Control device, controller and endoscope system for perfusion equipment

Abstract

The present application relates to a control device, a controller and an endoscope system for a perfusion device. The present application first obtains a composite pulse signal, wherein the composite pulse signal includes at least two different pulse signals, and at least one pulse parameter corresponding to the two different pulse signals is different. The perfusion control information is then determined based on the composite pulse signal. Finally, the perfusion device is controlled to adjust the perfusion flow of the perfusion device based on the perfusion control information. In this way, a targeted fluid dynamics can be formed, and different pulses will produce irregular perfusion flow states, forming irregular turbulence, which can break the adaptive deposition conditions of the target object and reduce the risk of the target object appearing in an aggregated state to form a blockage, thereby reducing the possibility of secondary residue of the target object and improving the effect of the perfusion device on the target object.

Description

Technical Field

[0001] The present application relates to the field of medical information processing technology, and in particular to a control device, a controller and an endoscope system for a perfusion device. Background Art

[0002] The endoscope system is a precision optical instrument used for medical diagnosis and treatment. It can achieve visual detection and minimally invasive intervention of the target object without open surgery. Taking stones as an example, laser lithotripsy can be performed through the endoscope system. During the operation, it is necessary to inject liquid while aspirating liquid to discharge the crushed stones. In order to ensure the safety of the operation, constant pressure perfusion and constant pressure suction are usually used to ensure that a relatively stable working pressure value is maintained in the body. However, the constant pressure perfusion and constant pressure suction method easily leads to the formation of a relatively stable flow state in the body, making it easy for the crushed stone particles to gather in the body or adhere to the wrinkles of the inner wall, resulting in poor discharge of the crushed stones. Summary of the Invention

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

[0004] In order to achieve the above-mentioned object, the present application provides, in a first aspect, a control device for a perfusion device, the control device comprising:

[0005] an acquisition module, configured to acquire a composite pulse signal, wherein 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;

[0006] a determination module, configured to determine perfusion control information according to the composite pulse signal;

[0007] The regulating module is used to control the perfusion device to regulate the perfusion flow of the perfusion device according to the perfusion control information.

[0008] A second aspect of the present application provides a controller comprising the control device of the above-mentioned perfusion equipment.

[0009] A third aspect of the present application provides an endoscope system, comprising:

[0010] Perfusion equipment;

[0011] The controller is in communication with the perfusion device.

[0012] The beneficial effects of this application are:

[0013] In the process of controlling the operation of the perfusion device, the present application obtains the perfusion control information of the perfusion device by adopting a composite pulse signal including at least two pulse signals with different pulse parameters, and then controls the perfusion device to adjust the perfusion flow according to the perfusion control information to form targeted fluid dynamics. Different pulses will produce irregular perfusion flow states and form irregular turbulence, which can break the adaptive deposition conditions of the target object operated by the perfusion device, reduce the risk of the target object appearing in an aggregated state and forming a blockage, thereby reducing the possibility of secondary residue of the target object and improving the effect of the perfusion device on the target object.

[0014] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of an application scenario of a control method for a perfusion device provided in an embodiment of the present application;

[0016] Figure 2 This is a flow chart of a control method for a perfusion device provided in one embodiment of the present application;

[0017] Figure 3 A schematic diagram of a first pulse waveform provided in an embodiment of the present application;

[0018] Figure 4 A schematic diagram of a second pulse waveform provided in one embodiment of the present application;

[0019] Figure 5 A schematic diagram of a second pulse waveform provided in another embodiment of the present application;

[0020] Figure 6 This is a flow chart of a control method for a perfusion device provided in another embodiment of the present application;

[0021] Figure 7 This is a schematic structural diagram of a control device for a perfusion device provided in an embodiment of the present application;

[0022] Figure 8 This is a structural block diagram of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0024] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically qualified. In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is provided to enable anyone skilled in the art to implement and use the present application. In the following description, details are listed for illustrative purposes. It should be understood that one of ordinary skill in the art will recognize that the present application can be implemented without these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this 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 herein.

[0025] The control method of the perfusion device in the embodiment of the present application is applied to the controller. Figure 1 As shown, Figure 1 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 For example, the perfusion device is used in an endoscope system 100 for performing a laser lithotripsy operation, thereby causing the target object of the laser lithotripsy operation to be discharged from a target area. For example, in the embodiments of the present application, the target object can be a stone. The target area refers to the area where the laser lithotripsy operation is to be performed. For example, the target area can be the kidney area, the ureter area, the liver and gallbladder area, etc.

