Control method and device of perfusion equipment, controller and endoscope system

Abstract

The invention relates to a control method and device of perfusion equipment, a controller and an endoscope system. According to the method, firstly, a composite pulse signal is obtained, the composite pulse signal comprises at least two different pulse signals, and at least one of pulse parameters corresponding to the two different pulse signals is different. And then perfusion control information is determined according to the composite pulse signal. And finally, controlling the perfusion equipment to adjust the perfusion flow of the perfusion equipment according to the perfusion control information. Thus, targeted hydrodynamic force can be formed, different pulses can generate irregular perfusion flow states and form irregular turbulence, adaptive deposition conditions of the target object can be broken, the risk that the target object is in a gathering state to form blockage is reduced, and therefore the possibility of secondary residue of the target object is reduced, and the target object quality is improved. And the operation effect of the perfusion equipment on the target object is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical information processing, and particularly relates to a control method, device, controller and endoscope system for a perfusion device. Background Art

[0002] An endoscope system is a precision optical instrument for medical diagnosis and treatment, which can achieve visual inspection and minimally invasive intervention on a target without performing an open surgery. Taking the target as a calculus, laser lithotripsy can be performed through the endoscope system. During the operation, it is necessary to perfuse liquid while aspirating liquid to discharge the crushed calculus. To ensure the operation safety, constant pressure perfusion and constant pressure aspiration are usually adopted to maintain a relatively stable working pressure value in the body. However, the method of constant pressure perfusion and constant pressure aspiration easily leads to a relatively stable flow state in the body, making the crushed calculus particles easy to aggregate in the body or adhere to the wrinkles on the inner wall, resulting in poor discharge effect of the crushed calculus. Summary of the Invention

[0003] The purpose of the present application is to provide a control method, device, controller and endoscope system for a perfusion device, so as to solve the problem of poor discharge effect of the target during the laser lithotripsy operation of the traditional endoscope system.

[0004] To achieve the above purpose, the first aspect of the present application provides a control method for a perfusion device, which is applied to a controller. The controller is communicatively connected to the perfusion device, and the control method includes: Obtaining a composite pulse signal, where the composite pulse signal includes at least two different pulse signals, and at least one of the pulse parameters corresponding to the two different pulse signals is different; Determining perfusion control information according to the composite pulse signal; Controlling the perfusion device to adjust the perfusion flow rate of the perfusion device according to the perfusion control information.

[0005] The second aspect of the present application provides a control device for a perfusion device, and the control device includes: An obtaining module, configured to obtain a composite pulse signal, where the composite pulse signal includes at least two different pulse signals, and at least one of the pulse parameters corresponding to the two different pulse signals is different; A determining module, configured to determine perfusion control information according to the composite pulse signal; An adjusting module, configured to control the perfusion device to adjust the perfusion flow rate of the perfusion device according to the perfusion control information.

[0006] The third aspect of the present application provides a controller, including: A memory configured to store instructions; and A processor configured to call the instructions from the memory and capable of implementing the control method of the above-mentioned perfusion device when executing the instructions.

[0007] A fourth aspect of the present application provides an endoscope system, including: A perfusion device; The above-mentioned controller communicating with the perfusion device.

[0008] A fifth aspect of the present application provides a computer-readable storage medium storing a program that can be loaded and executed by a processor to implement the control method of the above-mentioned perfusion device.

[0009] The beneficial effects of the present application are: During the process of controlling the operation of the perfusion device, by adopting a composite pulse signal including at least two pulse signals with different pulse parameters, the perfusion control information of the perfusion device is obtained, and then the perfusion device is controlled to adjust the perfusion flow according to the perfusion control information, forming a targeted fluid dynamics. Different pulses will generate an irregular perfusion flow pattern, forming a random turbulent flow, which can break the adaptive deposition conditions of the target object for the operation of the perfusion device, reduce the risk of the target object aggregating to form a blockage, thereby reducing the possibility of secondary residue of the target object and improving the operation effect of the perfusion device on the target object.

[0010] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. Description of the Drawings

[0011] Figure 1 It is a schematic diagram of an application scenario of a control method for a perfusion device provided in an embodiment of the present application; Figure 2 It is a schematic flowchart of a control method for a perfusion device provided in an embodiment of the present application; Figure 3 It is a schematic diagram of a first pulse waveform provided in an embodiment of the present application; Figure 4 It is a schematic diagram of a second pulse waveform provided in an embodiment of the present application; Figure 5 It is a schematic diagram of a second pulse waveform provided in another embodiment of the present application; Figure 6 It is a schematic flowchart of a control method for a perfusion device provided in another embodiment of the present application; Figure 7 It is a schematic structural diagram of a control device for a perfusion device provided in an embodiment of the present application; Figure 8 This is a block diagram of a controller provided in an embodiment of the present application. Detailed implementation manners

[0012] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0013] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more unless otherwise specifically defined. In the present application, the term "exemplary" is used to mean "serving as an example, illustration, or description". Any embodiment described as "exemplary" in the present application is not necessarily construed as being more preferred or having more advantages than other embodiments. In order for any person skilled in the art to implement and use the present application, the following description is given. In the following description, details are set forth for the purpose of explanation. It should be understood that those skilled in the art can realize that the present application can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid unnecessary details from obscuring the description of the present application. Therefore, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the present application.

[0014] The control method of the perfusion device in the embodiment of the present application is applied to a controller. For example Figure 1 as shown Figure 1 This is a schematic diagram of an application scenario of a control method for a perfusion device 130 provided in an embodiment of the present application. Figure 1 Taking the perfusion device applied to the endoscope system 100 as an example, the endoscope system 100 is used for performing laser lithotripsy operations so that the target object of the laser lithotripsy operation is discharged from the target area. For example, the target object in the embodiment of the present application can be a calculus as an example. Among them, the target area refers to the area to be subjected to laser lithotripsy operations. For example, the target area can be a kidney area, a ureter area, a hepatobiliary area, etc.

[0015] As an example, the endoscope system 100 may include a controller 110, a laser 120, a perfusion device 130, a suction device 140, and an image acquisition device 150. Among them, the controller 110 communicates with the laser 120, the perfusion device 130, the suction device 140, and the image acquisition device 150 respectively. Among them, the laser 120 is used to generate a laser beam. By utilizing the photothermal effect or photo-mechanical effect of the laser, the laser contacts or non-contacts the stone through the end face of the optical fiber, so that the stone is cracked into powder or fragments, realizing the fragmentation of the stone in the target area. The perfusion device 130 is used to perfuse a liquid (such as normal saline) into the target area to maintain a clear field of view during the operation of the endoscope system 100 and assist in discharging the fragmented stone from the target area. The suction device 140 is used to discharge the fragmented stone particles, perfusion waste liquid, tissue fragments, etc. from the target area through negative pressure suction. The image acquisition device 150 is used to acquire an optical image of the target area, display the position of the stone in the target area in real time, and guide the positioning of the laser 120. The controller 110 is the core to realize the coordinated operation of multiple devices. By communicating with the laser 120, the perfusion device 130, the suction device 140, and the image acquisition device 150, a controllable closed-loop of lithotripsy-perfusion-imaging is formed. It should be noted that in the embodiment of the present application, the perfusion device 130 is applied to the endoscope system as an example, and the perfusion device 130 can also be applied to other systems, such as a visual sheath, etc.

