assisted clamping system to simulate the collisions during the surgery, and the PID controller parameters are adjusted to control the clamping of the endoscope of the endoscope-assisted clamping system, so that during the surgery, the endoscope clamping force can be adjusted in a timely and effective manner according to the adjusted PID controller parameters, reducing the instability of the endoscope and reducing the damage to the patient.

[0023] In one embodiment, before the endoscopic-assisted clamping system performs surgery, different intensities of impact forces are applied to the endoscopic-assisted clamping system, and the response time data of the PID controller under different intensities of impact forces are recorded; Specifically, different intensities of impact forces are applied to the endoscopic-assisted clamping system, and the response time data of the PID controller under different intensities of impact forces are recorded, and the response instability value of the PID controller is calculated based on the response time data of the PID controller under different intensities of impact forces to evaluate the response stability of the PID controller when facing impacts. Specifically, the calculation steps of the response instability value are as follows: The same intensity of impact force is applied to the endoscopic-assisted clamping system at different time points, and the response time of the PID controller under the same intensity of impact force is recorded to obtain a response time series ; Construct a network of response times, and regard each response time as a node in the network, and the connection weight between nodes is defined based on the response time difference between any two time points in the time series and . The calculation formula is: ; Finally, a weighted response time network diagram is obtained; Calculate the connection degree of each node in the weighted response time network diagram with other nodes, denoted as the connection degree value; it represents the correlation between the response at this time point and the responses at other time points, and reflects the propagation degree of the PID controller's response; the calculation formula is: ; where is the connection degree value, is the total number of the response time series; is an indicator function. If there is a response time difference between and , it is 1; if there is no response time difference between and , it is 0; is the connection degree value of node ; Calculate the importance of each node in the weighted response time network diagram during the response time propagation, denoted as the importance value, which reflects the role of node as a bridge; the calculation formula is: ; In the formula, is the importance value, represents the total number of the shortest paths calculated by the shortest path algorithm from node to node in the weighted response time network diagram; Indicates the number of shortest paths passing through from node to node in the total number of shortest paths; Calculate the clustering coefficient of each node in the weighted response time network graph , which measures the closeness among the neighbors of node . The calculation formula is: . In the formula, represents the number of triangles directly connected to node in the weighted response time network graph, indicating whether the response time changes tend to synchronously fluctuate; According to the connection degree value , importance value and clustering coefficient of each node, calculate the response instability value of the PID controller. The calculation formula is: ; in the formula, is the response instability value of the PID controller.

[0024] It should be noted that in the above calculation process, the data acquisition methods mainly include the following aspects: First, apply the same intensity of collision force to the endoscopic-assisted clamping system through experiments or simulations, and record the response time data of the PID controller in real time. These data constitute the response time series. Then, based on these response time data, construct a weighted response time network graph, where the response time at each time point is used as a network node, and the connection weight between nodes is obtained by calculating the response time difference between time points. And use graph theory algorithms to calculate network characteristics such as the connection degree, importance, and clustering coefficient of each node. These data are obtained through the adjacency matrix of the graph, the shortest path algorithm, and the adjacency relationship, etc. Finally, by combining these network characteristics, the response instability value of the PID controller is obtained, and then the stability of the control system is evaluated.

[0025] It should be noted that the larger the response instability value is, the more unstable and insensitive the PID controller of the endoscopic assisted clamping system is under the impact force of the same intensity. It is more necessary to jointly adjust the parameters of the PID controller to control the clamping force on the endoscope, so as to prevent the sudden change of the endoscopic clamping force that may be caused by accidentally touching the endoscopic assisted clamping system during the actual operation, thus harming the patient. Because when the response instability value is larger, it means that the PID controller becomes more sluggish and unstable in response to impact forces of different intensities. The role of the PID controller is to maintain system stability by continuously adjusting the endoscopic clamping force to ensure the precise positioning of the endoscope. However, when the response of the system is unstable, the controller may fail to make appropriate responses in a timely manner when faced with sudden external disturbances, resulting in excessive fluctuations in the clamping force. This instability may lead to the deviation of the endoscope position, excessive instantaneous changes in the clamping force, and even the inability to correct these changes in a timely manner, thus seriously affecting the precise operation during the surgery. In actual medical operations, this kind of instability is particularly dangerous because even a slight external impact force may trigger a sudden change in the endoscopic clamping force.

[0026] For example, assume that during the operation, the doctor accidentally touches the system when adjusting the angle of the endoscope. If the PID controller's response to this collision is not sensitive enough, it may lead to excessive clamping force, which may compress the patient's tissues and even cause bleeding or tissue necrosis. On the contrary, if the clamping force response is too slow, the endoscope may lose stability, resulting in inaccurate endoscope position, thus affecting the accuracy and safety of the operation. This situation may cause irreversible damage to the patient and even greatly reduce the effectiveness of the entire operation. Therefore, ensuring that the PID controller can maintain a stable and sensitive response under any circumstances is crucial for preventing injuries caused by sudden changes in the clamping force. To avoid this situation, it is necessary to adjust the parameters of the PID controller to make its response to external impact forces more timely and precise, so as to ensure that the endoscope is always in a stable and safe operating state throughout the operation. This refined control ability can greatly improve the safety and success rate of the operation.

