Intelligent endoscope auxiliary clamping system precision control method and device

Abstract

The application discloses a kind of intelligent endoscope auxiliary clamping system precision control method and device, it is related to endoscope control technical field, to avoid in actual operation, the body of patient or doctor inadvertently touches endoscope auxiliary clamping system possibly causes irreversible damage to patient by endoscope clamping force mutation, different intensity of collision force is applied to endoscope auxiliary clamping system before operation, simulate collision in operation, and adjust PID controller parameter control endoscope of endoscope auxiliary clamping system The clamping of endoscope makes that in operation, can promptly and effectively adjust endoscope clamping force according to adjusted PID controller parameter, reduce the unstable situation of endoscope, reduce the damage caused to patient.

Description

Technical Field

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

[0002] An endoscope-assisted gripping system is a device used in medical diagnosis and treatment. It combines endoscopic technology with a gripping device to enable precise manipulation of tissue within the patient's body. Typically equipped with a high-precision robotic arm or gripper, this system enables minimally invasive procedures such as biopsies, tumor removal, and sampling under endoscopic guidance. The system provides real-time endoscope images to guide the surgeon during surgery, while the gripping system provides stable support and precision, thereby improving surgical safety and efficiency while reducing operational complexity.

[0003] Generally speaking, an endoscope-assisted clamping system will generally have an endoscope clamp, and the clamp will be opened by pressing a button, the endoscope is inserted, and the lock button is pressed to lock the endoscope. The free drag button is pressed to drag the robotic arm to adjust the position and angle of the endoscope. Release the free drag button and the endoscope is fixed, thereby achieving the purpose of supporting the endoscope and helping the doctor perform surgery. At the same time, the endoscope-assisted clamping system will be equipped with a PID controller, which monitors the position and posture changes of the endoscope in real time and accurately adjusts the clamping force of the endoscope to ensure that the endoscope always remains stable and safe during the operation.

[0004] However, while the endoscope-assisted clamping system provides relatively precise control under normal operation, in actual surgery, the patient's body or the doctor's inadvertent contact with the endoscope-assisted clamping system may cause a sudden change in the endoscope's clamping force. This sudden change may interfere with system control, especially when the existing PID controller does not respond in a timely manner. It may not be able to effectively adjust the endoscope's clamping force immediately, causing endoscope instability and even irreversible damage to the patient. Summary of the Invention

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

[0006] In a first aspect of the present invention, a precise control method for an intelligent endoscope-assisted clamping system is first proposed, the method comprising:

[0007] Before the endoscope-assisted clamping system performs surgery, collision forces of different intensities are applied to the endoscope-assisted clamping system, and response time data of the PID controller under the collision forces of different intensities are recorded;

[0008] Record the trajectory change data of the endoscope under different collision forces, and combine it with the response time data of the PID controller under different collision forces to analyze the stability and qualification of the endoscope auxiliary clamping system;

[0009] When the stability qualification level of the endoscope-assisted clamping system is low, the PID controller parameters are adjusted according to the trajectory change data and the response time data;

[0010] The clamping of the endoscope in the endoscope-assisted clamping system is controlled according to the adjusted PID controller parameters.

[0011] Optionally, response time data of the PID controller under collision forces of different intensities are recorded, and a response unsteadiness value of the PID controller is calculated based on the response time data of the PID controller under collision forces of different intensities, so as to evaluate the response smoothness of the PID controller when facing a collision. The steps for calculating the response unsteadiness value are as follows:

[0012] Apply the same intensity of collision force to the endoscope auxiliary clamping system at different time points, and record the response time of the PID controller under the same intensity of collision force to obtain the response time series. ;

[0013] Build a response time network and convert each response time As a node in the network, the connection weight between nodes Based on any two time points in the time series and The response time difference between them is defined as follows: ;Finally, a weighted response time network graph is obtained;

[0014] Calculate the degree of connection between each node and other nodes in the weighted response time network graph, which is recorded as the connection degree value; the calculation formula is: ;in, is the connectivity value, is the total number of response time series; is an indicator function, if and If there is a response time difference between and If there is no response time difference between them, it is 0; For nodes The connectivity value of

[0015] Calculate the importance of each node in the response time propagation process in the weighted response time network graph, and record it as the importance value; the calculation formula is: Where, is an important value, In the weighted response time network diagram, from node To Node The total number of shortest paths between them calculated by the shortest path algorithm; Represents a slave node To Node Among the total number of shortest paths, The number of shortest paths;

[0016] Calculate the clustering coefficient of each node in the weighted response time network graph , the calculation formula is: , where Represents the weighted response time network graph with nodes The number of directly connected triangles;

[0017] According to the connection degree of each node , important value and clustering coefficient Calculate the response unsteadiness value of the PID controller. The calculation formula is: Where, is the response unsteadiness value of the PID controller.

[0018] Optionally, 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 based on the trajectory change data. The calculation steps are as follows:

[0019] Establish a three-dimensional coordinate system and obtain the three-dimensional coordinates of the endoscope in real time;

[0020] 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 initial rest to the final rest, to obtain a time trajectory sequence under the corresponding intensity collision force. 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 first rests.

[0021] Calculate the Euclidean distance from each 3D coordinate in the time trajectory sequence to the origin, and record the 3D coordinate point corresponding to the maximum Euclidean distance as the target coordinate point. Make a sphere with the radius from the origin to the target coordinate point, and use the space occupied by the sphere as the motion range space of the corresponding intensity collision force;

[0022] For every two coordinate points in the time trajectory sequence, calculate the direction vector between the two coordinate points and the angle between them, and add the corresponding angles of the entire time trajectory sequence to obtain the trajectory complexity of the time trajectory sequence;

[0023] The space volume occupied by the ball and the trajectory complexity are normalized to the interval of 0-1, and the normalized space volume occupied by the ball and the trajectory complexity are weighted and summed to obtain the clamping instability value under each intensity collision force.

[0024] Optionally, in combination with the response time data of the PID controller under different intensity collision forces, the step of jointly analyzing the stability qualification degree of the endoscope-assisted clamping system is:

[0025] The response instability value of the controller and the clamping instability value of the endoscope under each intensity collision force are recorded, and a two-dimensional coordinate system is established for the response instability value and the clamping instability value under each intensity collision force, and the response instability value and the clamping instability value under each intensity collision force are mapped into the two-dimensional coordinate; the coordinate points correspond to the response instability value and the clamping instability value, respectively;

[0026] The distance from the coordinate point in the two-dimensional coordinate system under each intensity collision force to the origin is calculated to obtain the instability degree of the endoscope-assisted clamping system corresponding to the intensity collision force;

[0027] The instability degree of the endoscope-assisted clamping system under each intensity collision force is compared with the preset instability threshold value, and if the instability degree is less than the preset instability threshold value, the stability qualification degree of the endoscope-assisted clamping system corresponding to the intensity collision force is recorded as qualified;

[0028] If the instability degree is not less than the preset instability threshold value, the stability qualification degree of the endoscope-assisted clamping system corresponding to the intensity collision force is recorded as unqualified;

[0029] If the stability qualification degree of the endoscope-assisted clamping system under all intensity collision forces is qualified, the overall stability qualification degree of the endoscope-assisted clamping system is high; the parameters of the PID controller do not need to be controlled;

[0030] If the stability qualification degree of the endoscope-assisted clamping system under any intensity collision force is unqualified, the overall stability qualification degree of the endoscope-assisted clamping system is low, and the PID controller parameters need to be adjusted according to the instability degree of the endoscope-assisted clamping system.