[0016] In the application scenario of the control method of the perfusion device 130 in the embodiment of the present application, a controller 110 for the control method is included. The controller 110 can run a computer-readable storage medium corresponding to the control method of the perfusion device 130 to execute the steps of the control method of the perfusion device 130.

[0017] It can be understood that Figure 1 The various electronic devices in the application scenario of the control method of the perfusion device 130 shown do not constitute a limitation to the embodiment of the present application. That is, the number of devices, the types of devices included in the application scenario of the control method of the perfusion device 130, or the number of devices, the types of devices included in each electronic device do not affect the overall implementation of the technical solution in the embodiment of the present application, and can all be regarded as equivalent replacements or derivatives of the technical solution required to be protected in the embodiment of the present application.

[0018] In the embodiment of the present application, the controller 110 can be an independent device or a device network or device cluster composed of devices. For example, the controller 110 described in the embodiment of the present application includes, but is not limited to, a computer, a network host, a single network device, a set of multiple network devices, or cloud devices composed of multiple devices. Among them, the cloud device is composed of a large number of computers or network devices based on cloud computing (CloudComputing).

[0019] Those skilled in the art can understand thatFigure 1 The application scenarios shown are merely one application scenario corresponding to the technical solution of this application, and do not constitute a limitation on the application scenarios of the technical solution of this application. Other application scenarios may also include more or fewer electronic devices than those shown in Figure 1 the figure, or the network connection relationship of the electronic devices. For example, Figure 1 only one electronic device is shown in the figure. It can be understood that the scenario of the control method of the perfusion device 130 may also include one or more other electronic devices, which are not specifically limited here.

[0020] It should be noted that Figure 1 the application scenario of the control method of the perfusion device 130 shown is only an example. The application scenario of the control method of the perfusion device 130 described in the embodiments of this application is to more clearly illustrate the technical solution of the embodiments of this application, and does not constitute a limitation on the technical solution provided by the embodiments of this application.

[0021] Based on the application scenario of the control method of the above perfusion device, embodiments of the control method of the perfusion device are proposed. The following will be described in detail with reference to the drawings.

[0022] Figure 2 It is a schematic flow chart of a control method of a perfusion device provided in an embodiment of this application. As Figure 2 shown, in one embodiment, the control method can execute steps 201-203 and other steps through the above controller 110, and the following will be introduced in detail.

[0023] Step 201: Obtain a composite pulse signal, where the composite pulse signal includes at least two different pulse signals, and at least one of the pulse parameters corresponding to the two different pulse signals is different.

[0024] Step 202: Determine perfusion control information according to the composite pulse signal.

[0025] Step 203: Control the perfusion device to adjust the perfusion flow of the perfusion device according to the perfusion control information.

[0026] In the embodiments of this application, the pulse parameter refers to the characteristic parameter of the pulse signal used to control the perfusion device to output the perfusion liquid. The pulse parameter can affect the perfusion flow of the perfusion device. The perfusion flow refers to the speed at which the perfusion liquid is delivered to the target area of the endoscope system through the perfusion device, and is used to provide liquid for the target area to maintain the pressure and environment of the target area.

[0027] As an example, the pulse parameter may include but is not limited to pulse waveform, pulse signal value, and pulse frequency. Among them, the pulse signal value may also include the maximum pulse signal value and the minimum pulse signal value of the pulse, etc.

[0028] A pulse waveform refers to the shape or profile of a pulse signal as it varies over time, describing the variation pattern of the pulse signal from its starting state to its ending state within one cycle. For example, pulse waveforms can include, but are not limited to, square waves, sine waves, triangular waves, sawtooth waves, and trapezoidal waves, etc.

[0029] The pulse signal value refers to the amplitude magnitude of the pulse signal, usually corresponding to the voltage or current value of an electrical signal. In the embodiments of this application, there is a mapping relationship between the pulse signal value and the perfusion flow rate. Each pulse signal value has a corresponding perfusion flow rate, and the magnitude of the pulse signal value can be directly mapped to the magnitude of the perfusion flow rate. For example, a higher pulse signal value indicates a larger perfusion flow rate, and a lower pulse signal value indicates a smaller perfusion flow rate. As an example, the maximum pulse signal value corresponds to the maximum perfusion flow rate, and the minimum pulse signal value corresponds to the minimum perfusion flow rate.

[0030] The pulse frequency refers to the number of cycles of the pulse signal per unit time (such as per second). The higher the pulse frequency, the shorter the period of the pulse signal and the more pulses there are per unit time. The perfusion flow rate of high-frequency pulses will generate a relatively turbulent liquid flow, which helps to impact and break the agglomeration state of the target object. On the contrary, the lower the pulse frequency, the longer the period of the pulse signal and the fewer pulses there are per unit time. The perfusion flow rate of low-frequency pulses is suitable for stabilizing the pressure in the target area and reducing the liquid flow in the target area to ensure a relatively clear view of the target area.

[0031] In the traditional method of perfusing liquid, a constant perfusion flow rate is difficult to adapt to the changes of target objects of different sizes, and a perfusion flow rate with a single variation pattern is difficult to respond in real time to the change of the working pressure value in the target area. Taking the target area as the area where the organ is located as an example, an overly large working pressure value is likely to cause organ or tissue damage in the target area. On the contrary, an overly small working pressure value is likely to lead to an excessive suction load, resulting in a relatively blurred view of the target area. Therefore, the embodiments of this application adopt at least two different pulse signals as the composite pulse signal corresponding to the perfusion device, so as to determine the perfusion control information for the perfusion device according to the composite pulse signal, thereby controlling the perfusion flow rate of the perfusion device. Among them, different pulse signals mean that there is at least one difference in the pulse parameters corresponding to the two pulse signals, that is, it includes at least one differential feature. For example, if the pulse frequency of one pulse signal is 20 Hz and the pulse frequency of another pulse signal is 10 Hz, then the two pulse signals are different pulse signals.