[0027] In one implementation method, first, traditional methods usually focus on simple time domain analysis, such as evaluating stability based on the mean or variance of the response time. Although this method is intuitive, it ignores the correlation and dynamic changes between system responses. Simple time series analysis cannot effectively capture the complex nonlinear behavior that the system may exhibit under multiple collisions, and it is easy to ignore some subtle and imperceptible oscillation patterns; through graph theory and network analysis methods, each response time is regarded as a node in the network, and the connection weights between nodes reflect the correlation of responses at different time points. The advantage of this method is that it can reveal the propagation path of the system's response under different collision forces, the dependency between nodes, and the synchronization or asynchrony within the system. By calculating indicators such as the degree of connection, importance value, and clustering coefficient in the network, the stability of the system can be evaluated more comprehensively, capturing the subtle reactions and potential instability of the system under strong collision forces. For example, if the response of an endoscope-assisted clamping system is strongly connected with other nodes and the response time varies greatly when it encounters a collision, this may mean that the oscillation propagation of the control system is more serious and there is a higher risk. The traditional simple mean calculation cannot reflect this. Therefore, the response instability value obtained by graph theory method can more accurately reflect the actual stability of the controller when facing a collision, and thus provide a more reliable basis for adjusting the PID controller parameters and ensuring system safety.

[0028] In one implementation, the benefit of this method is that it analyzes the dynamic response of the PID controller in a more detailed and comprehensive manner, can reveal the complex interrelationships and potential instabilities of the system, and provide a more accurate analysis tool for preventing safety risks in practical applications, which cannot be achieved by traditional methods.

[0029] In one embodiment, the trajectory change data of the endoscope under different collision forces are recorded, and the stability and qualification of the endoscope auxiliary clamping system are analyzed in combination with the response time data of the PID controller under different collision forces; Specifically, the trajectory change data of the endoscope under collision forces of different intensities are recorded, and the clamping instability value of the endoscope is calculated according to the trajectory change data. The calculation steps are as follows: Establish a three-dimensional coordinate system and obtain the three-dimensional coordinates of the endoscope in real time; Apply a collision force of the same intensity to the endoscope auxiliary clamping system, and record the three-dimensional coordinates of the endoscope from the beginning of stillness to the final stillness, and obtain a time trajectory sequence under the corresponding intensity collision force; and the first three-dimensional coordinate in the time trajectory sequence is the center of the circle, which is the coordinate of the endoscope when it is initially still; Calculate the Euclidean distance from each three-dimensional coordinate in the time trajectory sequence to the origin, and record the three-dimensional coordinate point corresponding to the maximum Euclidean distance as the target coordinate point. Then, using the distance from the origin to the target coordinate point as the radius, create a sphere, and take the space volume occupied by the sphere as the motion range space of the corresponding intensity collision force; For every two coordinate points in the time trajectory sequence, calculate the direction vector between the two coordinate points, calculate the angle between them, and sum up the angles corresponding to the entire time trajectory sequence to obtain the trajectory complexity of the time trajectory sequence; Normalize the space volume occupied by the sphere and the trajectory complexity, map them to the interval of 0 - 1, and perform weighted summation on the normalized space volume occupied by the sphere and the trajectory complexity to obtain the clamping instability value under each intensity collision force.

[0030] It should be noted that in the above calculation process of the reduction instability value, the data acquisition methods involved include using a high-precision three-dimensional positioning system to collect the three-dimensional coordinate data of the endoscope under different collision forces in real time, usually using sensors (such as laser sensors, inertial measurement units, etc.) and visual tracking technology. In addition, by applying a known intensity of collision force, the displacement and attitude changes of the endoscope at each moment during the collision can be recorded using a mechanical sensor or servo motor control.

[0031] It should be noted that what does the clamping instability value refer to? Why does a larger clamping instability value indicate that the PID controller of the endoscope-assisted clamping system is more unstable, less sensitive, and more requires joint adjustment of the PID controller parameters to control the clamping force of the endoscope under the same intensity of collision force, to prevent sudden changes in the clamping force of the endoscope that may occur due to accidentally touching the endoscope-assisted clamping system during actual surgery, thereby harming the patient; It should be noted that the clamping instability value reflects the stability and reaction sensitivity of the endoscope-assisted clamping system under the action of external collision forces. Specifically, it measures the reaction characteristics of the clamping system by analyzing the motion trajectory and motion complexity of the endoscope under different intensities of collision forces. The larger the clamping instability value, the more sluggish and unstable the reaction of the endoscope's clamping system under the influence of external collision forces, and there may be excessive fluctuations in the clamping force, resulting in the system being unable to quickly and accurately restore the endoscope to its target position.