[0026] As an example, the endoscope system 100 may include a controller 110, a laser 120, an irrigation device 130, a suction device 140, and an image acquisition device 150. The controller 110 communicates with the laser 120, irrigation device 130, suction device 140, and image acquisition device 150, respectively. The laser 120 generates a laser beam. Using the laser's photothermal or photomechanical effects, the laser breaks down the stone into powder or fragments via the end face of an optical fiber, either in contact with or without contact with the stone, thereby crushing the stone within the target area. The irrigation device 130 is used to infuse the target area with liquid (e.g., saline) to maintain a clear field of view during operation of the endoscope system 100 and facilitate the removal of crushed stones from the target area. The suction device 140 uses negative pressure suction to remove crushed stone particles, irrigation waste, and tissue fragments from the target area. The image acquisition device 150 is used to acquire an optical image of the target area, display the stone's location within the target area in real time, and guide the positioning of the laser 120. The controller 110 is the core of the multi-device collaboration, communicating with the laser 120, the perfusion device 130, the suction device 140, and the image acquisition device 150 to form a controllable lithotripsy-perfusion-imaging closed loop. It should be noted that the present embodiment uses the perfusion device 130 applied to an endoscope system as an example; the perfusion device 130 can also be applied to other systems, such as a visual sheath.

[0027] The application scenario of the control method of the perfusion device 130 in the embodiment of the present application includes a controller 110 for the control method. The controller 110 can run the 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.

[0028] It is understandable that Figure 1 The electronic devices in the application scenario of the control method of the perfusion device 130 shown do not constitute a limitation on the embodiments of the present application. That is, the number and types of devices included in the application scenario of the control method of the perfusion device 130, or the number and types of devices included in each electronic device do not affect the overall implementation of the technical solution in the embodiments of the present application, and can all be regarded as equivalent replacements or derivatives of the technical solution claimed for protection in the embodiments of the present application.

[0029] In the embodiments of the present application, the controller 110 may be a standalone device or a device network or device cluster. For example, the controller 110 described in the embodiments of the present application includes, but is not limited to, a computer, a network host, a single network device, a collection of multiple network devices, or a cloud device composed of multiple devices. A cloud device is composed of a large number of computers or network devices based on cloud computing.

[0030] Those skilled in the art will understand that Figure 1 The application scenario shown in the figure is only one application scenario corresponding to the technical solution of the present application and does not constitute a limitation on the application scenario of the technical solution of the present application. Other application scenarios may also include Figure 1 More or fewer electronic devices shown in, or electronic device network connection relationships, such as Figure 1 Only one electronic device is shown in the figure. It can be understood that the control method scenario of the perfusion device 130 can also include one or more other electronic devices, which are not specifically limited here.

[0031] 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 embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application.

[0032] Based on the application scenario of the control method of the perfusion device described above, an embodiment of the control method of the perfusion device is proposed, which will be described in detail below with reference to the accompanying drawings.

[0033] Figure 2 Schematic diagram of a flow chart of a control method of a perfusion device provided in an embodiment of the present application. Figure 2 As shown, in one embodiment, the control method can execute steps 201-203 and other steps through the above-mentioned controller 110, which are described in detail below.

[0034] Step 201: Acquire a composite pulse signal, where 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.

[0035] Step 202: Determine perfusion control information according to the composite pulse signal.

[0036] Step 203: Control the perfusion device to adjust the perfusion flow rate of the perfusion device according to the perfusion control information.

[0037] In the embodiments of this application, pulse parameters refer to characteristic parameters of the pulse signal used to control the output of the perfusion device to deliver the perfusion liquid. Pulse parameters can affect the perfusion flow rate of the perfusion device. The perfusion flow rate refers to the rate at which the perfusion liquid is delivered to the target area of ​​the endoscope system by the perfusion device. This is used to provide liquid to the target area to maintain the pressure and environment in the target area.

[0038] As an example, the pulse parameters may include but are not limited to pulse waveform, pulse signal value and pulse frequency, wherein the pulse signal value may also include the maximum pulse signal value and the minimum pulse signal value of the pulse.

[0039] A pulse waveform refers to the shape or profile of a pulse signal over time, describing how the pulse signal changes from its initial state to its final state within a cycle. Examples of pulse waveforms include, but are not limited to, square waves, sine waves, triangle waves, sawtooth waves, and trapezoidal waves.

[0040] The pulse signal value refers to the amplitude of the pulse signal, which usually corresponds to the voltage or current value of the electrical signal. In the embodiment of the present application, the pulse signal value has a mapping relationship with the perfusion flow rate. Each pulse signal value has a corresponding perfusion flow rate, and the size of the pulse signal value can be directly mapped to the size 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.