[0032] Based on a composite pulse signal including at least two pulse signals with different pulse parameters, different perfusion control information of the perfusion device is determined. Then, according to the perfusion control information, the perfusion flow rate of the perfusion device is controlled, which can make the perfusion flow rate in an irregular flow state and generate irregular turbulence. Since the deposition and aggregation of particles generated by the target object after laser lithotripsy, such as stones, depend on stable hydrodynamic conditions (such as laminar flow state and low flow rate regions), through irregular turbulence, the velocity, direction, and pressure of the liquid can present dynamic changes, forming a disordered flow state, which will destroy the stable deposition environment of the particles of the target object in the target area, making it difficult for the particles of the target object to adhere or accumulate in the target area, thereby inhibiting the adaptive deposition of stones. Among them, adaptive deposition refers to the process in which the particles of the target object form stable aggregates by adjusting their positions or interlocking with each other. In this way, the situation where the target object blocks the channel in the target area can be reduced, and the possibility of secondary residue of the target object is lowered.

[0033] In the embodiment of the present application, the suction flow rate of the suction device can be a set flow rate. The set flow rate refers to the flow rate adjusted in a stable waveform or a preset curve. For example, the set flow rate can be a constant flow rate or a regularly changing flow rate. That is to say, the suction flow rate is a stable value that can be obtained through calculation or prediction, so that the volume of the suction fluid at each subsequent moment can be predicted. Further, the volume difference between the perfusion fluid volume and the suction fluid volume, that is, the net increased fluid volume in the target area, can be predicted.

[0034] In order to reduce the probability of organ or tissue damage in the target area caused by pressure shock in the target area due to sudden changes in the perfusion flow rate, or the poor vision in the target area due to too small perfusion flow rate, the embodiment of the present application can dynamically constrain the working pressure value in the target area within a safe range, thereby generating effective pulses and reducing the risk of pressure out-of-control caused by human misoperation.

[0035] Specifically, in step 201, the perfusion flow rate, the suction flow rate, and the working pressure value of the target area corresponding to the perfusion flow rate and the suction flow rate within a set time period can be obtained first, and the range of the working pressure value of the target area can be obtained. Then, the change amount of the perfusion fluid volume is obtained based on the perfusion flow rate and the suction flow rate.

[0036] Among them, the range of the working pressure value of the target area can be set according to experience or by looking up information, including the maximum value and the minimum value. For example, for the kidney, the maximum value and the minimum value of the intrarenal pressure can be set. By recording the relationship between the perfusion flow rate, the suction flow rate, and the change curve of the corresponding working pressure value, the correlation relationship between the working pressure value of the target area and the perfusion fluid volume, that is, the change law of the working pressure value of the target area with the perfusion fluid volume, can be obtained.

[0037] Next, according to the correlation between the change in the volume of the perfusion fluid and the working pressure value and the range of the working pressure value, the set change range of the change in the volume of the perfusion fluid is determined. The set change range is the change range that can keep the working pressure value in the target area within the safe range, that is, the range of increasing and decreasing upward from the initial value of the perfusion fluid volume. For example, when it is detected that the working pressure value in the target area reaches the maximum value, record the current change in the volume of the perfusion fluid, and obtain the maximum value of the set change range. Assume that the value of the current change in the volume of the perfusion fluid is 5, then the maximum value of the set change range is the initial value + 5. Similarly, when it is detected that the working pressure value in the target area reaches the minimum value, record the current change in the volume of the perfusion fluid, and obtain the minimum value of the set change range. Assume that the value of the current change in the volume of the perfusion fluid is -3, then the minimum value of the set change range is the initial value - 3. In this way, the set change range based on the initial value can be obtained as [-3, 5].

[0038] Finally, when the change in the volume of the perfusion fluid satisfies the set change range, a composite pulse signal including at least two different pulse parameters is generated. Then, control the perfusion flow of the endoscope system to change according to the composite pulse signal. The composite pulse signal refers to a perfusion method composed of a pulse signal combination with at least two different pulse parameters. As an example, the composite pulse signal can be a randomly generated pulse signal.

[0039] Through the closed-loop control of parameter acquisition - volume calculation - composite pulse signal generation - dynamic feedback in the embodiments of the present application, it can be ensured that, on the premise that the working pressure value in the target area is safe, dynamic pulses are generated using randomly generated parameters to break the hydrodynamic conditions of the aggregation of the target object, and the efficient discharge of the target object within the safety boundary is realized, which not only ensures clinical safety but also improves the clearance efficiency through the turbulence effect.

[0040] In the embodiments of the present application, when the working pressure value in the target area is too large or too small, it is necessary to adjust the waveform generated by the composite pulse signal so that the working pressure value in the target area fluctuates within a reasonable range.

[0041] Specifically, in step 201, first obtain the current working pressure value and the first pulse waveform of the composite pulse signal. Among them, the first pulse waveform refers to the pulse waveform of the composite pulse signal at the current moment. Figure 3 This is a schematic diagram of a first pulse waveform provided in the embodiments of the present application. Taking the first pulse waveform as a sine wave as an example, the abscissa x is time, and the ordinate y is the pulse signal value of the perfusion flow. Assume that the suction flow is a constant flow, then the pulse waveform corresponding to the suction flow is Figure 3 the straight line Z in, and the ordinate corresponding to the straight line Z is the pulse signal value of the suction flow. In Figure 3Among them, T1 is the first cycle of the first pulse waveform, and T2 is the second cycle of the first pulse waveform.

[0042] When it is necessary to adjust the first pulse waveform, the target position of the first pulse waveform can be selected as the starting position according to the current working pressure value of the target area and the preset pressure threshold, and the second pulse waveform can be generated based on the starting position. Among them, the second pulse waveform refers to the pulse waveform adjusted based on the current working pressure value. The target position can be selected at a certain position within the next cycle after the current cycle. The preset pressure threshold can be preset based on the situation of the target area. That is to say, by adjusting the starting position of the composite pulse signal, the magnitude of the pulse signal value can be adjusted, so that the working pressure value of the target area is adjusted to a reasonable range.

[0043] In the embodiment of the present application, each pulse signal value can correspond to a perfusion flow rate. The pressure threshold can include a first pressure threshold and a second pressure threshold. The first pressure threshold is the threshold for determining that the working pressure value of the target area is too large, and the second pressure threshold is the threshold for determining that the working pressure value of the target area is too small. Among them, the second pressure threshold is less than or equal to the first pressure threshold. As an example, the first pressure threshold and the second pressure threshold can be equal values and be the middle value of the working pressure value range.

[0044] If the current working pressure value is greater than or equal to the first pressure threshold, it means that the working pressure value of the current target area is too large, then it is necessary to control the perfusion flow rate to show a decreasing trend first, so that the perfusion flow rate is less than or equal to the suction flow rate. In this way, the working pressure of the target area can be reduced. Therefore, the position of the pulse signal value in the first pulse waveform where the perfusion flow rate is less than or equal to the suction flow rate can be selected as the target position. The target position is the starting point of the adjusted second pulse waveform. Therefore, the target position can be used as the starting position.