[0032] This unstable clamping reaction is particularly crucial during the operation because the accurate positioning of the endoscope is essential for the precision of the operation and the safety of the patient. During the actual operation, the doctor may accidentally touch the endoscope-assisted clamping system during the operation, or the system may be affected by external vibrations or impact forces. These external interferences will affect the position and clamping force of the endoscope. If the response of the PID controller is not sensitive enough, the system may fail to adjust the clamping force in time, resulting in too large or too small clamping force, which in turn affects the positioning of the endoscope. For example, during minimally invasive surgery, the endoscope needs to accurately enter a specific part of the human body. Any deviation in position may cause the doctor to be unable to accurately see the target area, and may even lead to the failure of the operation or accidental injury to healthy tissues. For instance, if the system reacts slowly after a slight collision and the clamping force is not weakened or strengthened in time, the endoscope may cause unnecessary compression of the surrounding tissues due to excessive clamping, resulting in bleeding or tissue damage; while if the clamping force is too weak, the endoscope may become loose during the operation, causing a deviation in position, affecting the doctor's vision, and even possibly obstructing the progress of the operation and increasing the risk to the patient. Therefore, when the unstable clamping value is large, it is necessary to adjust the parameters of the PID controller in time and optimize the control strategy so that the system can quickly and smoothly adjust the clamping force when affected by external interferences, ensuring the stability and accuracy of the endoscope and avoiding accidental changes in the clamping force from harming the patient.

[0033] In this case, the adjustment function of the PID controller is particularly important. By dynamically adjusting the PID parameters (such as the proportional, integral, and derivative coefficients), the system can respond more quickly and accurately under the action of the impact force, avoiding the deviation of the endoscope position and abnormal changes in the clamping force, thereby improving the safety and precision of the operation.

[0034] In one implementation, by calculating the clamping instability value in this way, it can comprehensively and accurately reflect the motion characteristics of the endoscope under different intensity collision forces and the stability of the clamping system. This method combines three-dimensional trajectory data, motion range, and trajectory complexity, providing an all-round perspective for analyzing the system response. First, by recording the three-dimensional coordinates of the endoscope and calculating the Euclidean distance from the original center, the motion trajectory of the endoscope under the action of the collision force can be understood in detail, avoiding relying solely on local data. Second, by calculating the volume of the sphere of the motion range and the total angle of the trajectory complexity, the stability of the system can be revealed more intuitively. In particular, the increase in trajectory complexity may reflect the irregularity of the endoscope motion, indicating that the control system may be slow or unstable in response. Normalization processing enables the clamping instability values under different intensity collision forces to be compared on the same scale, thus improving the comparability and fairness of the calculation results. The weighted summation method enables the system to flexibly adjust the influence degree of the motion range and trajectory complexity according to the actual application requirements, ensuring the best control effect in different situations. Generally speaking, this method not only provides a multi-dimensional evaluation system but also helps to optimize the parameters of the PID controller, improve the stability of the clamping system in actual surgeries, and prevent patient injuries caused by sudden changes in clamping force.

[0035] In one embodiment, the steps of jointly analyzing the stability qualification degree of the endoscope-assisted clamping system in combination with the response time data of the PID controller under different intensity collision forces are as follows: Record the response instability value of the controller and the clamping instability value of the endoscope of the endoscope-assisted clamping system under each intensity collision force, establish a two-dimensional coordinate system for the response instability value and the clamping instability value under each intensity collision force, and map the response instability value and the clamping instability value of the controller under each intensity collision force into the two-dimensional coordinate; the coordinate points correspond to the response instability value and the clamping instability value respectively. Calculate the distance from the coordinate point in the two-dimensional coordinate system under each intensity collision force to the original center to obtain the instability degree of the endoscope-assisted clamping system corresponding to the intensity collision force. Compare the instability degree of the endoscope-assisted clamping system of each intensity collision force with the preset instability threshold value. If the instability degree is less than the preset instability threshold value, record the stability qualification degree of the endoscope-assisted clamping system corresponding to the high-intensity collision force as qualified. If the instability degree is not less than the preset instability threshold value, record the stability qualification degree of the endoscope-assisted clamping system corresponding to the intensity collision force as unqualified. If the stability qualification degrees of the endoscope-assisted clamping systems of all intensity collision forces are qualified, the overall stability qualification degree of the endoscope-assisted clamping system is relatively high; there is no need to control the parameters of the PID controller. If the stability qualification degree of the endoscope-assisted clamping system for any intensity of collision force is unqualified, the overall stability qualification degree of the endoscope-assisted clamping system is relatively low, and it is necessary to adjust the parameters of the PID controller according to the instability degree of the endoscope-assisted clamping system.

[0036] It should be noted that the preset instability threshold is set by professionals according to the actual situation, and specific details are not limited and will not be elaborated.

[0037] It should be noted that assume that when the endoscope is subjected to a relatively low-intensity collision force, the controller responds quickly and accurately, and the clamping instability value is also relatively low. After calculation, it is found that the system instability degree at this intensity is less than the preset threshold, and the system stability is qualified; while under a relatively high-intensity collision force, due to the relatively slow clamping instability value and controller response, the calculated instability degree exceeds the threshold, and the system is judged to be unqualified. At this time, if the test results for all intensities of collision force are qualified, it means that the overall stability of the endoscope-assisted clamping system is relatively high, and the PID controller does not need to be adjusted; but if any one of the collision force test results is unqualified, it is necessary to adjust the PID controller of the system, optimize the control parameters, so as to improve its response under strong collision force, ensure that the endoscope clamping force remains stable throughout the operation process, and avoid sudden changes in clamping force from causing harm or risk to the patient.