[0041] Pulse frequency refers to the number of pulse signal cycles per unit time (e.g., per second). A higher pulse frequency indicates a shorter pulse signal cycle and a greater number of pulses per unit time. High-frequency pulsed perfusion flows produce more turbulent fluid flow, which helps disrupt target agglomerates. Conversely, a lower pulse frequency indicates a longer pulse signal cycle and a smaller number of pulses per unit time. Low-frequency pulsed perfusion flows are suitable for stabilizing pressure and reducing fluid flow in the target area, ensuring a clearer view of the target area.

[0042] In the traditional method of perfusion liquid, a constant perfusion flow is difficult to adapt to the changes in target objects of different sizes, and a perfusion flow with a single change pattern is difficult to respond to changes in the working pressure value of the target area in real time. Taking the target area as the area where the organ is located as an example, an excessively large working pressure value can easily cause organ or tissue damage in the target area. Conversely, an excessively small working pressure value can easily lead to an excessive suction load, making the field of view of the target area more blurred. Therefore, the embodiment of the present application uses at least two different pulse signals as the composite pulse signal corresponding to the perfusion device to determine the perfusion control information for the perfusion device based on the composite pulse signal, thereby controlling the perfusion flow of the perfusion device. Among them, different pulse signals refer to the existence of at least one difference in the pulse parameters corresponding to the two pulse signals, that is, including at least one differentiated feature. For example, if the pulse frequency of one pulse signal is 20Hz and the pulse frequency of the other pulse signal is 10Hz, then the two pulse signals are different pulse signals.

[0043] Based on a composite pulse signal composed of at least two pulse signals with different pulse parameters, different perfusion control information for the injection device is determined. The perfusion flow rate of the perfusion device is then controlled based on the perfusion control information, resulting in an irregular perfusion flow pattern and generating irregular turbulence. Since the deposition and aggregation of particles of target objects, such as stones, after laser lithotripsy rely on stable fluid dynamic conditions (such as laminar flow and low flow velocity regions), irregular turbulence can cause the velocity, direction, and pressure of the fluid to dynamically change, creating a turbulent flow state. This disrupts the stable deposition environment of the target particles within the target region, making it difficult for the target particles to adhere or accumulate in the target region, thereby inhibiting the adaptive deposition of stones. Adaptive deposition refers to the process by which target particles adjust their position or interlock to form stable aggregates. This reduces the possibility of target particles blocking the passageway in the target region and reduces the possibility of secondary residues.

[0044] In the embodiments of the present application, the suction flow rate of the suction device can be a set flow rate. A set flow rate refers to a flow rate adjusted with a stable waveform or a preset curve. For example, the set flow rate can be a constant flow rate or a regularly varying flow rate. In other words, the suction flow rate is a stable value that can be calculated or predicted, thereby predicting the subsequent aspirated fluid volume at each moment. Furthermore, the difference between the infused fluid volume and the aspirated fluid volume, i.e., the net increase in fluid volume in the target area, can be predicted.

[0045] In order to reduce the probability of organ or tissue damage in the target area due to pressure shock in the target area caused by a sudden change in perfusion flow, or poor vision in the target area due to too small perfusion flow, the embodiment of the present application can dynamically constrain the working pressure value of the target area to a safe range, thereby generating effective pulses and reducing the risk of pressure out of control due to human error.

[0046] Specifically, in step 201, the perfusion flow rate, the aspiration flow rate, and the operating pressure value of the target area corresponding to the perfusion flow rate and the aspiration flow rate within a set time period can be obtained, and the operating pressure value range of the target area can be obtained. Then, the perfusion fluid volume change can be obtained based on the perfusion flow rate and the aspiration flow rate.

[0047] The target area's operating pressure range can be set based on experience or research, including maximum and minimum values. For example, for the kidney, maximum and minimum values ​​for intrarenal pressure can be set. By recording the relationship between the perfusion flow rate, suction flow rate, and corresponding operating pressure value curves, the correlation between the target area's operating pressure and the perfusion fluid volume can be determined, i.e., how the target area's operating pressure changes with the perfusion fluid volume.

[0048] Next, based on the correlation between the perfusion fluid volume change and the working pressure value and the working pressure value range, the set change range of the perfusion fluid volume change is determined. The set change range is the change range that can keep the working pressure value of the target area within a safe range, that is, the range in which the initial value of the perfusion fluid volume increases upward and decreases downward. For example, when it is detected that the working pressure value of the target area has reached the maximum value, the current perfusion fluid volume change is recorded, and the maximum value of the set change range is obtained. Assuming that the current value of the perfusion fluid volume change is 5, the maximum value of the set change range is the initial value + 5. Similarly, when it is detected that the working pressure value of the target area has reached the minimum value, the current perfusion fluid volume change is recorded, and the minimum value of the set change range is obtained. Assuming that the current value of the perfusion fluid volume change is -3, 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].