[0045] Figure 4 It is a schematic diagram of a second pulse waveform provided in an embodiment of the present application. Combining Figure 3 and Figure 4 , assuming that at point A in Figure 3 , it is detected that the current working pressure value is greater than or equal to the first pressure threshold, then the point less than or equal to the straight line Z can be selected on the first pulse waveform as the target position. For example, point B is selected as the target position, and then a pulse waveform is generated starting from point B to obtain the second pulse waveform, that is, the waveform shown in Figure 4 .

[0046] If the current working pressure value is less than the second pressure threshold, it indicates that the working pressure value of the current target area is too small. Then, it is necessary to control the perfusion flow to first show an increasing trend so that the perfusion flow is greater than or equal to the aspiration flow. In this way, the working pressure of the target area can be increased. Therefore, the position of the pulse signal value in the first pulse waveform where the perfusion flow is greater than or equal to the aspiration flow can be selected as the target position.

[0047] Figure 5 It is a schematic diagram of a second pulse waveform provided in another embodiment of the present application. Combining Figure 3 and Figure 5 , assuming that at point A in Figure 3 , it is detected that the current working pressure value is less than the second pressure threshold. Then, a point greater than or equal to line Z can be selected on the first pulse waveform as the target position. For example, point C is selected as the target position, and then a pulse waveform is generated starting from point C to obtain the second pulse waveform, that is, the waveform shown in Figure 5 .

[0048] It should be noted that the selection of the target position can be determined according to the detected working pressure value of the target area and the preset working pressure threshold of the target area. For example, if the difference between the working pressure value and the working pressure threshold is small, the target position needs to be determined at a position far from line Z to give more adjustment space for the pulse signal value. On the contrary, if the difference between the working pressure value and the working pressure threshold is large, there is still enough time for pulse adjustment, and the target position can be determined at a position close to line Z. The specific determination method is not limited here.

[0049] In the embodiment of the present application, after the endoscopic system operates, such as after laser lithotripsy, there may be situations where the target object does not move as expected or there is still aggregation after movement. Therefore, in the laser lithotripsy operation of the embodiment of the present application, the real-time image information of the collected target area can be analyzed by the image acquisition device to determine the operation effect of the endoscopic system. For example, it can be determined according to the moving distance of the target object in the collected image information. A preset range is determined in advance. If the target object is still within this preset range after the operation of the endoscopic system, it can be determined that the target object has not moved. Not moving means that the moving range of the target object is too small. On the contrary, if the target object is outside the preset range, it can be determined that the target object has moved.

[0050] As an example, a set distance can be set. The moving distance of the target object is directly determined based on the coordinate changes of the target object before and after the endoscope operation, and then compared with the set distance. If the moving distance of the target object is greater than the set distance, it indicates that the target object has moved. If the moving distance of the target object is less than or equal to the set distance, it indicates that the target object has not moved. As another example, a set speed can be set. The moving distance of the target object is determined based on the coordinate changes of the target object before and after the endoscope operation, and the time difference before and after the operation is calculated to obtain the moving speed of the target object. Then, the moving speed is compared with the set speed. If the moving speed of the target object is greater than the set speed, it indicates that the target object has moved. If the moving speed of the target object is less than or equal to the set speed, it indicates that the target object has not moved. It should be noted that the determination of the movement of the target object based on the image information is not limited to the above two examples, and can also be other methods capable of detecting the target object, which are not limited here. Taking the target object as a calculus as an example, the situation existing after the endoscope operation will be illustrated below.

[0051] In the embodiment of the present application, after the endoscope performs an operation, there may be a situation where the calculus is not driven or the moving speed does not reach the expectation, indicating that the current perfusion flow rate is insufficient. Therefore, in step 201, in response to the image information indicating that the movement of the target object is within the set range, and when the change amount of the perfusion fluid volume is within the set change range, the maximum pulse signal value of the composite pulse signal can be increased to increase the maximum perfusion flow rate of the perfusion flow. Since there is a mapping relationship between the maximum pulse signal value of the pulse and the maximum perfusion flow rate, the maximum perfusion flow rate can be increased by increasing the maximum pulse signal value of the composite pulse signal, so that the changed impact force can push the movement of the calculus.

[0052] In the embodiment of the present application, in response to the image information indicating that the movement of the target object is outside the set range, it means that the perfusion flow rate can cause the calculus to move. However, there may be situations such as the calculus aggregating at other positions in the target area or the field of view being unclear. Therefore, other parameters of the pulse parameters corresponding to the perfusion flow rate need to be adjusted, such as the pulse frequency.

[0053] If the calculus aggregates at other positions in the target area, it indicates that the turbulence intensity in the target area is insufficient, and the pulse frequency needs to be increased. Therefore, in step 201, in response to the image information indicating that the movement of the target object is outside the set range, and detecting that the area of the aggregation area of the target object is greater than the set area, and when the change amount of the perfusion fluid volume is within the set change range, the pulse frequency of the composite pulse signal is increased to increase the perfusion flow rate.

[0054] If there is particulate suspension of the target object or poor image quality clarity, it indicates that the turbulence intensity in the current target area is too high and the pulse frequency needs to be reduced. Therefore, in step 201, in response to the image information indicating that the movement of the target object is outside the set range, and detecting that the particles of the target object are in an irregular suspension state and / or the clarity index of the image collected by the endoscope system is less than the set clarity index, and when the change amount of the perfusion fluid volume is within the set change range, the pulse frequency of the composite pulse signal is reduced to reduce the perfusion flow rate.

[0055] As an embodiment, in order to better discharge the target object in the target area, the pulse frequency can be intermittently increased. Specifically, in step 201, in response to the image information indicating that the movement of the target object is outside the set range, the first pulse frequency and the second pulse frequency can be determined based on the current pulse frequency. Among them, the first pulse frequency is greater than the current pulse frequency, and the second pulse frequency is the current pulse frequency (i.e., the original frequency) or the pulse frequency that makes the perfusion flow rate a constant flow rate (i.e., the pulse frequency for stable flow perfusion).

[0056] The pulse frequency is determined as the first pulse frequency in the first time period, and the pulse frequency is determined as the second pulse frequency in the second time period, and the pulse frequency is controlled in a manner of cyclic alternation of the first time period and the second time period to adjust the perfusion flow rate. The stones are suspended by increasing the frequency part, and then the stones are discharged to the suction port by maintaining the original frequency or stable flow perfusion. Dynamically changing the pulse frequency of the pulse can make the stone discharge effect better.