[0031] Optionally, when the overall stability qualification degree of the endoscope-assisted clamping system is low, the PID controller parameters need to be adjusted according to the instability degree of the endoscope-assisted clamping system, and the step of controlling the clamping of the endoscope in the endoscope-assisted clamping system according to the adjusted PID controller parameters is:

[0032] The instability degree of the endoscope-assisted clamping system under each intensity collision force is normalized to the range of 0-1;

[0033] The difference between the preset instability threshold and the normalized instability mean is calculated and recorded as , and increase the feedback gain of the controller, adjust the PID controller parameters - proportional ,integral and differentials Parameters, the formula for adjusting the gain is: , , ;in, 、 、 is the gain adjustment coefficient, and 、 、 are greater than 0, and 、 Greater than ;

[0034] According to the adjusted PID controller parameters, different collision forces of different strengths are applied to the endoscope auxiliary clamping system again, and the overall stability qualification of the endoscope auxiliary clamping system is judged again. If the overall stability qualification of the endoscope auxiliary clamping system is high, the corresponding adjusted PID controller parameters are used as the final control parameters to control the clamping of the endoscope in the endoscope auxiliary clamping system;

[0035] If the overall stability qualification level of the endoscope-assisted clamping system is low, continue to adjust the PID controller parameters until the overall stability qualification level of the endoscope-assisted clamping system is high.

[0036] In a second aspect of the present invention, a precise control device for an intelligent endoscope auxiliary clamping system is provided, the device comprising:

[0037] Response time module: Before the endoscope-assisted clamping system performs surgery, different collision forces are applied to the endoscope-assisted clamping system, and the response time data of the PID controller under different collision forces are recorded;

[0038] Stability and qualification module: records the trajectory change data of the endoscope under different collision forces, and combines it with the response time data of the PID controller under different collision forces to analyze the stability and qualification of the endoscope auxiliary clamping system;

[0039] Adjustment module: When the stability qualification level of the endoscope-assisted clamping system is low, the PID controller parameters are adjusted according to the trajectory change data and response time data;

[0040] Control module: controls the clamping of the endoscope in the endoscope-assisted clamping system according to the adjusted PID controller parameters.

[0041] The response time module includes:

[0042] Response time series module: Apply the same intensity of collision force to the endoscope auxiliary clamping system at different time points, and record the response time of the PID controller under the same intensity of collision force to obtain the response time series ;

[0043] Connection weight module: Build a response time network, and connect each response time As a node in the network, the connection weight between nodes Based on any two time points in the time series and The response time difference between them is defined as follows: ;Finally, a weighted response time network graph is obtained;

[0044] Connection degree value module: calculates the connection degree between each node and other nodes in the weighted response time network graph, which is recorded as the connection degree value; the calculation formula is: ;in, is the connectivity value, is the total number of response time series; is an indicator function, if and If there is a response time difference between and If there is no response time difference between them, it is 0; For nodes The connectivity value of

[0045] Importance value module: calculates the importance of each node in the response time propagation process in the weighted response time network graph, recorded as the importance value; the calculation formula is: Where, is an important value, In the weighted response time network diagram, from node To Node The total number of shortest paths between them calculated by the shortest path algorithm; Represents a slave node To Node Among the total number of shortest paths, The number of shortest paths;

[0046] Clustering coefficient module: Calculates the clustering coefficient of each node in the weighted response time network graph , the calculation formula is: , where Represents the weighted response time network graph with nodes The number of directly connected triangles;

[0047] Response Unstable Value Module: Based on the connection degree value of each node , important value and clustering coefficient Calculate the response unsteadiness value of the PID controller. The calculation formula is: Where, is the response unsteadiness value of the PID controller.

[0048] Optionally, the stable and qualified module includes:

[0049] Three-dimensional coordinate module: establish a three-dimensional coordinate system and obtain the three-dimensional coordinates of the endoscope in real time;

[0050] Time trajectory sequence module: applies a collision force of the same intensity to the endoscope auxiliary clamping system and records the three-dimensional coordinates of the endoscope from the beginning to the end of the process of rest, obtaining a time trajectory sequence under the corresponding intensity of the collision force. 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 first stops.

[0051] Motion range space module: Calculate the Euclidean distance from each 3D coordinate in the time trajectory sequence to the origin, record the 3D coordinate point corresponding to the maximum Euclidean distance as the target coordinate point, and make a sphere with the center to the target coordinate point as the radius. The space occupied by the sphere is used as the motion range space of the corresponding intensity collision force;

[0052] Trajectory complexity module: For every two coordinate points in the time trajectory sequence, the direction vector between the two coordinate points is calculated, and the angle between them is calculated. The corresponding angles of the entire time trajectory sequence are added together to obtain the trajectory complexity of the time trajectory sequence.

[0053] Clamping instability value module: The space volume and trajectory complexity of the sphere are normalized and mapped to the range of 0-1. The normalized space volume and trajectory complexity of the sphere are weighted summed to obtain the clamping instability value under different collision forces.

[0054] Optionally, the stable and qualified module further includes:

[0055] Two-dimensional coordinate module: records the response instability value of the controller of the endoscope-assisted clamping system under various collision forces and the clamping instability value of the endoscope, establishes a two-dimensional coordinate system based on the response instability value and the clamping instability value under various collision forces, and maps the response instability value of the controller and the clamping instability value of the endoscope under various collision forces to the two-dimensional coordinates; the coordinate points correspond to the response instability value and the clamping instability value respectively;

[0056] Instability module: Calculates the distance from the coordinate point to the origin in the two-dimensional coordinate system under various collision forces, and obtains the instability of the endoscope-assisted clamping system under the corresponding collision force.

[0057] Qualified module: The instability of the endoscope-assisted clamping system under each collision force is compared with the preset instability threshold. If the instability is less than the preset instability threshold, the stability qualification of the endoscope-assisted clamping system under the high collision force is recorded as qualified.