[0049] Finally, while the perfusion fluid volume change is within a predetermined range, a composite pulse signal comprising at least two different pulse parameters is generated. The perfusion flow rate of the endoscope system is then controlled to vary based on the composite pulse signal. A composite pulse signal refers to a perfusion method that combines pulse signals having at least two different pulse parameters. For example, the composite pulse signal can be a randomly generated pulse signal.

[0050] The embodiment of the present application uses closed-loop control of parameter acquisition-volume calculation-composite pulse signal generation-dynamic feedback to ensure that, under the premise of a safe working pressure value in the target area, dynamically changing pulses are generated using randomly generated parameters to break the fluid mechanics conditions for the aggregation of target objects and achieve efficient discharge of target objects within a safe boundary, thereby ensuring clinical safety and improving clearance efficiency through turbulent effects.

[0051] In the embodiment of the present application, when the working pressure value of 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 of the target area fluctuates within a reasonable range.

[0052] Specifically, in step 201, the current working pressure value and the first pulse waveform of the composite pulse signal are first acquired, wherein 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 an embodiment of the present application. Taking the first pulse waveform as a sine wave as an example, the horizontal axis x is time, and the vertical axis y is the pulse signal value of the perfusion flow. Assuming that the suction flow is a constant flow, the pulse waveform corresponding to the suction flow is Figure 3 The vertical coordinate corresponding to the straight line Z in the figure is the pulse signal value of the suction flow. Figure 3In the figure, T1 is the first cycle of the first pulse waveform, and T2 is the second cycle of the first pulse waveform.

[0053] When the first pulse waveform needs to be adjusted, 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. 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 in the next cycle after the current cycle. The preset pressure threshold can be pre-set based on the situation of the target area. In other words, the starting position of the composite pulse signal can be adjusted to adjust the size of the pulse signal value, so that the working pressure value of the target area is adjusted to a reasonable range.

[0054] In an embodiment of the present application, each pulse signal value may correspond to an infusion flow rate. The pressure threshold may include a first pressure threshold and a second pressure threshold. The first pressure threshold is used to determine whether the operating pressure value of the target area is too high, and the second pressure threshold is used to determine whether the operating pressure value of the target area is too low. 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 may be equal values, which are the middle values ​​of the operating pressure value range.

[0055] If the current operating pressure value is greater than or equal to the first pressure threshold, indicating that the current operating pressure value in the target area is too high, it is necessary to control the perfusion flow rate to initially show a decreasing trend, so that the perfusion flow rate is less than or equal to the aspiration flow rate. This can reduce the operating pressure in the target area. 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 aspiration flow rate can be selected as the target position. The target position is the starting point of the adjusted second pulse waveform, so the target position can be used as the starting position.

[0056] Figure 4 Schematic diagram of a second pulse waveform provided in one embodiment of the present application. Figure 3 and Figure 4 , assuming that Figure 3 If the current working pressure value is greater than or equal to the first pressure threshold value, the point less than or equal to the straight line Z can be selected as the target position on the first pulse waveform. For example, point B is selected as the target position, and the pulse waveform is generated from point B to obtain the second pulse waveform, that is, Figure 4 The waveform shown.

[0057] If the current operating pressure value is less than the second pressure threshold, indicating that the current operating pressure value of the target area is too low, it is necessary to control the perfusion flow rate to increase until the perfusion flow rate is greater than or equal to the aspiration flow rate. This will increase the operating pressure of the target area. Therefore, the position of the pulse signal value in the first pulse waveform where the perfusion flow rate is greater than or equal to the aspiration flow rate can be selected as the target position.

[0058] Figure 5 This is a schematic diagram of a second pulse waveform provided in another embodiment of the present application. Figure 3 and Figure 5 , assuming that Figure 3 If the current working pressure value is less than the second pressure threshold value at point A of the first pulse waveform, a point greater than or equal to the straight line Z can be selected as the target position. For example, point C is selected as the target position, and a pulse waveform is generated starting from point C to obtain the second pulse waveform, that is, Figure 5 The waveform shown.

[0059] It should be noted that the target position can be determined based on the detected operating pressure value of the target area and a preset operating pressure threshold for the target area. For example, if the difference between the operating pressure value and the operating pressure threshold is small, the target position should be determined away from line Z to allow more room for adjustment of the pulse signal value. Conversely, if the difference between the operating pressure value and the operating pressure threshold is large, there is sufficient time for pulse adjustment, and the target position can be determined close to line Z. The specific determination method is not limited here.