[0038] In one implementation, the advantage of this method is that it can comprehensively consider the performance of the clamping system under different intensities of collision force, obtain an accurate stability evaluation through quantitative analysis, avoid the one-sidedness of a single index, and more comprehensively and reliably evaluate the safety of the endoscope clamping system, ensuring the accurate clamping and stable operation of the endoscope during the operation.

[0039] In one implementation, by calculating the overall stability qualification degree of the endoscope-assisted clamping system in the above manner, the stability performance of the system under different intensities of collision force can be evaluated more comprehensively and objectively, ensuring stable operation in various actual application scenarios. This method combines the response instability of the controller and the clamping instability value, and can accurately reflect the actual performance of the system when facing external disturbances, avoiding the deviation brought by a single index. For example, collision forces of certain intensities may cause clamping instability, and the controller response lag may also affect the system stability. Through this comprehensive evaluation method, potential stability problems can be detected early, and the parameters of the PID controller can be adjusted in time to ensure the high precision and safety of the system during the operation, thereby reducing the risk to the patient and improving the success rate of the operation.

[0040] In one embodiment, when the overall stability qualification degree of the endoscopic-assisted clamping system is relatively low, it is necessary to adjust the PID controller parameters according to the instability degree of the endoscopic-assisted clamping system. The steps of controlling the clamping of the endoscope in the endoscopic-assisted clamping system according to the adjusted PID controller parameters are as follows: Normalize the instability degrees of the endoscopic-assisted clamping system under various intensity collision forces so that the value range is between 0 and 1; And calculate the difference between the preset instability threshold and the mean value of the normalized instability degrees, and record the difference as , and increase the feedback gain of the controller to adjust the PID controller parameters - proportional , integral and derivative parameters. The formula for adjusting the gain is: , , ; where , , are gain adjustment coefficients, and , , are all greater than 0, and , is greater than ; According to the adjusted PID controller parameters, apply collision forces of different intensities to the endoscopic-assisted clamping system again, and judge the overall stability qualification degree of the endoscopic-assisted clamping system again. If the overall stability qualification degree of the endoscopic-assisted clamping system is relatively high, use the corresponding adjusted PID controller parameters as the final control parameters to control the clamping of the endoscope in the endoscopic-assisted clamping system; If the overall stability qualification degree of the endoscopic-assisted clamping system is relatively low, continue to adjust the PID controller parameters until the overall stability qualification degree of the endoscopic-assisted clamping system is relatively high.

[0041] It should be noted that the values of the gain adjustment coefficients can be calculated by empirical methods, experimental adjustments, or optimization methods based on control theory. In practical applications, the adjustment coefficients , , are usually determined step by step through the dynamic response of the system to ensure that the system can operate stably when dealing with different collision force intensities and avoid over-adjustment or slow response. First, the difference between the mean value of the normalized instability degree and the preset instability threshold reflects the deviation between the system stability and the ideal state. The gain adjustment coefficients (for example, the proportional gain adjustment coefficient , the integral gain adjustment coefficient , the derivative gain Adjustment coefficient The calculation of () is usually carried out according to the response speed of the control system, the stability requirements, and the dynamic characteristics of the system. For example, if the clamping system shows a large difference in instability under high collision forces, the proportional gain can be increased to improve the reaction speed of the system and make it adjust the clamping force more quickly. If the system responds too violently under low collision forces, it may be necessary to increase the integral gain to eliminate the steady-state error. The adjustment of the gain coefficient is an iterative process and needs to be adjusted repeatedly according to the actual test results until the system can stably and quickly respond under all collision forces. For example, in a certain test, the difference in normalized instability is 0.3. Assuming that the proportional gain adjustment coefficient is set to 0.5, the integral gain is set to 0.2, and the derivative gain is set to 0.1, the adjusted PID controller can quickly respond to the system's requirements and gradually reach an optimal balance point through continuous feedback adjustment to ensure the stability and sensitivity of the endoscopic clamping system.

[0042] Based on the same inventive concept, an embodiment of the present invention further provides a precise control device for an intelligent endoscopic assisted clamping system. See Figure 2 , Figure 2 which is a framework diagram of a precise control device for an intelligent endoscopic assisted clamping system provided by an embodiment of the present invention. The device includes: Response time module: Before the endoscopic assisted clamping system performs surgery, different intensities of collision forces are applied to the endoscopic assisted clamping system, and the response time data of the PID controller under different intensities of collision forces are recorded; Stability qualification module: Record the trajectory change data of the endoscope under different intensities of collision forces, and jointly analyze the stability qualification degree of the endoscopic assisted clamping system in combination with the response time data of the PID controller under different intensities of collision forces; Adjustment module: When the stability qualification degree of the endoscopic assisted clamping system is low, jointly adjust the PID controller parameters according to the trajectory change data and the response time data; Control module: Control the clamping of the endoscope in the endoscopic assisted clamping system according to the adjusted PID controller parameters.