[0057] In the embodiment of the present application, the endoscope system may further include an instruction input device, and the instruction input device communicates with the controller. The instruction input device is a device that can accept input instructions. For example, it can be buttons, knobs, touch screens, etc. provided on the surface of the endoscope system, or a user interruption that communicates remotely with the controller. When the instruction input device receives the input instruction, in response to the control instruction sent by the instruction input device, the composite pulse signal corresponding to the control instruction can be determined. For example, for instructions to adjust the amplitude, frequency, etc. of the composite pulse signal, the composite pulse signal can be adjusted based on the instructions.

[0058] In one example, the above-mentioned detection that the aggregation area of the stone is greater than the set area, and the detection that the particles of the stone are in an irregular suspension state and / or the clarity index of the image collected by the endoscope system is less than the set clarity index, etc. can all be obtained through image recognition technology.

[0059] For example, the efficiency of stone expulsion can be analyzed through image preprocessing. First, denoising and enhancement processing are carried out. Such as adaptive filtering (such as bilateral filtering). During the operation, the images of the endoscope system are often interfered by blood, bubbles, and instrument reflections. Adaptive filtering improves the signal-to-noise ratio of the image by smoothing the noise while retaining edge information, ensuring the accuracy of subsequent stone detection. In this way, the situations of false detection (such as misidentifying a blood clot as a stone) and missed detection (due to the noise masking the stone contour) can be reduced. Additionally, contrast enhancement can also be performed. Since there may be uneven ambient lighting in the target area, the details of low-contrast areas can be enhanced through local histogram equalization, highlighting the differences between the stones and the surrounding tissues. In this way, small stones (such as <2mm) can be more easily identified in the dark area, improving the detection sensitivity. Then, color correction is carried out. Since stones are mostly yellowish-white and the mucosa is pink. Converting to the color correction color space can separate the brightness and chromaticity, and the stone area can be accurately extracted through threshold segmentation. In this way, the color distortion caused by light changes can be avoided from affecting the detection. Then, motion compensation and artifact elimination are carried out through dynamic artifact suppression. Motion compensation (also known as inter-frame registration) is that the movement of the endoscope system or the patient's breathing will cause image jitter. Inter-frame registration aligns consecutive images to eliminate motion blur, ensuring the continuity of stone position tracking and avoiding trajectory breaks. Artifact elimination (also known as morphological operation) means that the bubbles in the perfusion fluid appear as bright circular areas in the image. Morphological opening operation (erosion first and then dilation) can identify and fill the bubbles, thus reducing the situation where the bubbles are misjudged as highly reflective stones and reducing false positives.

[0060] Next, through image recognition and segmentation techniques, the stones can be monitored and segmented. For example, detection based on deep learning can be used. The deep learning model learns the texture, shape, and color features of the stones through training, realizing end-to-end stone localization, which can adapt to complex scenarios (such as the stones being partially covered by blood), improving the detection robustness. Additionally, traditional image segmentation (such as threshold + edge detection) can also be used for image recognition. For example, in threshold segmentation (Lab space), the a / b channels of the Lab color space are sensitive to color differences. By setting a threshold to separate the stone area, the stones can be quickly segmented, serving as a supplement or preprocessing for deep learning. In edge enhancement (Canny + morphological closing operation), the Canny operator detects the edges of the stones, and the closing operation connects the broken contours to form a complete stone boundary, which can accurately calculate the area and position of the stones, providing a basis for motion tracking.

[0061] In addition, image recognition technology can be combined for stone movement tracking and excretion evaluation. First, the stone is tracked by the optical flow method. For example, the dense optical flow (Farneback) algorithm can be used to calculate the motion vectors of each pixel in the image, reflecting the overall movement trend of the stone particles, evaluating the pushing effect of the flow field on the stone, and identifying the stagnant areas. Or, the sparse optical flow (Lucas-Kanade) can be used to track the motion trajectory of the stone centroid, analyze its speed and direction, thereby quantifying the migration efficiency of the stone towards the aspiration port and judging whether the excretion is effective. Secondly, operations on quantitative indicators of the excretion effect can be carried out. For example, for the evaluation of the consistency of the movement direction, the smaller the angle between the stone movement direction and the aspiration port direction, the more effective the drainage. If the angle is greater than 90°, it indicates that the stone may be flushed in the reverse direction and the aspiration position needs to be adjusted. Another example is the evaluation of the velocity decay rate. The faster the stone velocity decreases over time, it indicates that it is approaching the aspiration port or is stuck, and a continuous low speed indicates that the aspiration negative pressure needs to be increased or the perfusion direction needs to be adjusted. Another example is the evaluation of the field of view cleanliness (area ratio). The reduction rate of the stone area reflects the overall clearance progress. If the area decline stagnates, it may be necessary to use a smaller laser power to break it up in several times.

[0062] Based on the above image recognition technology, the total score of the excretion effect can be calculated by weighting the three factors of direction, speed and area, providing a quantitative index to guide the operator's decision-making, such as immediate intervention is required when the score is <0.4, etc.

[0063] In one embodiment, the distance between the stone aggregation position and the perfusion port can also be obtained through image recognition, and combined with the hydrodynamic characteristics of the perfusion fluid jet in the fluid. Because if the flow rate is too small, it cannot impact the stone aggregation position, and if the flow rate is too large, it may cause damage to the inner wall of the kidney. Therefore, a minimum impact distance needs to be determined, and based on this distance, the initial value of the minimum perfusion flow rate and the initial value of the maximum perfusion flow rate are inversely deduced. Then, based on the initial value of the minimum perfusion flow rate and the initial value of the maximum perfusion flow rate, it is beneficial to quickly determine the appropriate pulse combination mode.

[0064] Figure 6 This is a schematic flowchart of a control method for a perfusion device provided in another embodiment of the present application. As Figure 6 shown, in another embodiment of the present application, the control method may further include steps such as 204-207.

[0065] Step 204: Control the operation of the perfusion device according to the first mode, and the first mode is a pulse mode with a constant perfusion flow rate.

[0066] In the embodiment of the present application, the first mode refers to a perfusion mode in which the perfusion flow rate is relatively constant, so that the fluid in the target area is relatively stably perfused, that is, the laser is performed in a stable manner at any time. In the first mode, the fluid in the target area is relatively stable, and a clearer view can be obtained, so as to facilitate the precise lithotripsy operation of the endoscope system.

[0067] Step 205: Real-time obtain the image information of the target object collected by the image acquisition device.

[0068] Step 206: In response to the movement of the target object in the set range in the image information, reduce the perfusion flow rate.

[0069] In the embodiment of the present application, the set discharge rate refers to the threshold for determining whether the discharge effect of the target object is obvious. If the discharge rate of the target object is lower than the set discharge rate, it means that the discharge rate effect under the current perfusion mode is not obvious. Therefore, it is necessary to prepare to switch from the stable first mode to the second mode with changed pulse parameters. Among them, the second mode refers to a mode in which there are at least two pulses with different pulse parameters.