[0060] In an embodiment of the present application, after the endoscope system is operated, such as after laser lithotripsy, it is possible that the target object does not move as expected, or that it still aggregates after moving. Therefore, in the laser lithotripsy operation, in an embodiment of the present application, the real-time image information of the target area collected can be analyzed by an image acquisition device to determine the effect of the operation of the endoscope system. For example, the judgment can be made based on the movement distance of the target object in the collected image information. A set range is predetermined. If the target object is still within the set range after the endoscope system is operated, it can be determined that the target object has not moved. Not moving means that the target object's movement range is too small. Conversely, if the target object is outside the set range, it can be determined that the target object has moved.

[0061] As an example, a set distance can be set. The target object's moving distance is determined directly based on the change in the target object's coordinates before and after the endoscope operation, and then compared with the set distance. If the target object's moving distance is greater than the set distance, it indicates that the target object has moved. If the target object's moving distance 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 target object's moving distance is determined based on the change in the target object's coordinates before and after the endoscope operation, as well as the time difference before and after the operation, and the target object's moving speed is calculated. Then the moving speed is compared with the set speed. If the target object's moving speed is greater than the set speed, it indicates that the target object has moved. If the target object's moving speed 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 target object's movement based on image information is not limited to the above two examples, and can also be other methods that can detect the target object, which are not limited here. The following takes the target object as a stone as an example to illustrate the situation that exists after the endoscope operation.

[0062] In the embodiment of the present application, after the endoscope is operated, there may be a situation where the stone is not moved or the movement speed does not reach the expected level, indicating that the current perfusion flow rate is insufficient. Therefore, in step 201, in response to the image information that the movement of the target object is within the set range, and under the condition that the volume change of the perfusion fluid 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 rate. Among them, the maximum pulse signal value of the pulse and the maximum perfusion flow rate are in a mapping relationship. Therefore, 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 promote the movement of the stone.

[0063] In the embodiment of the present application, in response to image information indicating that the movement of the marked object is outside the set range, it indicates that the perfusion flow rate is sufficient to move the stone. However, stones may accumulate in other locations of the target area or the field of view may be unclear, so it is necessary to adjust other parameters of the pulse parameters corresponding to the perfusion flow rate, such as the pulse frequency.

[0064] If stones accumulate elsewhere in the target area, this indicates insufficient turbulence intensity in the target area, requiring an increase in the pulse frequency. Therefore, in step 201, in response to image information indicating that the target object is moving outside a set range and that the target object's accumulation area is larger than the set area, the pulse frequency of the composite pulse signal is increased to increase the perfusion flow rate, provided that the perfusion fluid volume change is within the set range.

[0065] If there are particles of the target object suspended or the image clarity is poor, 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 target object is moving outside the set range, the target object particles are detected to be in an irregular suspension state, and / or the clarity index of the image captured by the endoscope system is less than the set clarity index, the pulse frequency of the composite pulse signal is reduced to reduce the perfusion flow rate, provided that the perfusion fluid volume change is within the set change range.

[0066] As an example, to more effectively expel the target object from the target area, the pulse frequency can be intermittently increased. Specifically, in step 201, in response to image information indicating that the target object is moving outside a set range, a first pulse frequency and a second pulse frequency can be determined based on the current pulse frequency. 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 a pulse frequency that maintains a constant perfusion flow rate (i.e., a pulse frequency for steady-flow perfusion).

[0067] The pulse frequency is determined to be a first pulse frequency during a first time period, and a second pulse frequency during a second time period. The pulse frequency is controlled in a manner that alternates between the first and second time periods to adjust the infusion flow rate. The increased frequency portion suspends the stone, and the stone is then expelled into the suction port by maintaining the original frequency or maintaining a stable flow rate. Dynamically changing the pulse frequency can achieve better stone expulsion results.

[0068] In an embodiment of the present application, the endoscope system may further include a command input device that communicates with the controller. The command input device is a device that can receive input commands, and may be, for example, a button, knob, touch screen, etc. provided on the surface of the endoscope system, or a user interruption in remote communication with the controller. When the command input device receives the input command, it can determine a composite pulse signal corresponding to the control command in response to the control command sent by the command input device. For example, the composite pulse signal may be adjusted based on the command, such as an instruction to adjust the amplitude or frequency of the composite pulse signal.

[0069] In one example, the above-mentioned detection that the area of ​​the stone aggregation region is larger than the set area, and the detection that the stone particles 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 can all be obtained through image recognition technology.