[0043] Based on an intelligent endoscope-assisted clamping system precise control device provided by an embodiment of the present invention, through the above method, in order to avoid that in actual surgery, the patient's body or the doctor accidentally touches the endoscope-assisted clamping system, which may cause an irreversible injury to the patient due to a sudden change in the clamping force of the endoscope. Before the surgery, different intensities of collision forces are applied to the endoscope-assisted clamping system to simulate the collisions during the surgery, and the PID controller parameters are adjusted to control the clamping of the endoscope of the endoscope-assisted clamping system, so that during the surgery, the clamping force of the endoscope can be adjusted in a timely and effective manner according to the adjusted PID controller parameters, reducing the instability of the endoscope and reducing the injury to the patient.

[0044] The response time module includes: Response time series module: Apply the same intensity of collision force to the endoscope-assisted clamping system at different time points, and record the response time of the PID controller under the same intensity of collision force to obtain a response time series ; Connection weight module: Construct a network of response times, and regard each response time as a node in the network, and the connection weight between nodes is defined based on the response time difference between any two time points in the time series and . The calculation formula is: ; Finally, a weighted response time network diagram is obtained; Connection degree value module: Calculate the connection degree of each node in the weighted response time network diagram with other nodes, denoted as the connection degree value; the calculation formula is: ; where is the connection degree value, is the total number of the response time series; is an indicator function. If there is a response time difference between and , it is 1; if there is no response time difference between and , it is 0; is the connection degree value of node ; Importance value module: Calculate the importance of each node in the weighted response time network diagram during the propagation of the response time, denoted as the importance value; the calculation formula is: ; In the formula, is the importance value, represents in the weighted response time network diagram, the total number of the shortest paths calculated by the shortest path algorithm from node to node ; represents from node The total number of the shortest paths to the node Among them, the number of the shortest paths passing through ; Clustering coefficient module: Calculate the clustering coefficient of each node in the weighted response time network graph , and the calculation formula is: , where represents the number of triangles directly connected to the node in the weighted response time network graph; Response instability value module: Calculate the response instability value of the PID controller according to the connection degree value of each node, the importance value and the clustering coefficient , and the calculation formula is: ; where is the response instability value of the PID controller.

[0045] In one embodiment, the stability qualification module includes: Three-dimensional coordinate module: Establish a three-dimensional coordinate system and obtain the three-dimensional coordinates of the endoscope in real time; Time trajectory sequence module: Apply the same intensity of impact force to the endoscope-assisted clamping system, and record the three-dimensional coordinates of the endoscope during the whole process from the start of rest to the final rest, so as to obtain the time trajectory sequence under the corresponding intensity of impact force; and the first three-dimensional coordinate in the time trajectory sequence is the center of the circle, which is the coordinate when the endoscope is initially at rest; Motion range space module: Calculate the Euclidean distance from each three-dimensional coordinate in the time trajectory sequence to the origin, and record the three-dimensional coordinate point corresponding to the maximum Euclidean distance as the target coordinate point, and make a sphere with the distance from the center to the target coordinate point as the radius, and take the space volume occupied by the sphere as the motion range space under the corresponding intensity of impact force; Trajectory complexity module: For every two coordinate points in the time trajectory sequence, calculate the direction vector between the two coordinate points, calculate the included angle between them, and add up the included angles corresponding to the whole time trajectory sequence to obtain the trajectory complexity of the time trajectory sequence; Clamping instability value module: Normalize the space volume occupied by the sphere and the trajectory complexity, map them to the interval of 0-1, and perform weighted summation on the normalized space volume occupied by the sphere and the trajectory complexity to obtain the clamping instability value under each intensity of impact force.

[0046] In one embodiment, the stability qualification module further includes: Two-dimensional coordinate module: Record the response instability value of the controller and the clamping instability value of the endoscope of the endoscope-assisted clamping system under collision forces of various intensities, establish a two-dimensional coordinate system for the response instability value and the clamping instability value under collision forces of various intensities, and map the response instability value of the controller and the clamping instability value of the endoscope under collision forces of various intensities into the two-dimensional coordinates; the coordinate points correspond to the response instability value and the clamping instability value respectively; Instability degree module: Calculate the distance from the coordinate point in the two-dimensional coordinate system under collision forces of various intensities to the origin, and obtain the instability degree of the endoscope-assisted clamping system corresponding to the intensity of the collision force; Qualified module: Compare the instability degree of the endoscope-assisted clamping system under collision forces of various intensities with the preset instability degree threshold. If the instability degree is less than the preset instability degree threshold, record the stability qualification degree of the endoscope-assisted clamping system corresponding to the high-intensity collision force as qualified; Unqualified module: If the instability degree is not less than the preset instability degree threshold, record the stability qualification degree of the endoscope-assisted clamping system corresponding to the intensity of the collision force as unqualified; Parameter non-adjustment module: If the stability qualification degrees of the endoscope-assisted clamping systems under all intensities of collision forces are qualified, the overall stability qualification degree of the endoscope-assisted clamping system is relatively high; there is no need to control the parameters of the PID controller; Parameter adjustment module: If the stability qualification degree of the endoscope-assisted clamping system under any intensity of collision force is unqualified, the overall stability qualification degree of the endoscope-assisted clamping system is relatively low, and it is necessary to adjust the parameters of the PID controller according to the instability degree of the endoscope-assisted clamping system.