[0058] Unqualified module: If the instability is not less than the preset instability threshold, the stability qualification of the mirror auxiliary clamping system corresponding to the intensity collision force is recorded as unqualified;

[0059] Parameter non-adjustment module: If the stability qualification of the endoscope-assisted clamping system for all collision forces is qualified, the overall stability qualification of the endoscope-assisted clamping system is high; there is no need to control the parameters of the PID controller;

[0060] Parameter adjustment module: If the stability qualification level of the endoscope-assisted clamping system for any intensity collision force is unqualified, the overall stability qualification level of the endoscope-assisted clamping system is low, and the PID controller parameters need to be adjusted according to the instability of the endoscope-assisted clamping system.

[0061] Optionally, the parameter adjustment module includes:

[0062] Normalization module: normalizes the instability of the endoscope-assisted clamping system under various collision forces so that the value range is between 0 and 1;

[0063] Adjust the gain module: Calculate the difference between the preset instability threshold and the normalized instability mean and record the difference as , and increase the feedback gain of the controller, adjust the PID controller parameters - proportional ,integral and differentials Parameters, the formula for adjusting the gain is: , , ;in, 、 、 is the gain adjustment coefficient, and 、 、 are greater than 0, and 、 Greater than ;

[0064] A second judgment module: according to the adjusted PID controller parameters, the endoscope auxiliary clamping system is applied with different intensity of collision force again, and the overall stability qualification degree of the endoscope auxiliary clamping system is judged again, if the overall stability qualification degree of the endoscope auxiliary clamping system is higher, the corresponding adjusted PID controller parameters are taken as the final control parameters to control the clamping of the endoscope in the endoscope auxiliary clamping system.

[0065] A second adjustment module: if the overall stability qualification degree of the endoscope auxiliary clamping system is lower, the PID controller parameters are continuously adjusted until the overall stability qualification degree of the endoscope auxiliary clamping system is higher.

[0066] The beneficial effects of the present application are:

[0067] The present application provides an intelligent endoscope auxiliary clamping system precise control method and device, in order to avoid that the patient's body or the doctor accidentally touches the endoscope auxiliary clamping system in the actual operation, which may cause irreversible damage to the patient due to the mutation of the endoscope clamping force, before the operation, different intensity of collision force is applied to the endoscope auxiliary clamping system, the collision in the operation is simulated, and the PID controller parameters are adjusted to control the clamping of the endoscope in the endoscope auxiliary clamping system, so that during the operation, the endoscope clamping force can be adjusted in time and effectively according to the adjusted PID controller parameters, the unstable situation of the endoscope is reduced, and the damage to the patient is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0068] The present application will be further described below in combination with the drawings.

[0069] Figure 1 A flow chart of an intelligent endoscope auxiliary clamping system precise control method;

[0070] Figure 2 A framework diagram of an intelligent endoscope auxiliary clamping system precise control device. DETAILED DESCRIPTION

[0071] The technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0072] Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0073] The embodiment of the present invention provides a precise control method for an intelligent endoscope auxiliary clamping system. Figure 1 , Figure 1 This is a flow chart 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:

[0074] Before the endoscope-assisted clamping system performs surgery, different collision forces are applied to the endoscope-assisted clamping system, and the response time data of the PID controller under the different collision forces are recorded;

[0075] Record the trajectory change data of the endoscope under different collision forces, and combine it with the response time data of the PID controller under different collision forces to analyze the stability and qualification of the endoscope auxiliary clamping system;

[0076] When the stability qualification level of the endoscope-assisted clamping system is low, the PID controller parameters are adjusted according to the trajectory change data and the response time data;

[0077] The clamping of the endoscope in the endoscope-assisted clamping system is controlled according to the adjusted PID controller parameters.

[0078] Based on a precise control method for an intelligent endoscope-assisted clamping system provided by an embodiment of the present invention, in order to avoid the sudden change in 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, collision forces of different intensities are applied to the endoscope-assisted clamping system before the operation to simulate the collision during the operation, and the PID controller parameters are adjusted to control the clamping of the endoscope of the endoscope-assisted clamping system, so that during the operation, the endoscope clamping force can be adjusted in a timely and effective manner according to the adjusted PID controller parameters, thereby reducing the instability of the endoscope and reducing the damage to the patient.

[0079] In one embodiment, before the endoscope-assisted clamping system performs surgery, collision forces of different intensities are applied to the endoscope-assisted clamping system, and response time data of the PID controller under the collision forces of different intensities are recorded;

[0080] Specifically, collision forces of different intensities are applied to the endoscope auxiliary clamping system, and the response time data of the PID controller under the collision forces of different intensities are recorded. The response unsteadiness value of the PID controller is calculated based on the response time data of the PID controller under the collision forces of different intensities, so as to evaluate the response smoothness of the PID controller when facing the collision. Specifically, the calculation steps of the response unsteadiness value are as follows:

[0081] Apply the same intensity of collision force to the endoscope auxiliary clamping system at different time points, and record the response time of the PID controller under the same intensity of collision force to obtain the response time series. ;

[0082] Build a response time network and convert each response time As a node in the network, the connection weight between nodes Based on any two time points in the time series and The response time difference between them is defined as follows: ;Finally, a weighted response time network graph is obtained;

[0083] Calculate the degree of connection between each node and other nodes in the weighted response time network diagram, which is recorded as the connection degree value. It represents the correlation between the response at this time point and the response at other time points, and reflects the degree of propagation of the PID controller response. The calculation formula is: ;in, is the connectivity value, is the total number of response time series; is an indicator function, if and If there is a response time difference between and If there is no response time difference between them, it is 0; For nodes The connectivity value of

[0084] Calculate the importance of each node in the response time propagation process in the weighted response time network graph, which is recorded as the importance value, reflecting the node Acts as a bridge; the calculation formula is: Where, is an important value, In the weighted response time network diagram, from node To Node The total number of shortest paths between them calculated by the shortest path algorithm; Represents a slave node To Node Among the total number of shortest paths, The number of shortest paths;

[0085] Calculate the clustering coefficient of each node in the weighted response time network graph , measure node The closeness between neighbors is calculated as follows: , where Represents the weighted response time network graph with nodes The number of directly connected triangles indicates whether the response time changes tend to fluctuate synchronously;

[0086] According to the connection degree value of each node , important value and clustering coefficient Calculate the response unsteadiness value of the PID controller. The calculation formula is: Where, is the response unsteadiness value of the PID controller.

[0087] It should be noted that the data acquisition methods involved in the above calculation process mainly include the following aspects: First, through experiments or simulations, a collision force of the same intensity is applied to the endoscope-assisted clamping system, and the response time data of the PID controller is recorded in real time. This data constitutes the response time series. Then, based on this response time data, a weighted response time network graph is constructed, in which the response time of each time point is used as a network node, and the connection weights between nodes are obtained by calculating the response time difference between time points. Graph theory algorithms are used to calculate network characteristics such as the degree of connectivity, importance, and clustering coefficient of each node. These data are obtained through the graph adjacency matrix, shortest path algorithm, and adjacency relationship. Finally, by combining these network characteristics, the response instability value of the PID controller is obtained, and the stability of the control system is evaluated.