[0070] For example, image preprocessing can be used to analyze stone removal efficiency. First, denoising and enhancement are performed. Adaptive filtering, such as bilateral filtering, is used. During surgery, endoscopic images are often affected by interference from blood, bubbles, and instrument reflections. Adaptive filtering preserves edge information while smoothing out noise, improving the image signal-to-noise ratio and ensuring the accuracy of subsequent stone detection. This reduces false detections (e.g., mistaking blood clumps for stones) and missed detections (e.g., stone outlines obscured by noise). Contrast enhancement can also be performed. Because the target area may experience uneven ambient lighting, local histogram equalization can enhance details in low-contrast areas, highlighting the difference between the stone and surrounding tissue. This makes small stones (e.g., <2 mm) easier to identify in dark areas, improving detection sensitivity. Next, color correction is performed. Because stones are often yellowish-white and mucosa is pink, converting to a color-corrected color space separates luminance and chromaticity. Threshold segmentation allows for precise extraction of the stone region, thus avoiding color distortion caused by varying lighting that can affect detection. Finally, dynamic artifact suppression is used to compensate for motion and reduce artifacts. Motion compensation (also known as inter-frame registration) aligns consecutive images to eliminate motion blur, eliminating image jitter caused by the movement of the endoscope system or the patient's breathing. This ensures the continuity of stone tracking and avoids trajectory breakage. Bubble removal (also known as morphological operation) refers to the appearance of bubbles in the perfusion fluid as bright circular areas in the image. Morphological opening (erosion followed by expansion) can identify and fill bubbles, thereby reducing the possibility of bubbles being misidentified as highly reflective stones and reducing false positives.

[0071] Then, through image recognition and segmentation technology, stones can be monitored and segmented. For example, detection can be based on deep learning. The deep learning model learns the texture, shape and color characteristics of stones through training to achieve end-to-end stone positioning. It can adapt to complex scenarios (such as stones partially covered by blood) and improve detection robustness. In addition, 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 stone can be quickly segmented as a supplement or preprocessing for deep learning. The Canny operator in edge enhancement (Canny + morphological closing operation) detects the edge of the stone, and the closing operation connects the broken contours to form a complete stone boundary. The stone area and position can be accurately calculated, providing a basis for motion tracking.

[0072] Image recognition technology can also be combined to track stone movement and assess drainage. First, stones can be tracked using optical flow. For example, dense optical flow (Farneback) can be used to calculate the motion vector of each pixel in the image, reflecting the overall movement trend of stone particles. This can be used to assess the flow field's effect on stone propulsion and identify areas of retention. Alternatively, sparse optical flow (Lucas-Kanade) can be used to track the trajectory of the stone's center of mass, analyzing its speed and direction. This can quantify the efficiency of stone migration toward the suction port and determine whether drainage is effective. Second, quantitative indicators can be used to assess drainage effectiveness. For example, for assessing movement direction consistency, a smaller angle between the stone's movement direction and the direction of the suction port indicates more effective drainage. An angle greater than 90° indicates that the stone may be being reversely dispersed, necessitating adjustment of the suction position. Another example is the assessment of velocity decay rate. A faster decrease in stone velocity over time indicates that the stone is approaching the suction port or is stuck, requiring a sustained low velocity, prompting increased suction pressure or adjustment of the irrigation direction. Another example is the assessment of visual field cleanliness (area percentage). The rate of stone reduction reflects overall stone removal progress. If the area reduction stagnates, it may be necessary to use a lower laser power for fragmentation.

[0073] Based on the above-mentioned image recognition technology, the three factors of direction, speed and area can be comprehensively considered to calculate the total score of the discharge effect by weight, and provide quantitative indicators to guide the surgeon's decision-making, such as requiring immediate intervention when the score is <0.4.

[0074] In one embodiment, image recognition can also be used to determine the distance between the stone accumulation location and the perfusion port. Combined with the fluid mechanics of the perfusion fluid being ejected within the fluid, a minimum impact distance is required because too low a flow rate will not impact the location where the stone is accumulated, while too high a flow rate may damage the kidney's inner wall. This distance can be used to reverse-calculate the initial values ​​of the minimum and maximum perfusion flow rates. This initial value of the minimum and maximum perfusion flow rates can then be used to quickly determine the appropriate pulse combination.

[0075] Figure 6 FIG. 1 is a flow chart of a control method for a perfusion device provided in another embodiment of the present application. Figure 6 As shown, in another embodiment of the present application, the control method may further include steps 204-207.

[0076] Step 204: 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.

[0077] In the embodiments of the present application, the first mode refers to a relatively constant perfusion flow rate, which ensures a relatively stable perfusion mode of the fluid in the target area, i.e., the laser is continuously applied in a stable manner. In the first mode, the fluid in the target area is relatively stable, which can provide a clearer field of view, facilitating precise lithotripsy by the endoscope system.

[0078] Step 205: Acquire image information containing the target object captured by the image capture device in real time.

[0079] Step 206 : In response to the image information indicating that the movement of the target object is within a set range, reduce the perfusion flow rate.

[0080] In the embodiments of this application, the set discharge rate refers to a threshold for determining whether the discharge effect of the target object is significant. If the discharge rate of the target object is lower than the set discharge rate, it indicates that the discharge effect of the current perfusion mode is not significant. Therefore, it is necessary to prepare to switch from the stable first mode to the second mode with variable pulse parameters. The second mode refers to a mode with at least two pulses with different pulse parameters.