[0047] In one embodiment, the parameter adjustment module includes: Normalization module: Normalize the instability degrees of the endoscope-assisted clamping systems under collision forces of various intensities so that the value range is between 0 and 1; Adjustment gain module: Calculate the difference between the preset instability degree threshold and the mean value of the instability degrees after normalization processing, and record the difference as , and increase the feedback gain of the controller to adjust the parameters of the PID controller - proportional 、integral and differential parameters, and the formula for adjusting the gain is: , , ; where, 、 、 are gain adjustment coefficients, and 、 、 are all greater than 0, and 、 is greater than ; Re - judgment module: According to the adjusted PID controller parameters, apply collision forces of different intensities to the endoscopic - assisted clamping system again, and re - judge the overall stability qualification degree of the endoscopic - assisted clamping system. If the overall stability qualification degree of the endoscopic - assisted clamping system is relatively high, then use the corresponding adjusted PID controller parameters as the final control parameters to control the clamping of the endoscope of the endoscopic - assisted clamping system; Re - adjustment module: If the overall stability qualification degree of the endoscopic - assisted clamping system is relatively low, then continue to adjust the PID controller parameters until the overall stability qualification degree of the endoscopic - assisted clamping system is relatively high.

[0048] The above has described an embodiment of the present invention in detail, but the content is only a preferred embodiment of the present invention and cannot be used to artificially limit the implementation scope of the present invention. All equal changes and improvements made according to the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. A precise control method for an intelligent endoscope-assisted clamping system, characterized in that, Including the following steps: Before the endoscopic-assisted clamping system performs surgery, apply impact forces of different intensities to the endoscopic-assisted clamping system, and record the response time data of the PID controller under impact forces of different intensities; Record the trajectory change data of the endoscope under impact forces of different intensities, and jointly analyze the stability and qualification degree of the endoscopic-assisted clamping system by combining the response time data of the PID controller under impact forces of different intensities; When the stability and qualification degree of the endoscopic-assisted clamping system is low, jointly adjust the PID controller parameters according to the trajectory change data and the response time data; Control the clamping of the endoscope in the endoscopic-assisted clamping system according to the adjusted PID controller parameters.

2. The precise control method of an intelligent endoscope-assisted clamping system according to claim 1, wherein Record the response time data of the PID controller under impact forces of different intensities, and calculate the response instability value of the PID controller according to the response time data of the PID controller under impact forces of different intensities, which is used to evaluate the response smoothness of the PID controller when facing impacts. The calculation steps of the response instability value are as follows: Apply the same intensity of collision force to the endoscopic-assisted clamping system at different time points, and record the response time of the PID controller under the collision force of the same intensity to obtain a response time series ; Construct a network of response times, with each response time regarded as a node in the network, and the connection weights between nodes defined based on the response time difference between any two time points in the time series and . The calculation formula is: ; Finally, a weighted response time network graph is obtained; Calculate the connection degree between each node and other nodes in the weighted response time network diagram, and record it as the connection degree value; The calculation formula is as follows: ; where is the connection degree value, is the total number of response time series; is an indicator function. If and have a response time difference, it is 1; if and have no response time difference, it is 0; is the connection degree value of node . Calculate the importance of each node in the weighted response time network diagram during the response time propagation process, and record it as the importance value; The calculation formula is as follows: ; In the formula, is an important value, represents the total number of shortest paths calculated by the shortest path algorithm between node and node in the weighted response time network diagram; represents the number of shortest paths passing through among the total number of shortest paths from node to node ; Calculate the clustering coefficient of each node in the weighted response time network graph , and the calculation formula is as follows: , where represents the number of triangles directly connected to node in the weighted response time network graph; According to the connection degree value of each node , importance value and clustering coefficient Calculate the response instability value of the PID controller. The calculation formula is: ; In the formula, is the response instability value of the PID controller.

3. The precise control method of an intelligent endoscope-assisted clamping system according to claim 1, wherein Record the trajectory change data of the endoscope under impact forces of different intensities, and calculate the clamping instability value of the endoscope according to the trajectory change data. The calculation steps are as follows: Establish a three-dimensional coordinate system and obtain the three-dimensional coordinates of the endoscope in real time; Apply an impact force of the same intensity to the endoscopic-assisted clamping system, and record the three-dimensional coordinates of the endoscope during the whole process from the start of rest to the final rest, obtaining a time trajectory sequence under the impact force of the corresponding intensity; and the first three-dimensional coordinate in the time trajectory sequence is the center of the circle, which is the coordinate when the endoscope is initially at rest; Calculate the Euclidean distance from each three-dimensional coordinate in the time trajectory sequence to the origin, and record the three-dimensional coordinate point corresponding to the maximum Euclidean distance as the target coordinate point, and make a sphere with the distance from the origin to the target coordinate point as the radius, and use the space volume occupied by the sphere as the motion range space under the impact force of the corresponding intensity; For every two coordinate points in the time trajectory sequence, calculate the direction vector between the two coordinate points and calculate the included angle between them, and add up the included angles corresponding to the entire time trajectory sequence to obtain the trajectory complexity of the time trajectory sequence; Normalize the space volume occupied by the sphere and the trajectory complexity, map them to the interval of 0-1, and perform weighted summation on the normalized space volume occupied by the sphere and the trajectory complexity to obtain the clamping instability value under each intensity of impact force.