[0088] It should be noted that a larger response jitter indicates a less stable and insensitive response of the endoscope-assisted clamping system's PID controller to the same impact force. This increases the need for coordinated adjustment of PID controller parameters to control the endoscope's clamping force. This prevents accidental contact with the endoscope-assisted clamping system during surgery, which could cause sudden changes in the endoscope's clamping force and potentially harm the patient. A larger response jitter indicates a slower and more unstable response of the PID controller to impact forces of varying strengths. The PID controller maintains system stability and ensures precise positioning of the endoscope by continuously adjusting the endoscope's clamping force. However, when the system's response is jittery, the controller may fail to respond appropriately to sudden external disturbances, resulting in excessive fluctuations in the clamping force. This instability can cause the endoscope's position to shift, resulting in large instantaneous changes in the clamping force, or even inability to correct these changes in a timely manner, seriously impacting precise surgical procedures. In actual medical operations, this instability is particularly dangerous because external collision forces, even a slight touch, may cause a sudden change in the endoscope's clamping force.

[0089] For example, suppose during surgery, a surgeon accidentally bumps the system while adjusting the angle of an endoscope. If the PID controller doesn't react quickly enough to this impact, excessive clamping force could result, compressing the patient's tissue and potentially causing bleeding or tissue necrosis. Conversely, if the clamping force response is too slow, the endoscope could lose stability, resulting in inaccurate positioning and compromising surgical precision and safety. This could cause irreversible damage to the patient and even compromise the effectiveness of the entire procedure. Therefore, ensuring that the PID controller maintains a smooth and sensitive response under all circumstances is crucial to preventing injuries caused by sudden changes in clamping force. To avoid this, the PID controller's parameters must be adjusted to ensure a more timely and accurate response to external impact forces, ensuring that the endoscope maintains a stable and safe operating state throughout the procedure. This refined control capability can significantly improve surgical safety and success rates.

[0090] In one implementation approach, traditional methods typically focus on simple time-domain analysis, such as assessing stability based on the mean or variance of response times. While intuitive, this approach overlooks the correlations and dynamics of system responses. Simple time series analysis cannot effectively capture the complex nonlinear behavior that a system may exhibit under multiple collisions, and can easily overlook subtle, often imperceptible oscillation patterns. By using graph theory and network analysis, each response time is treated as a node in a network, and the connection weights between nodes reflect the correlations between responses at different time points. This approach offers the advantage of revealing the propagation paths of the system's responses under different collision forces, the dependencies between nodes, and any internal synchronization or asynchrony. By calculating network metrics such as connectivity, importance, and clustering coefficient, a more comprehensive assessment of system stability can be achieved, capturing subtle reactions and potential instabilities under strong collision forces. For example, if the response of an endoscope-assisted gripping system at a particular time point is strongly correlated with other nodes and exhibits significant response time variation during a collision, this may indicate significant oscillation propagation within the control system, posing a high risk. Traditional simple mean calculations fail to capture this information. Therefore, the response instability value obtained by the 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.

[0091] 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, revealing the complex interrelationships and potential instabilities of the system, and providing a more accurate analysis tool for preventing safety risks in practical applications, which cannot be achieved by traditional methods.

[0092] 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;

[0093] Specifically, the trajectory change data of the endoscope under different collision forces are recorded, and the clamping instability value of the endoscope is calculated based on the trajectory change data. The calculation steps are as follows:

[0094] Establish a three-dimensional coordinate system and obtain the three-dimensional coordinates of the endoscope in real time;

[0095] 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 initial rest to the final rest, to obtain a time trajectory sequence under the corresponding intensity collision force. 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 first rests.

[0096] Calculate the Euclidean distance from each 3D coordinate in the time trajectory sequence to the origin, and record the 3D coordinate point corresponding to the maximum Euclidean distance as the target coordinate point. Make a sphere with the radius from the origin to the target coordinate point, and use the space occupied by the sphere as the motion range space of the corresponding intensity collision force;

[0097] For every two coordinate points in the time trajectory sequence, calculate the direction vector between the two coordinate points and the angle between them, and add the corresponding angles of the entire time trajectory sequence to obtain the trajectory complexity of the time trajectory sequence;

[0098] The space volume and trajectory complexity of the sphere are normalized and mapped to the range of 0-1. The normalized space volume and trajectory complexity of the sphere are weighted summed to obtain the clamping instability value under different collision forces.

[0099] It should be noted that the data acquisition method involved in calculating the aforementioned reduction instability value includes the use of a high-precision three-dimensional positioning system to collect real-time three-dimensional coordinate data of the endoscope under different collision forces. This method typically utilizes sensors (such as laser sensors, inertial measurement units, etc.) and visual tracking technology. In addition, by applying a collision force of known intensity, mechanical sensors or servo motor control can be used to record the displacement and posture changes of the endoscope at each moment during the collision process.

[0100] Need to explain, what is the clamping instability value? Why does a larger clamping instability value indicate that the endoscope auxiliary clamping system's PID controller is less stable and less sensitive in response to the same intensity of collision force, and more needs to be jointly adjusted PID controller parameters to control the clamping force on the endoscope, to prevent accidental touching of the endoscope auxiliary clamping system from causing sudden changes in the endoscope clamping force during actual surgery, which may harm the patient;

[0101] Need to explain, the clamping instability value reflects the stability and response sensitivity of the endoscope auxiliary clamping system under external collision forces. Specifically, it measures the response characteristics of the clamping system by analyzing the motion trajectory and complexity of the endoscope under different intensities of collision force. The larger the clamping instability value, the more sluggish and unstable the response of the endoscope clamping system under external collision forces, which may result in excessive clamping force fluctuations, making it difficult for the system to quickly and accurately restore the endoscope to its target position.

[0102] This unstable clamping response is particularly critical during surgery, as accurate positioning of the endoscope is crucial for the precision of the operation and the safety of the patient. In actual surgery, the doctor may accidentally touch the endoscope auxiliary clamping system during operation, or the system may be subjected to external vibrations or collision forces. These external disturbances can affect the position and clamping force of the endoscope. If the PID controller's response is not sensitive enough, the system may fail to adjust the clamping force in time, resulting in excessive or insufficient clamping force, which can affect the positioning of the endoscope. For example, during minimally invasive surgery, the endoscope needs to be precisely inserted into a specific part of the body, and any positional deviation may prevent the doctor from accurately viewing the target area, which may even lead to surgical failure or injury to healthy tissue. For example, if the system responds slowly after a minor collision, the clamping force may not be reduced or increased in time, and the endoscope may be clamped too tightly, causing unnecessary pressure on surrounding tissues, leading to bleeding or tissue damage; if the clamping force is too weak, the endoscope may loosen during operation, causing positional deviation, affecting the doctor's view, and even hindering the progress of the operation, increasing the risk to the patient. Therefore, when the clamping instability value is large, it is necessary to adjust the parameters of the PID controller in time to optimize the control strategy, so that the system can quickly and smoothly adjust the clamping force when subjected to external disturbances, ensuring the stability and accuracy of the endoscope and avoiding accidental changes in clamping force that may harm the patient.