[0081] When switching to the second mode, the perfusion flow rate must first be reduced. Specifically, starting from a flow rate equal to the suction flow rate, the perfusion flow rate is reduced until it is less than the suction flow rate. This shifts the operating pressure in the target area toward the lower end of the operating pressure range. For example, taking the kidney as the target area and stones as the target object, the safe range of intrarenal pressure is 20 cmH2O to 30 cmH2O, with the optimal operating pressure at 25 cmH2O. In the first mode, the intrarenal pressure is controlled at 25 cmH2O. Then, by reducing the perfusion flow rate until it is significantly less than the suction flow rate, the intrarenal pressure moves from 25 cmH2O to 20 cmH2O. As the intrarenal pressure approaches 20 cmH2O, the perfusion flow rate exceeds the suction flow rate, causing the perfusion flow rate to shift toward the peak and the intrarenal pressure to rise. By initially reducing the perfusion flow rate, excessive stone erosion is reduced, making it more susceptible to laser fragmentation.

[0082] Step 207 : In response to the operating pressure value of the target area where the target object is located being less than the set operating pressure value, entering the second mode, where the second mode includes at least two pulses with different pulse parameters.

[0083] The working pressure value is set to the value for determining the pulse mode to enter the second mode, and the working pressure value is set to be within the working pressure value range of the target area. When the working pressure value of the target area is less than the set working pressure value, it means that the perfusion flow has been reduced to a relatively safe range, and then the second mode can be entered. Among them, the working pressure value of the target area can be calculated by 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 capacity is gradually increased so that the entire process is to flush and discharge the target object in a manner that is closer to the working pressure value change of the target area.

[0084] Figure 7 Schematic diagram of the structure of a control device 700 of a perfusion device provided in an embodiment of the present application. Figure 7 As shown, the control device 700 is integrated into Figure 1 The controller 110 is in communication with the perfusion device 130. The control device 700 may include:

[0085] An acquisition module 701 is configured to acquire a composite pulse signal, where 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;

[0086] a determination module 702, configured to determine perfusion control information according to the composite pulse signal;

[0087] The regulating module 703 is used to control the perfusion device to regulate the perfusion flow of the perfusion device according to the perfusion control information.

[0088] In the embodiment of the present application, the acquisition module 701 includes:

[0089] a first acquiring unit, configured to acquire the perfusion flow rate and the aspiration flow rate within a set time period;

[0090] a calculation unit, configured to obtain a volume change of the perfusion fluid based on the perfusion flow rate and the aspiration flow rate;

[0091] a second acquiring unit, configured to acquire a set variation range of the perfusion fluid volume variation;

[0092] The first generating unit is configured to generate a composite pulse signal including at least two different pulse parameters when the change in the volume of the perfusion fluid is within the set change range.

[0093] In an embodiment of the present application, the calculation unit is further used to obtain the working pressure value corresponding to the perfusion flow and the suction flow within a set time period, and obtain the working pressure value range; based on the correlation between the perfusion fluid volume change and the working pressure value and the working pressure value range, the set change range of the perfusion fluid volume change is determined.

[0094] In the embodiment of the present application, the controller 110 is further connected to the suction device 140 for communication. The suction flow rate of the suction device 140 is the set flow rate. The acquisition module 701 further includes:

[0095] a third acquiring unit, configured to acquire a current working pressure value and a first pulse waveform of the composite pulse signal;

[0096] The second generating unit is configured to select a target position of the first pulse waveform as a starting position according to a current working pressure value and a preset pressure threshold, and to generate a second pulse waveform based on the starting position.

[0097] In an embodiment of the present application, the pulse parameters also include pulse signal values, each pulse signal value corresponds to an infusion flow, 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 also used to: if the current working pressure value is greater than or equal to the first pressure threshold, then select the position of the pulse signal value in the first pulse waveform where the infusion flow is less than or equal to the suction flow as the target position; if the current working pressure value is less than the second pressure threshold, then select the position of the pulse signal value in the first pulse waveform where the infusion flow is greater than or equal to the suction flow as the target position; and use the target position as the starting position.

[0098] In the embodiment of the present application, the controller 110 is further connected to the image acquisition device 150 for communication. The pulse parameter includes the maximum pulse signal value of the pulse. The acquisition module 701 further includes:

[0099] a fourth acquiring unit, configured to acquire image information containing the target object acquired by the image acquisition device;

[0100] The first adjustment unit is configured to increase the maximum pulse signal value of the composite pulse signal in response to the image information indicating that the movement of the target object is within a set range and under the condition that the volume change of the perfusion fluid is also within the set change range.