4. The precise control method of an intelligent endoscope-assisted clamping system according to claim 1, wherein, The steps of jointly analyzing the stability and qualification degree of the endoscopic-assisted clamping system by combining the response time data of the PID controller under impact forces of different intensities are as follows: Record the response instability value of the controller and the clamping instability value of the endoscope under collision forces of various intensities for the endoscopic-assisted clamping system. Establish a two-dimensional coordinate system with the response instability value and the clamping instability value under collision forces of various intensities, and map the response instability value of the controller and the clamping instability value of the endoscope under collision forces of various intensities into the two-dimensional coordinates; the coordinate points correspond to the response instability value and the clamping instability value respectively. Calculate the distance from the coordinate points in the two-dimensional coordinate system to the origin under collision forces of various intensities to obtain the instability degree of the endoscopic-assisted clamping system corresponding to the intensity of the collision force. Compare the instability degree of the endoscopic-assisted clamping system under collision forces of various intensities with the preset instability threshold. If the instability degree is less than the preset instability threshold, record the stability qualification level of the endoscopic-assisted clamping system corresponding to the intensity of the collision force as qualified. If the instability degree is not less than the preset instability threshold, record the stability qualification level of the endoscopic-assisted clamping system corresponding to the intensity of the collision force as unqualified. If the stability qualification levels of the endoscopic-assisted clamping system under all intensities of collision forces are qualified, the overall stability qualification level of the endoscopic-assisted clamping system is relatively high; there is no need to control the parameters of the PID controller. If the stability qualification level of the endoscopic-assisted clamping system under any intensity of collision force is unqualified, the overall stability qualification level of the endoscopic-assisted clamping system is relatively low, and it is necessary to adjust the parameters of the PID controller according to the instability degree of the endoscopic-assisted clamping system.

5. The precise control method of an intelligent endoscope-assisted clamping system according to claim 4, wherein When the overall stability qualification level of the endoscopic-assisted clamping system is relatively low, it is necessary to adjust the parameters of the PID controller according to the instability degree of the endoscopic-assisted clamping system. The steps of controlling the clamping of the endoscope in the endoscopic-assisted clamping system according to the adjusted parameters of the PID controller are as follows: Normalize the instability degree of the endoscopic-assisted clamping system under collision forces of various intensities so that the value range is between 0 and 1. Calculate the difference between the preset instability threshold and the mean value of the instability after normalization, and denote the difference as , and increase the feedback gain of the controller to adjust the PID controller parameters - proportional , integral , and derivative parameters. The formula for adjusting the gain is: , , ; where , , are gain adjustment coefficients, and , , are all greater than 0, and , is greater than ; According to the adjusted parameters of the PID controller, apply collision forces of different intensities to the endoscopic-assisted clamping system again, and judge the overall stability qualification level of the endoscopic-assisted clamping system again. If the overall stability qualification level of the endoscopic-assisted clamping system is relatively high, use the corresponding adjusted parameters of the PID controller as the final control parameters to control the clamping of the endoscope in the endoscopic-assisted clamping system. If the overall stability qualification level of the endoscopic-assisted clamping system is relatively low, continue to adjust the parameters of the PID controller until the overall stability qualification level of the endoscopic-assisted clamping system is relatively high.

6. An accurate control device for an intelligent endoscope-assisted clamping system, characterized in that, The device includes: Response time module: Before the endoscopic-assisted clamping system performs surgery, apply collision forces of different intensities to the endoscopic-assisted clamping system and record the response time data of the PID controller under collision forces of different intensities. Stability qualification module: Record the trajectory change data of the endoscope under collision forces of different intensities, and jointly analyze the stability qualification level of the endoscopic-assisted clamping system in combination with the response time data of the PID controller under collision forces of different intensities. Adjustment module: When the stability qualification level of the endoscopic-assisted clamping system is relatively low, jointly adjust the parameters of the PID controller according to the trajectory change data and the response time data. Control module: Controls the clamping of the endoscope in the endoscope-assisted clamping system according to the adjusted PID controller parameters.

7. The precise control device of an intelligent endoscope-assisted clamping system according to claim 6, characterized in that The response time module includes: Response time series module: Apply the same intensity of impact force to the endoscopic assisted clamping system at different time points, and record the response time of the PID controller under the impact force of the same intensity to obtain the response time series ; Connection weight module: Build a network of response times, with each response time regarded as a node in the network, and the connection weights between nodes defined based on the response time difference between any two time points in the time series and The calculation formula is: ; Finally, a weighted response time network diagram is obtained; Connection degree value module: Calculate the connection degree between each node and other nodes in the weighted response time network diagram, denoted as the connection degree value; the calculation formula is: ; where, is the connection degree value, is the total number of response time series; is an indicator function. If and have a response time difference, it is 1; if and have no response time difference, it is 0; is the connection degree value of node ; Important value module: Calculate the importance of each node in the weighted response time network diagram during the response time propagation process, denoted as the important value; the calculation formula is: ; In the formula, is the important value, represents in the weighted response time network diagram, the total number of shortest paths calculated by the shortest path algorithm from node to node ; represents among the total number of shortest paths from node to node , the number of shortest paths passing through ; Clustering coefficient module: Calculate the clustering coefficient of each node in the weighted response time network graph , the calculation formula is: , where represents the number of triangles directly connected to node in the weighted response time network graph; Response instability value module: According to the connection degree value of each node , importance value and clustering coefficient calculate the response instability value of the PID controller. The calculation formula is: ; In the formula, is the response instability value of the PID controller.