[0103] In this case, the adjustment of the PID controller is particularly important. By dynamically adjusting the PID parameters (such as proportional, integral, and derivative coefficients), the system can respond more quickly and accurately under the action of collision forces, avoiding positional deviation of the endoscope and abnormal changes in clamping force, thereby improving the safety and accuracy of the operation.

[0104] In one implementation, calculating the clamping instability value in this manner comprehensively and accurately reflects the endoscope's motion characteristics and the stability of the clamping system under different impact forces. This method combines three-dimensional trajectory data, motion range, and trajectory complexity to provide a comprehensive perspective for analyzing system response. First, by recording the endoscope's three-dimensional coordinates and calculating the Euclidean distance from the origin, a detailed understanding of the endoscope's motion trajectory under the impact force is obtained, avoiding reliance on local data. Second, by calculating the sum of the angles between the spherical volume of the motion range and the trajectory complexity, the stability of the system can be more intuitively revealed. In particular, an increase in trajectory complexity may indicate irregularities in the endoscope's motion, indicating that the control system may be sluggish or unstable. Normalization allows the comparison of clamping instability values ​​under different impact forces on a consistent scale, thereby improving the comparability and fairness of the calculated results. Furthermore, a weighted summation approach allows the system to flexibly adjust the influence of motion range and trajectory complexity according to actual application needs, ensuring optimal control performance in different situations. In general, this method not only provides a multidimensional evaluation system, but also helps optimize the PID controller parameters, improve the stability of the clamping system in actual surgery, and prevent patient injuries caused by sudden changes in clamping force.

[0105] In one embodiment, the steps for analyzing the stability qualification of the endoscope-assisted clamping system in combination with the response time data of the PID controller under different collision forces are as follows:

[0106] Record the response instability value of the controller of the endoscope-assisted clamping system under each intensity of collision force and the clamping instability value of the endoscope, establish a two-dimensional coordinate system for the response instability value and the clamping instability value under each intensity of collision force, and map the response instability value of the controller and the clamping instability value of the endoscope under each intensity of collision force to the two-dimensional coordinates; the coordinate points correspond to the response instability value and the clamping instability value respectively;

[0107] The distance from the coordinate point to the origin in the two-dimensional coordinate system under each intensity collision force is calculated to obtain the instability of the endoscope-assisted clamping system under the corresponding intensity collision force.

[0108] The instability of the endoscope-assisted clamping system under each collision force intensity is compared with a preset instability threshold. If the instability is less than the preset instability threshold, the stability qualification of the endoscope-assisted clamping system under the high collision force intensity is recorded as qualified.

[0109] If the instability is not less than the preset instability threshold, the stability qualification of the endoscope auxiliary clamping system corresponding to the intensity collision force is recorded as unqualified;

[0110] If the stability qualification of the endoscope-assisted clamping system for all collision forces is qualified, the overall stability qualification of the endoscope-assisted clamping system is high; and there is no need to control the parameters of the PID controller;

[0111] If the stability qualification of the endoscope-assisted clamping system for any intensity collision force is unqualified, the overall stability qualification of the endoscope-assisted clamping system is low, and the PID controller parameters need to be adjusted according to the instability of the endoscope-assisted clamping system.

[0112] It should be noted that the preset instability threshold is set by professionals based on actual conditions and will not be limited or elaborated on in detail.

[0113] It should be noted that, assuming that when the endoscope applies a relatively low-intensity collision force, the controller responds quickly and accurately, and the clamping instability value is also low, after calculation, it is found that the system instability under this intensity is less than the preset threshold, and the system is stable and qualified; under a higher-intensity collision force, the calculated instability may exceed the threshold due to the slow clamping instability value and the slow response of the controller, and the system is judged to be unqualified. At this time, if the test results of all collision forces are qualified, it means that the overall stability of the endoscope-assisted clamping system is high, and the PID controller does not need to be adjusted; but if any collision force test result is unqualified, the system's PID controller needs to be adjusted to optimize the control parameters, thereby improving its response under strong collision force, ensuring that the endoscope clamping force remains stable throughout the operation, and avoiding sudden changes in clamping force that cause harm or risks to the patient.

[0114] In one implementation, the advantage of this method is that it can comprehensively consider the performance of the clamping system under collision forces of different intensities, obtain an accurate stability evaluation through quantitative analysis, avoid the one-sidedness of a single indicator, and more comprehensively and reliably evaluate the safety of the endoscope clamping system, ensuring the precise clamping and stable operation of the endoscope during surgery.

[0115] In one implementation method, the overall stability qualification of the endoscope-assisted clamping system is calculated in the above-mentioned way, which can more comprehensively and objectively evaluate the stability performance of the system under collision forces of different intensities, and ensure stable operation in various practical application scenarios. This method combines the response unsteadiness of the controller and the clamping instability value, which can accurately reflect the actual performance of the system in the face of external interference and avoid the deviation caused by a single indicator. For example, collision forces of certain intensities may cause unstable clamping, and delayed controller response may also affect system stability. Through this comprehensive evaluation method, potential stability problems can be discovered early, and the parameters of the PID controller can be adjusted in time to ensure high precision and safety of the system during surgery, thereby reducing the risks to patients and improving the success rate of surgery.

[0116] In one embodiment, when the overall stability of the endoscope-assisted clamping system is low, it is necessary to adjust the PID controller parameters according to the instability of the endoscope-assisted clamping system. The steps of controlling the clamping of the endoscope in the endoscope-assisted clamping system according to the adjusted PID controller parameters are as follows:

[0117] The instability of the endoscope assisted clamping system under various collision forces is normalized so that the value range is between 0 and 1;

[0118] The difference between the preset instability threshold and the normalized instability mean is calculated and recorded as , and increase the feedback gain of the controller, adjust the PID controller parameters - proportional ,integral and differentials Parameters, the formula for adjusting the gain is: , , ;in, 、 、 is the gain adjustment coefficient, and 、 、 are greater than 0, and 、 Greater than ;

[0119] According to the adjusted PID controller parameters, different collision forces of different strengths are applied to the endoscope auxiliary clamping system again, and the overall stability qualification of the endoscope auxiliary clamping system is judged again. If the overall stability qualification of the endoscope auxiliary clamping system is high, the corresponding adjusted PID controller parameters are used as the final control parameters to control the clamping of the endoscope in the endoscope auxiliary clamping system;

[0120] If the overall stability qualification level of the endoscope-assisted clamping system is low, continue to adjust the PID controller parameters until the overall stability qualification level of the endoscope-assisted clamping system is high.