[0070] During the switch to the second mode, it is necessary to first reduce the perfusion flow rate. Specifically, it can start from being equal to the suction flow rate, so that the perfusion flow rate is less than the suction flow rate. In this way, the working pressure value in the target area can shift towards the low value point of the working pressure value range. Taking the target area as the kidney and the target object as a stone as an example, the safe range of the renal pressure is: 20 cmH2O to 30 cmH2O, and the optimal working pressure value is 25 cmH2O. In the first mode, the renal pressure is controlled at 25 cmH2O. Then, by first reducing the perfusion, so that the perfusion is much less than the suction flow rate, the renal pressure will approach 20 cmH2O from 25 cmH2O. Then when the renal pressure is close to 20 cmH2O, the perfusion flow rate is already greater than the suction flow rate, so the perfusion flow rate magnitude also changes towards the peak, and the renal pressure will also show an increase. By first reducing the perfusion flow rate, the excessive flushing of the stone can be reduced, making the stone easier to be broken by the laser.

[0071] Step 207: In response to the working pressure value in the target area where the target object is located being less than the set working pressure value, enter the second mode, and the second mode includes at least two pulses with different pulse parameters.

[0072] Set the working pressure value as the value for determining the mode of the pulsed signal to enter the second mode, and set the working pressure value within the range of the working pressure values in the target area. When the working pressure value in the target area is less than the set working pressure value, it indicates that the perfusion flow rate has decreased to a relatively safe range, and then the second mode can be entered. Among them, the working pressure value in the target area can be calculated through a preset curve or directly collected by a sensor. In one example, the second mode can be switched in a gradient manner. It can be considered that the impact ability increases gradually, so that the whole process flushes and discharges the target object in a way closer to the change of the working pressure value in the target area.

[0073] Figure 7 FIG. 4 is a schematic structural diagram of a control device 700 of a perfusion device provided in an embodiment of the present application. As Figure 7 shown, the control device 700 is integrated into Figure 1 the controller 110, the controller 110 is communicatively connected to the perfusion device 130, and the control device 700 may include: An acquisition module 701, configured to acquire a composite pulse signal, where the composite pulse signal includes at least two different pulse signals, and at least one of the pulse parameters corresponding to the two different pulse signals is different; A determination module 702, configured to determine perfusion control information according to the composite pulse signal; An adjustment module 703, configured to control the perfusion device to adjust the perfusion flow rate of the perfusion device according to the perfusion control information.

[0074] In the embodiment of the present application, the acquisition module 701 includes: A first acquisition unit, configured to acquire the perfusion flow rate and the suction flow rate within a set time period; A calculation unit, configured to obtain the change amount of the perfusion fluid volume based on the perfusion flow rate and the suction flow rate; A second acquisition unit, configured to acquire the set change range of the perfusion fluid volume change amount; A first generation unit, configured to generate a composite pulse signal including at least two different pulse parameters when the change amount of the perfusion fluid volume satisfies the set change range.

[0075] In the embodiment of the present application, the calculation unit is further configured to acquire the working pressure value corresponding to the perfusion flow rate and the suction flow rate within a set time period, and acquire the working pressure value range; determine the set change range of the perfusion fluid volume change amount according to the correlation between the perfusion fluid volume change amount and the working pressure value and the working pressure value range.

[0076] In an embodiment of the present application, the controller 110 is also communicatively connected to the suction device 140, the suction flow rate of the suction device 140 is a set flow rate, and the acquisition module 701 further includes: A third acquisition unit, configured to acquire a current working pressure value and a first pulse waveform of a composite pulse signal; A second generation unit, configured to select a target position of the first pulse waveform as a starting position according to the current working pressure value and a preset pressure threshold, and generate a second pulse waveform based on the starting position.

[0077] In an embodiment of the present application, the pulse parameters further include pulse signal values, each pulse signal value corresponding to a perfusion flow rate, the pressure threshold includes a first pressure threshold and a second pressure threshold, the second pressure threshold is less than or equal to the first pressure threshold, and according to the current working pressure value and the preset pressure threshold, the second generation unit is further configured to: if the current working pressure value is greater than or equal to the first pressure threshold, select a position of a pulse signal value with a perfusion flow rate less than or equal to the suction flow rate in the first pulse waveform as the target position; if the current working pressure value is less than the second pressure threshold, select a position of a pulse signal value with a perfusion flow rate greater than or equal to the suction flow rate in the first pulse waveform as the target position; and use the target position as the starting position.

[0078] In an embodiment of the present application, the controller 110 is also communicatively connected to the image acquisition device 150, the pulse parameters include a maximum pulse signal value of the pulse, and the acquisition module 701 further includes: A fourth acquisition unit, configured to acquire image information of an object containing a target acquired by the image acquisition device; A first adjustment unit, configured to increase the maximum pulse signal value of the composite pulse signal in the case that the image information is that the movement of the object is within a set range and the change amount of the perfusion fluid volume is within a set change range.

[0079] In an embodiment of the present application, the pulse parameters include a pulse frequency, and the acquisition module 701 further includes: A second adjustment unit, configured to increase the pulse frequency of the composite pulse signal in the case that the image information is that the movement of the object is outside a set range and the area of the aggregation region of the object is greater than a set area, and the change amount of the perfusion fluid volume is within a set change range.

[0080] In an embodiment of the present application, the acquisition module 701 further includes: A third adjustment unit, configured to decrease the pulse frequency of the composite pulse signal in the case that the image information is that the movement of the object is outside a set range, and the particles of the object are in an irregular suspension state and / or the clarity index of the acquired image is less than a set clarity index, and the change amount of the perfusion fluid volume is within a set change range.

[0081] In an embodiment of the present application, the acquisition module 701 further includes: A fourth adjustment unit, configured to, in response to the image information indicating that the movement of the target object is outside the set range, determine a first pulse frequency and a second pulse frequency based on the current pulse frequency, where the first pulse frequency is greater than the current pulse frequency, and the second pulse frequency is the current pulse frequency or a pulse frequency that makes the perfusion flow rate a constant flow rate; A frequency determination unit, configured to determine the pulse frequency as the first pulse frequency within a first time period and determine the pulse frequency as the second pulse frequency within a second time period; An alternation unit, configured to control the pulse frequency of the composite pulse signal in a manner of cyclic alternation execution of the first time period and the second time period.

[0082] In an embodiment of the present application, the control device 700 of the perfusion device further includes: A control module, configured to control the operation of the perfusion device according to a first mode, where the first mode is a pulse mode with a constant perfusion flow rate; An acquisition module, configured to acquire in real time image information including a target object collected by an image acquisition device; A flow rate reduction module, configured to, in response to the image information indicating that the movement of the target object is within the set range, reduce the perfusion flow rate; A mode switching module, configured to, in response to the working pressure value of the target area where the target object is located being less than the set working pressure value, enter a second mode, where the second mode includes at least two pulse signals with different pulse parameters.