8. The precise control device of an intelligent endoscope-assisted clamping system according to claim 6, wherein The stable qualification module includes: Three-dimensional coordinate module: Establishes a three-dimensional coordinate system and obtains the three-dimensional coordinates of the endoscope in real time; Time trajectory sequence module: Applies a collision force of the same intensity to the endoscope-assisted clamping system, and records the three-dimensional coordinates of the endoscope during the whole process from the start of rest to the final rest, to obtain a time trajectory sequence under the corresponding intensity of the collision force; and the first three-dimensional coordinate in the time trajectory sequence is the center of the circle, which is the coordinate when the endoscope is initially at rest; Motion range space module: Calculates the Euclidean distance from each three-dimensional coordinate in the time trajectory sequence to the origin, and records the three-dimensional coordinate point corresponding to the maximum Euclidean distance as the target coordinate point, and makes a sphere with the radius from the center to the target coordinate point, and takes the space volume occupied by the sphere as the motion range space under the corresponding intensity of the collision force; Trajectory complexity module: For every two coordinate points in the time trajectory sequence, calculates the direction vector between the two coordinate points, and calculates the included angle between them, and adds up the included angles corresponding to the whole time trajectory sequence to obtain the trajectory complexity of the time trajectory sequence; Clamping instability value module: Normalizes the space volume occupied by the sphere and the trajectory complexity, maps them to the interval of 0-1, and performs weighted summation on the normalized space volume occupied by the sphere and the trajectory complexity to obtain the clamping instability value under each intensity of the collision force.

9. The precise control device of an intelligent endoscope-assisted clamping system according to claim 6, characterized in that, The stable qualification module further includes: Two-dimensional coordinate module: Records the response instability value of the controller and the clamping instability value of the endoscope in the endoscope-assisted clamping system under each intensity of the collision force, and establishes a two-dimensional coordinate system for the response instability value and the clamping instability value under each intensity of the collision force, and maps the response instability value and the clamping instability value of the controller under each intensity of the collision force to the two-dimensional coordinate; the coordinate points respectively correspond to the response instability value and the clamping instability value; Instability degree module: Calculates the distance from the coordinate points in the two-dimensional coordinate system under each intensity of the collision force to the origin, to obtain the instability degree of the endoscope-assisted clamping system under the corresponding intensity of the collision force; Qualification module: Compares the instability degree of the endoscope-assisted clamping system under each intensity of the collision force with the preset instability degree threshold. If the instability degree is less than the preset instability degree threshold, the stable qualification degree of the endoscope-assisted clamping system under the corresponding high-intensity collision force is recorded as qualified; Unqualified module: If the instability degree is not less than the preset instability degree threshold, the stable qualification degree of the endoscope-assisted clamping system under the corresponding intensity of the collision force is recorded as unqualified; Parameter non-adjustment module: If the stable qualification degrees of the endoscope-assisted clamping systems under all intensities of the collision force are qualified, the overall stable qualification degree of the endoscope-assisted clamping system is relatively high; there is no need to control the parameters of the PID controller; Parameter adjustment module: If the stable qualification degree of the endoscope-assisted clamping system under any intensity of the collision force is unqualified, the overall stable qualification degree of the endoscope-assisted clamping system is relatively low, and then it is necessary to adjust the parameters of the PID controller according to the instability degree of the endoscope-assisted clamping system.

10. The precise control device of an intelligent endoscope-assisted clamping system according to claim 9, characterized in that, The parameter adjustment module includes: Normalization module: Normalize the instability of the endoscope-assisted clamping system under the impact forces of different intensities, so that the value range is between 0 and 1; Adjustment gain module: Calculate the difference between the preset instability threshold and the mean value of the normalized instability, and record the difference as , and increase the feedback gain of the controller, and adjust the PID controller parameters - proportional , integral and derivative parameters. The formula for adjusting the gain is: , , ; where , , are gain adjustment coefficients, and , , are all greater than 0, and , is greater than ; Re-judgment module: According to the adjusted PID controller parameters, apply impact forces of different intensities to the endoscope-assisted clamping system again, and re-judge the overall stability qualification degree of the endoscope-assisted clamping system. If the overall stability qualification degree of the endoscope-assisted clamping system is relatively high, use the corresponding adjusted PID controller parameters as the final control parameters to control the clamping of the endoscope of the endoscope-assisted clamping system; Re-adjustment module: If the overall stability qualification degree of the endoscope-assisted clamping system is relatively low, continue to adjust the PID controller parameters until the overall stability qualification degree of the endoscope-assisted clamping system is relatively high.

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