[0121] It should be noted that the value of the gain adjustment coefficient can be calculated through empirical methods, experimental adjustments, or optimization methods based on control theory. 、 、 It is usually determined gradually through the dynamic response of the system to ensure that the system can operate stably when dealing with different collision force intensities, avoiding over-adjustment or slow response. First, the difference between the normalized instability mean and the preset instability threshold reflects the deviation between the system stability and the ideal state. The gain adjustment coefficient (for example, the proportional gain) Adjustment coefficient , integral gain Adjustment coefficient , differential gain Adjustment coefficient ) is usually calculated based on the response speed and stability requirements of the control system and the dynamic characteristics of the system. For example, if the clamping system exhibits a large instability difference under high collision force, the proportional gain can be increased to improve the reaction speed of the system so that it can adjust the clamping force more quickly. If the system responds too violently under low collision force, it may be necessary to increase the integral gain to eliminate steady-state errors. 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 is stable and responds quickly 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 differential gain is set to 0.1, the adjusted PID controller can respond quickly to the needs of the system and gradually reach an optimal balance point through continuous feedback adjustment to ensure the stability and sensitivity of the endoscope clamping system.

[0122] Based on the same inventive concept, the present invention also provides a precise control device for an intelligent endoscope auxiliary clamping system. Figure 2 , Figure 2 A framework diagram of a precise control device for an intelligent endoscope-assisted clamping system provided by an embodiment of the present invention, the device comprising:

[0123] Response time module: Before the endoscope-assisted clamping system performs surgery, different collision forces are applied to the endoscope-assisted clamping system, and the response time data of the PID controller under different collision forces are recorded;

[0124] Stability and qualification module: records the trajectory change data of the endoscope under different collision forces, and combines it with the response time data of the PID controller under different collision forces to analyze the stability and qualification of the endoscope auxiliary clamping system;

[0125] Adjustment module: When the stability of the endoscope-assisted clamping system is low, the PID controller parameters are adjusted according to the trajectory change data and response time data;

[0126] Control module: controls the clamping of the endoscope in the endoscope-assisted clamping system according to the adjusted PID controller parameters.

[0127] Based on an embodiment of the present invention, an intelligent endoscope-assisted clamping system precision control device is provided. 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, collision forces of different intensities are applied to the endoscope-assisted clamping system before the operation to simulate the collision during the operation, and the PID controller parameters are adjusted to control the clamping of the endoscope of the endoscope-assisted clamping system, so that during the operation, the endoscope clamping force can be adjusted in time and effectively according to the adjusted PID controller parameters, thereby reducing the instability of the endoscope and reducing the damage to the patient.

[0128] The response time module includes:

[0129] Response time series module: Apply the same intensity of collision force to the endoscope auxiliary clamping system at different time points, and record the response time of the PID controller under the same intensity of collision force to obtain the response time series ;

[0130] Connection weight module: Build a response time network, and connect each response time As a node in the network, the connection weight between nodes Based on any two time points in the time series and The response time difference between them is defined as follows: ;Finally, a weighted response time network graph is obtained;

[0131] Connection degree value module: calculates the connection degree between each node and other nodes in the weighted response time network graph, which is recorded as the connection degree value; the calculation formula is: ;in, is the connectivity value, is the total number of response time series; is an indicator function, if and If there is a response time difference between and If there is no response time difference between them, it is 0; For nodes The connectivity value of

[0132] Importance value module: calculates the importance of each node in the response time propagation process in the weighted response time network graph, recorded as the importance value; the calculation formula is: Where, is an important value, In the weighted response time network diagram, from node To Node The total number of shortest paths between them calculated by the shortest path algorithm; Represents a slave node To Node Among the total number of shortest paths, The number of shortest paths;

[0133] Clustering coefficient module: calculates the clustering coefficient of each node in the weighted response time network graph , the calculation formula is: , where Represents the weighted response time network graph with nodes The number of directly connected triangles;

[0134] Response Unstable Value Module: Based on the connection degree value of each node , important value and clustering coefficient Calculate the response unsteadiness value of the PID controller. The calculation formula is: Where, is the response unsteadiness value of the PID controller.

[0135] In one embodiment, the stable qualification module includes:

[0136] Three-dimensional coordinate module: establish a three-dimensional coordinate system and obtain the three-dimensional coordinates of the endoscope in real time;

[0137] Time trajectory sequence module: applies a collision force of the same intensity to the endoscope auxiliary clamping system and records the three-dimensional coordinates of the endoscope from the beginning to the end of the process of rest, obtaining a time trajectory sequence under the corresponding intensity of the collision force. 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 first stops.

[0138] Motion range space module: Calculate the Euclidean distance from each 3D coordinate in the time trajectory sequence to the origin, record the 3D coordinate point corresponding to the maximum Euclidean distance as the target coordinate point, and make a sphere with the center to the target coordinate point as the radius. The space occupied by the sphere is used as the motion range space of the corresponding intensity collision force;

[0139] Trajectory complexity module: For every two coordinate points in the time trajectory sequence, the direction vector between the two coordinate points is calculated, and the angle between them is calculated. The corresponding angles of the entire time trajectory sequence are added together to obtain the trajectory complexity of the time trajectory sequence.

[0140] Clamping instability value module: The space volume and trajectory complexity of the sphere are normalized and mapped to the range of 0-1. The normalized space volume and trajectory complexity of the sphere are weighted summed to obtain the clamping instability value under different collision forces.

[0141] In one embodiment, the stable qualification module further includes:

[0142] Two-dimensional coordinate module: records the response instability value of the controller of the endoscope-assisted clamping system under various collision forces and the clamping instability value of the endoscope, establishes a two-dimensional coordinate system based on the response instability value and the clamping instability value under various collision forces, and maps the response instability value of the controller and the clamping instability value of the endoscope under various collision forces to the two-dimensional coordinates; the coordinate points correspond to the response instability value and the clamping instability value respectively;

[0143] Instability module: Calculates the distance from the coordinate point to the origin in the two-dimensional coordinate system under various collision forces, and obtains the instability of the endoscope-assisted clamping system under the corresponding collision force.

[0144] Qualified module: The instability of the endoscope-assisted clamping system under each collision force is compared with the preset instability threshold. If the instability is less than the preset instability threshold, the stability qualification of the endoscope-assisted clamping system under the high collision force is recorded as qualified.

[0145] Unqualified module: If the instability is not less than the preset instability threshold, the stability qualification of the mirror-assisted clamping system corresponding to the intensity collision force is recorded as unqualified;

[0146] Parameter non-adjustment module: If the stability qualification of the endoscope-assisted clamping system for all collision forces is qualified, the overall stability qualification of the endoscope-assisted clamping system is high; there is no need to control the parameters of the PID controller;

[0147] Parameter adjustment module: If the stability qualification level of the endoscope-assisted clamping system for any intensity collision force is unqualified, the overall stability qualification level of the endoscope-assisted clamping system is low, and the PID controller parameters need to be adjusted according to the instability of the endoscope-assisted clamping system.