[0083] In an embodiment of the present application, the controller is further communicatively connected to an instruction input device, and the acquisition module 701 is further configured to, in response to a control instruction sent by the instruction input device, determine a composite pulse signal corresponding to the control instruction.

[0084] Figure 8 This is a structural block diagram of a controller 110 provided in an embodiment of the present application. As Figure 8 shown, the controller 110 may include a memory 111 and a processor 112. The memory 111 is configured to store instructions. The processor 112 is configured to call instructions from the memory 111 and be able to implement the above control method of the perfusion device when executing the instructions.

[0085] As Figure 1As shown, an endoscope system 100 is further provided in an embodiment of the present application. The endoscope system 100 includes a controller 110, and the controller 110 is communicatively connected to a perfusion device 130. The controller 110 is configured to: obtain a composite pulse signal, where the composite pulse signal includes at least two different pulse signals, and at least one of the pulse parameters corresponding to the two different pulse signals is different; determine perfusion control information according to the composite pulse signal; and control the perfusion device to adjust the perfusion flow rate of the perfusion device according to the perfusion control information.

[0086] In an embodiment of the present application, the controller 110 is further configured to: obtain the perfusion flow rate and the aspiration flow rate within a set time period; obtain the change amount of the perfusion fluid volume based on the perfusion flow rate and the aspiration flow rate; obtain the set change range of the perfusion fluid volume change amount; and generate a composite pulse signal including at least two different pulse parameters when the change amount of the perfusion fluid volume is within the set change range.

[0087] In an embodiment of the present application, the endoscope system 100 further includes an aspiration device 140. The aspiration device 140 is communicatively connected to the controller 110, and the aspiration flow rate of the aspiration device is a set flow rate. The controller 110 is further configured to: obtain the working pressure value corresponding to the perfusion flow rate and the aspiration flow rate within a set time period, and obtain the working pressure value range; and determine the set change range of the perfusion fluid volume change amount according to the correlation between the perfusion fluid volume change amount and the working pressure value and the working pressure value range.

[0088] In an embodiment of the present application, the controller 110 is further configured to: obtain the current working pressure value and the first pulse waveform of the composite pulse signal; select the target position of the first pulse waveform as the starting position according to the current working pressure value and the preset pressure threshold, and generate a second pulse waveform based on the starting position.

[0089] In an embodiment of the present application, the pulse parameter further includes a pulse signal value, and each pulse signal value corresponds to a perfusion flow rate. The pressure threshold includes a first pressure threshold and a second pressure threshold, and the second pressure threshold is less than or equal to the first pressure threshold. The controller 110 is further configured to: if the current working pressure value is greater than or equal to the first pressure threshold, select the position of the pulse signal value with a perfusion flow rate less than or equal to the aspiration flow rate in the pulse waveform as the target position; if the current working pressure value is less than the second pressure threshold, select the position of the pulse signal value with a perfusion flow rate greater than or equal to the aspiration flow rate in the pulse waveform as the target position; and use the target position as the starting position.

[0090] In an embodiment of the present application, the endoscope system 100 further includes an image acquisition device 150, the image acquisition device 150 is communicatively connected to the controller 110, the pulse parameters include the maximum pulse signal value of the pulse, and the controller 110 is further configured to: obtain the image information including the target object acquired by the image acquisition device; in response to the movement of the target object in the set range in the image information, and when the change amount of the perfusion fluid volume satisfies the set change range, increase the maximum pulse signal value of the composite pulse signal.

[0091] In an embodiment of the present application, the pulse parameters include the pulse frequency, and the controller 110 is further configured to: obtain the image information including the target object acquired by the image acquisition device; in response to the movement of the target object outside the set range in the image information and the area of the aggregation region of the target object being greater than the set area, and when the change amount of the perfusion fluid volume satisfies the set change range, increase the pulse frequency of the composite pulse signal.

[0092] In an embodiment of the present application, the controller 110 is further configured to: obtain the image information including the target object acquired by the image acquisition device; in response to the movement of the target object outside the set range in the image information and the particles of the target object being in an irregular suspension state and / or the clarity index of the image acquired by the endoscope system being less than the set clarity index, and when the change amount of the perfusion fluid volume satisfies the set change range, decrease the pulse frequency of the composite pulse signal.

[0093] In an embodiment of the present application, the controller 110 is further configured to: obtain the image information including the target object acquired by the image acquisition device; in response to the movement of the target object outside the set range in the image information, determine a first pulse frequency and a second pulse frequency based on the current pulse frequency, the first pulse frequency being greater than the current pulse frequency, and the second pulse frequency being the current pulse frequency or the pulse frequency that makes the perfusion flow rate a constant flow rate; determine the pulse frequency as the first pulse frequency in a first time period and determine the pulse frequency as the second pulse frequency in a second time period; control the pulse frequency of the composite pulse signal in a manner of alternately executing the first time period and the second time period in a cyclic manner.

[0094] In an embodiment of the present application, the controller 110 is further configured to: control the operation of the perfusion device according to a first mode, the first mode being a pulse mode with a constant perfusion flow rate; obtain in real time the image information including the target object acquired by the image acquisition device; in response to the movement of the target object in the set range in the image information, decrease the perfusion flow rate; in response to the working pressure value of the target area where the target object is located being less than the set working pressure value, enter a second mode, the second mode including at least two pulse signals with different pulse parameters.

[0095] In an embodiment of the present application, the controller 110 is further communicatively connected to an instruction input device, and the controller 110 is further configured to: in response to a control instruction sent by the instruction input device, determine a composite pulse signal corresponding to the control instruction.

[0096] An embodiment of the present application further provides a computer-readable storage medium, in which a program is stored, and the program can be loaded and executed by a processor to perform the control method of any perfusion device in the embodiments of the present application.

[0097] Since the instructions stored in the control device, controller, endoscope system, and computer-readable storage medium of the perfusion device can execute the steps in any of the control methods of the perfusion device provided in the embodiments of the present application, therefore, the beneficial effects achievable by any of the control methods of the perfusion device provided in the embodiments of the present application can be achieved. For details, see the previous embodiments and will not be elaborated herein.

[0098] Those skilled in the art can understand that all or part of the functions of the above methods can be implemented in a hardware manner or in a computer program manner. When all or part of the functions in the above embodiments are implemented in a computer program manner, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc. The above functions are implemented by a computer executing the program. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above functions can be implemented. Additionally, when all or part of the functions in the above embodiments are implemented in a computer program manner, the program can also be stored in a storage medium such as a server, another computer, magnetic disk, optical disk, flash drive, or mobile hard disk, downloaded or copied and saved to the memory of the local device, or the system of the local device is updated with a version. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be implemented.