[0148] In one embodiment, the parameter adjustment module includes:

[0149] Normalization module: normalizes the instability of the endoscope-assisted clamping system under various collision forces so that the value range is between 0 and 1;

[0150] Adjust the gain module: Calculate the difference between the preset instability threshold and the normalized instability mean and record the difference as , and increase the feedback gain of the controller, adjust the PID controller parameters - proportional ,integral and differentials Parameters, the formula for adjusting the gain is: , , ;in, 、 、 is the gain adjustment coefficient, and 、 、 are greater than 0, and 、 Greater than ;

[0151] Re-judgment module: According to the adjusted PID controller parameters, different strengths of collision force are applied to the endoscope auxiliary clamping system again, and the overall stability qualification of the endoscope auxiliary clamping system is judged again. If the overall stability qualification of the endoscope auxiliary clamping system is high, the corresponding adjusted PID controller parameters are used as the final control parameters to control the clamping of the endoscope in the endoscope auxiliary clamping system;

[0152] Adjust the module again: If the overall stability qualification level of the endoscope assisted clamping system is low, continue to adjust the PID controller parameters until the overall stability qualification level of the endoscope assisted clamping system is high.

[0153] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be used to artificially limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the application of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A precise control method for an intelligent endoscope auxiliary clamping system, characterized in that: The following steps are involved: Before the endoscope-assisted clamping system performs surgery, collision forces of different intensities are applied to the endoscope-assisted clamping system, and response time data of the PID controller under the collision forces of different intensities are recorded; The trajectory change data of the endoscope under different collision forces was recorded, and the stability and qualification of the endoscope auxiliary clamping system was analyzed in combination with the response time data of the PID controller under different collision forces. When the stability qualification of the endoscope-assisted clamping system is low, the PID controller parameters are adjusted according to the trajectory change data and the response time data; controlling the clamping of the endoscope in the endoscope auxiliary clamping system according to the adjusted PID controller parameters; Combined with the response time data of the PID controller under different collision forces, the steps to analyze the stability and qualification of the endoscope-assisted clamping system are as follows: Record the response instability value of the controller of the endoscope-assisted clamping system under each intensity of collision force and the clamping instability value of the endoscope, establish a two-dimensional coordinate system for the response instability value and the clamping instability value under each intensity of collision force, and map the response instability value of the controller and the clamping instability value of the endoscope under each intensity of collision force to the two-dimensional coordinates; the coordinate points correspond to the response instability value and the clamping instability value respectively; The distance from the coordinate point to the origin in the two-dimensional coordinate system under each intensity collision force is calculated to obtain the instability of the endoscope-assisted clamping system under the corresponding intensity collision force. The instability of the endoscope-assisted clamping system at each collision force intensity is compared with a preset instability threshold. If the instability is less than the preset instability threshold, the stability qualification of the endoscope-assisted clamping system at the corresponding collision force intensity is recorded as qualified. If the instability is not less than the preset instability threshold, the stability qualification of the endoscope auxiliary clamping system corresponding to the intensity collision force is recorded as unqualified; If the stability qualification of the endoscope-assisted clamping system for all collision forces is qualified, the overall stability qualification of the endoscope-assisted clamping system is high; and there is no need to control the parameters of the PID controller; If the stability qualification of the endoscope-assisted clamping system for any intensity collision force is unqualified, the overall stability qualification of the endoscope-assisted clamping system is low, and the PID controller parameters need to be adjusted according to the instability of the endoscope-assisted clamping system.

2. The precise control method of an intelligent endoscope auxiliary clamping system according to claim 1, characterized in that: The response time data of the PID controller under collision forces of different intensities are recorded, and the response unsteadiness value of the PID controller is calculated based on the response time data of the PID controller under collision forces of different intensities. This is used to evaluate the response smoothness of the PID controller when facing collisions. The calculation steps of the response unsteadiness value are as follows: Apply the same intensity of collision force to the endoscope auxiliary clamping system at different time points, and record the response time of the PID controller under the same intensity of collision force to obtain the response time series ; Build a response time network and convert each response time As a node in the network, the connection weight between nodes Based on any two time points in the time series and The response time difference between them is defined as follows: ;Finally, a weighted response time network graph is obtained; Calculate the degree of connection between each node and other nodes in the weighted response time network graph, which is recorded as the connection degree value; The calculation formula is: ;in, is the connectivity value, is the total number of response time series; is an indicator function, if and If there is a response time difference between and If there is no response time difference between them, it is 0; For nodes The connectivity value of Calculate the importance of each node in the response time propagation process in the weighted response time network graph, and record it as the importance value; The calculation formula is: Where, is an important value, In the weighted response time network diagram, from node To Node The total number of shortest paths between them calculated by the shortest path algorithm; Represents a slave node To Node Among the total number of shortest paths, The number of shortest paths; Calculate the clustering coefficient of each node in the weighted response time network graph , the calculation formula is: , where Represents the weighted response time network graph with nodes The number of directly connected triangles; According to the connection degree value of each node , important value and clustering coefficient Calculate the response unsteadiness value of the PID controller. The calculation formula is: Where, is the response unsteadiness value of the PID controller.

3. The precise control method of an intelligent endoscope auxiliary clamping system according to claim 1, characterized in that: Record the trajectory change data of the endoscope under different collision forces, and calculate the clamping instability value of the endoscope based on 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 initial rest to the final rest, to obtain a time trajectory sequence under the corresponding intensity collision force. 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 first rests. Calculate the Euclidean distance from each 3D coordinate in the time trajectory sequence to the origin, and record the 3D coordinate point corresponding to the maximum Euclidean distance as the target coordinate point. Make a sphere with the radius from the origin to the target coordinate point, and use the space 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 and the angle between them, and add the corresponding angles of the entire time trajectory sequence to obtain the trajectory complexity of the time trajectory sequence; The space volume and trajectory complexity of the sphere are normalized and mapped to the range of 0-1. The normalized space volume and trajectory complexity of the sphere are weighted summed to obtain the clamping instability value under different collision forces.