[0099] The above uses specific examples to elaborate on the present application, which is only for helping to understand the present application and is not intended to limit the present application. For those skilled in the technical field to which the present application pertains, based on the idea of the present application, several simple deductions, deformations, or substitutions can be made.

Claims

1. A control method for a perfusion device, characterized in that, Applied to a controller, the controller is communicatively connected to the perfusion device, and the control method includes: Obtain a composite pulse signal, the composite pulse signal includes at least two different pulse signals, wherein at least one of the pulse parameters corresponding to the two different pulse signals is different; Determine perfusion control information according to the composite pulse signal; Control the perfusion device to adjust the perfusion flow rate of the perfusion device according to the perfusion control information.

2. The control method according to claim 1, characterized in that The obtaining of the composite pulse signal includes: Obtain the perfusion flow rate and the suction flow rate within a set time period; Obtain the change amount of the perfusion fluid volume based on the perfusion flow rate and the suction flow rate; Obtain the set change range of the perfusion fluid volume change amount; Generate a composite pulse signal including at least two different pulse parameters when the change amount of the perfusion fluid volume is within the set change range.

3. The control method according to claim 2, wherein The controller is also communicatively connected to a suction device, the suction flow rate of the suction device is a set flow rate, and the obtaining of the set change range of the perfusion fluid volume change amount includes: Obtain the working pressure value corresponding to the perfusion flow rate and the suction flow rate within a set time period, and obtain the range of the working pressure value; Determine the set change range of the perfusion fluid volume change amount according to the correlation between the perfusion fluid volume change amount and the working pressure value and the range of the working pressure value.

4. The control method according to claim 2, characterized in that, The pulse parameter includes a pulse waveform, and the obtaining of the composite pulse signal further includes: Obtain the current working pressure value and the first pulse waveform of the composite pulse signal; Select the target position of the first pulse waveform as the starting position according to the current working pressure value and a preset pressure threshold, and generate a second pulse waveform based on the starting position.

5. The control method according to claim 4, wherein The pulse parameter further includes a pulse signal value, each pulse signal value corresponds to a perfusion flow rate, the pressure threshold includes a first pressure threshold and a second pressure threshold, the second pressure threshold is less than or equal to the first pressure threshold, and the selecting the target position of the first pulse waveform as the starting position according to the current working pressure value and the preset pressure threshold and generating the second pulse waveform based on the starting position includes: If the current working pressure value is greater than or equal to the first pressure threshold, select the position of the pulse signal value with a perfusion flow rate less than or equal to the suction flow rate in the first pulse waveform as the target position; If the current working pressure value is less than the second pressure threshold, select the position of the pulse signal value with a perfusion flow rate greater than or equal to the suction flow rate in the first pulse waveform as the target position; Use the target position as the starting position.

6. The control method according to claim 2, wherein The controller is also communicatively connected to an image acquisition device, the pulse parameter includes the maximum pulse signal value of the pulse, and the obtaining of the composite pulse signal includes: Obtain the image information including the target object collected by the image acquisition device; In response to the image information indicating that the movement of the target object is within a set range, and when the change amount of the perfusion fluid volume is within the set change range, increase the maximum pulse signal value of the composite pulse signal.

7. The control method according to claim 2, wherein The controller is also communicatively connected to an image acquisition device, the pulse parameters include a pulse frequency, and the obtaining of the composite pulse signal includes: Obtaining image information including a target object acquired by the image acquisition device; In response to the image information indicating that the movement of the target object is outside a set range and the area of the aggregation region of the target object is greater than a set area, and when the change amount of the perfusion fluid volume satisfies the set change range, increasing the pulse frequency of the composite pulse signal.

8. The control method according to claim 2, characterized in that The controller is also communicatively connected to an image acquisition device, the pulse parameters include a pulse frequency, and the obtaining of the composite pulse signal includes: Obtaining image information including a target object acquired by the image acquisition device; In response to the image information indicating that the movement of the target object is outside a set range and the particles of the target object are in an irregular suspension state and / or the clarity index of the acquired image is less than a set clarity index, and when the change amount of the perfusion fluid volume satisfies the set change range, decreasing the pulse frequency of the composite pulse signal.

9. The control method according to claim 2, characterized in that The controller is also communicatively connected to an image acquisition device, the pulse parameters include a pulse frequency, and the obtaining of the composite pulse signal includes: Obtaining image information including a target object acquired by the image acquisition device; In response to the image information indicating that the movement of the target object is outside a set range, determining a first pulse frequency and a second pulse frequency based on the current pulse frequency, the first pulse frequency being greater than the current pulse frequency, and the second pulse frequency being the current pulse frequency or a pulse frequency that makes the perfusion flow rate a constant flow rate; Determining the pulse frequency as the first pulse frequency within a first time period and determining the pulse frequency as the second pulse frequency within a second time period; Controlling the pulse frequency of the composite pulse signal in a manner of alternately executing in a cycle according to the first time period and the second time period.

10. The control method according to any one of claims 1 to 9, characterized in that, The controller is also communicatively connected to an instruction input device, and the obtaining of the composite pulse signal further includes: Controlling the operation of the perfusion device according to a first mode, the first mode being a pulse mode with a constant perfusion flow rate; Real-time obtaining of image information including a target object acquired by the image acquisition device; In response to the image information indicating that the movement of the target object is within a set range, decreasing the perfusion flow rate; In response to the working pressure value of the target area where the target object is located being less than a set working pressure value, entering a second mode, the second mode including at least two pulse signals with different pulse parameters.

11. The control method according to any one of claims 1 to 9, characterized in that The controller is also communicatively connected to an instruction input device, and the obtaining of the composite pulse signal further includes: In response to a control instruction sent by the instruction input device, determining the composite pulse signal corresponding to the control instruction.

12. A control device for a perfusion device, characterized in that, The control device includes: An obtaining module, configured to obtain a composite pulse signal, the composite pulse signal including at least two different pulse signals, wherein at least one of the pulse parameters corresponding to the two different pulse signals is different; A determining module, configured to determine perfusion control information according to the composite pulse signal; Adjustment module, configured to control the perfusion device to adjust the perfusion flow rate of the perfusion device according to the perfusion control information.

13. A controller, characterized in that, Comprising: A memory configured to store instructions; And A processor configured to call the instructions from the memory and, when executing the instructions, capable of implementing the control method of the perfusion device according to any one of claims 1 to 11.

14. An endoscope system, characterized in that, Comprising: A perfusion device; The controller according to claim 13, communicating with the perfusion device.

15. A computer-readable storage medium, characterized in that, A program is stored in the computer-readable storage medium, and the program can be loaded and executed by a processor to implement the control method of the perfusion device according to any one of claims 1 to 11.

Images