4. The precise control method of an intelligent endoscope-assisted clamping system according to claim 1, characterized in that: When the overall stability of the endoscope-assisted clamping system is low, it is necessary to adjust the PID controller parameters according to the instability of the endoscope-assisted clamping system. The steps of controlling the clamping of the endoscope in the endoscope-assisted clamping system according to the adjusted PID controller parameters are as follows: The instability of the endoscope assisted clamping system under various collision forces is normalized so that the value range is between 0 and 1; The difference between the preset instability threshold and the normalized instability mean is calculated and recorded as , and increase the feedback gain of the controller, adjust the PID controller parameters - proportional ,integral and differentials Parameters, the formula for adjusting the gain is: , , ;in, 、 、 is the gain adjustment coefficient, and 、 、 are greater than 0, and 、 Greater than ; According to the adjusted PID controller parameters, different collision forces of different strengths are applied to the endoscope auxiliary clamping system again, and the overall stability qualification of the endoscope auxiliary clamping system is judged again. If the overall stability qualification of the endoscope auxiliary clamping system is high, the corresponding adjusted PID controller parameters are used as the final control parameters to control the clamping of the endoscope in the endoscope auxiliary clamping system; If the overall stability qualification level of the endoscope-assisted clamping system is low, continue to adjust the PID controller parameters until the overall stability qualification level of the endoscope-assisted clamping system is high.

5. A precise control device for an intelligent endoscope auxiliary clamping system, characterized in that: The device comprises: Response time module: Before the endoscope-assisted clamping system performs surgery, different collision forces are applied to the endoscope-assisted clamping system, and the response time data of the PID controller under different collision forces are recorded; Stability and qualification module: records the trajectory change data of the endoscope under different collision forces, and combines the response time data of the PID controller under different collision forces to jointly analyze the stability and qualification of the endoscope auxiliary clamping system; Adjustment module: When the stability qualification level of the endoscope-assisted clamping system is low, the PID controller parameters are adjusted according to the trajectory change data and response time data; Control module: controls the clamping of the endoscope in the endoscope auxiliary clamping system according to the adjusted PID controller parameters; The stable qualified module also includes: Two-dimensional coordinate module: records the response instability value of the controller of the endoscope-assisted clamping system under various collision forces and the clamping instability value of the endoscope, establishes a two-dimensional coordinate system based on the response instability value and the clamping instability value under various collision forces, and maps the response instability value of the controller and the clamping instability value of the endoscope under various collision forces to the two-dimensional coordinates; the coordinate points correspond to the response instability value and the clamping instability value respectively; Instability module: Calculates the distance from the coordinate point to the origin in the two-dimensional coordinate system under various collision forces, and obtains the instability of the endoscope-assisted clamping system under the corresponding collision force. Qualified module: The instability of the endoscope-assisted clamping system under each collision force is compared with the preset instability threshold. If the instability is less than the preset instability threshold, the stability qualification of the endoscope-assisted clamping system under the high collision force is recorded as qualified. Unqualified module: If the instability is not less than the preset instability threshold, the stability qualification of the mirror-assisted clamping system corresponding to the intensity collision force is recorded as unqualified; Parameter non-adjustment module: If the stability qualification of the endoscope-assisted clamping system for all collision forces is qualified, the overall stability qualification of the endoscope-assisted clamping system is high; there is no need to control the parameters of the PID controller; Parameter adjustment module: If the stability qualification level of the endoscope-assisted clamping system for any intensity collision force is unqualified, the overall stability qualification level of the endoscope-assisted clamping system is low, and the PID controller parameters need to be adjusted according to the instability of the endoscope-assisted clamping system.

6. The precise control device for an intelligent endoscope auxiliary clamping system according to claim 5 is characterized in that: The response time module includes: Response time series module: Apply the same intensity of collision force to the endoscope auxiliary clamping system at different time points, and record the response time of the PID controller under the same intensity of collision force to obtain the response time series ; Connection weight module: Build a response time network, and connect each response time As a node in the network, the connection weight between nodes Based on any two time points in the time series and The response time difference between them is defined as follows: ;Finally, a weighted response time network graph is obtained; Connection degree value module: calculates the connection degree between each node and other nodes in the weighted response time network graph, which is recorded as the connection degree value; the calculation formula is: ;in, is the connectivity value, is the total number of response time series; is an indicator function, if and If there is a response time difference between and If there is no response time difference between them, it is 0; For nodes The connectivity value of Importance value module: calculates the importance of each node in the response time propagation process in the weighted response time network graph, recorded as the importance value; the calculation formula is: Where, is an important value, In the weighted response time network diagram, from node To Node The total number of shortest paths between them calculated by the shortest path algorithm; Represents a slave node To Node Among the total number of shortest paths, The number of shortest paths; Clustering coefficient module: Calculates the clustering coefficient of each node in the weighted response time network graph , the calculation formula is: , where Represents the weighted response time network graph with nodes The number of directly connected triangles; Response Unstable Value Module: Based on the connection degree value of each node , important value and clustering coefficient Calculate the response unsteadiness value of the PID controller. The calculation formula is: Where, is the response unsteadiness value of the PID controller.

7. The precise control device for an intelligent endoscope auxiliary clamping system according to claim 5, characterized in that: The stable qualified 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: applies a collision force of the same intensity to the endoscope auxiliary clamping system and records the three-dimensional coordinates of the endoscope from the beginning to the end of the process of rest, obtaining a time trajectory sequence under the corresponding intensity of the collision force. 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 first stops. Motion range space module: Calculate the Euclidean distance from each 3D coordinate in the time trajectory sequence to the origin, record the 3D coordinate point corresponding to the maximum Euclidean distance as the target coordinate point, and make a sphere with the center to the target coordinate point as the radius. The space occupied by the sphere is used as the motion range space of the corresponding intensity collision force; Trajectory complexity module: For every two coordinate points in the time trajectory sequence, the direction vector between the two coordinate points is calculated, and the angle between them is calculated. The corresponding angles of the entire time trajectory sequence are added together to obtain the trajectory complexity of the time trajectory sequence. Clamping instability value module: The space volume and trajectory complexity of the sphere are normalized and mapped to the range of 0-1. The normalized space volume and trajectory complexity of the sphere are weighted summed to obtain the clamping instability value under different collision forces.

8. The precise control device for an intelligent endoscope auxiliary clamping system according to claim 7, characterized in that: The parameter adjustment module includes: Normalization module: normalizes the instability of the endoscope-assisted clamping system under various collision forces so that the value range is between 0 and 1; Adjust the gain module: Calculate the difference between the preset instability threshold and the normalized instability mean and record the difference as , and increase the feedback gain of the controller, adjust the PID controller parameters - proportional ,integral and differentials Parameters, the formula for adjusting the gain is: , , ;in, 、 、 is the gain adjustment coefficient, and 、 、 are greater than 0, and 、 Greater than ; Re-judgment module: According to the adjusted PID controller parameters, different strengths of collision force are applied to the endoscope auxiliary clamping system again, and the overall stability qualification of the endoscope auxiliary clamping system is judged again. If the overall stability qualification of the endoscope auxiliary clamping system is high, the corresponding adjusted PID controller parameters are used as the final control parameters to control the clamping of the endoscope in the endoscope auxiliary clamping system; Adjust the module again: If the overall stability qualification level of the endoscope assisted clamping system is low, continue to adjust the PID controller parameters until the overall stability qualification level of the endoscope assisted clamping system is high.

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