[0101] In the embodiment of the present application, the pulse parameter includes the pulse frequency, and the acquisition module 701 further includes:

[0102] The second adjustment unit is configured to increase the pulse frequency of the composite pulse signal in response to image information indicating that the movement of the target object is outside a set range and the area of ​​the target object's gathering region is larger than a set area, while ensuring that the volume change of the perfusion fluid is within a set change range.

[0103] In the embodiment of the present application, the acquisition module 701 further includes:

[0104] The third adjustment unit is configured to reduce the pulse frequency of the composite pulse signal in response to image information indicating that the movement of the target object is outside a set range, 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, while satisfying that the volume change of the perfusion fluid is within a set change range.

[0105] In the embodiment of the present application, the acquisition module 701 further includes:

[0106] a fourth adjustment unit, configured to determine, in response to image information indicating that the target object is moving outside a set range, a first pulse frequency and a second pulse frequency based on a current pulse frequency, wherein 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 constant;

[0107] a frequency determining unit, configured to 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;

[0108] The alternating unit is used to control the pulse frequency of the composite pulse signal in a manner of cyclically alternating execution of the first time period and the second time period.

[0109] In the embodiment of the present application, the control device 700 of the perfusion device further includes:

[0110] a control module for 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;

[0111] An acquisition module is used to acquire image information containing a target object acquired by an image acquisition device in real time;

[0112] a flow rate reduction module, configured to reduce the perfusion flow rate in response to image information indicating that the movement of the target object is within a set range;

[0113] The mode switching module is configured to enter a second mode in response to a working pressure value of a target area where the target object is located being less than a set working pressure value. The second mode includes at least two pulse signals with different pulse parameters.

[0114] In the embodiment of the present application, the controller is further connected to the instruction input device for communication, and the acquisition module 701 is further configured to respond to the control instruction sent by the instruction input device and determine the composite pulse signal corresponding to the control instruction.

[0115] Figure 8 1 is a structural block diagram of a controller 110 provided in an embodiment of the present application. Figure 8 As 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 implement the above-mentioned control method of the perfusion device when executing the instructions.

[0116] like Figure 1 As shown, an embodiment of the present application further provides an endoscope system 100, which includes a controller 110, which is in communication with a perfusion device 130. The controller 110 is configured to: obtain a composite pulse signal, the composite pulse signal including at least two different pulse signals, wherein at least one pulse parameter corresponding to the two different pulse signals is different; determine perfusion control information based on the composite pulse signal; and control the perfusion device to adjust the perfusion flow rate of the perfusion device based on the perfusion control information.

[0117] 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 a perfusion fluid volume change based on the perfusion flow rate and the aspiration flow rate; obtain a set variation range for the perfusion fluid volume change; and generate a composite pulse signal including at least two different pulse parameters when the perfusion fluid volume change is within the set variation range.

[0118] In an embodiment of the present application, the endoscope system 100 also includes a suction device 140, which is communicatively connected to the controller 110. The suction flow rate of the suction device is a set flow rate. The controller 110 is also configured to: obtain a working pressure value corresponding to the perfusion flow rate and the suction flow rate within a set time period, and obtain a working pressure value range; determine the set change range of the perfusion fluid volume change based on the correlation between the perfusion fluid volume change and the working pressure value and the working pressure value range.

[0119] In an embodiment of the present application, the controller 110 is also 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 based on the current working pressure value and the preset pressure threshold, and generate a second pulse waveform based on the starting position.

[0120] In an embodiment of the present application, the pulse parameters also include pulse signal values, each pulse signal value corresponds to an infusion flow, 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 controller 110 is also configured to: if the current working pressure value is greater than or equal to the first pressure threshold, then select the position of the pulse signal value in the pulse waveform where the infusion flow is less than or equal to the aspiration flow as the target position; if the current working pressure value is less than the second pressure threshold, then select the position of the pulse signal value in the pulse waveform where the infusion flow is greater than or equal to the aspiration flow as the target position; and use the target position as the starting position.

[0121] In an embodiment of the present application, the endoscope system 100 also includes an image acquisition device 150, which is communicatively connected to the controller 110. The pulse parameters include the maximum pulse signal value of the pulse. The controller 110 is also configured to: obtain image information containing the target object acquired by the image acquisition device; in response to the image information showing that the movement of the target object is within a set range, and while the volume change of the perfusion fluid is within the set change range, increase the maximum pulse signal value of the composite pulse signal.

[0122] In an embodiment of the present application, the pulse parameters include a pulse frequency, and the controller 110 is further configured to: obtain image information containing the target object captured by the image acquisition device; in response to the image information showing that the movement of the target object is outside a set range and the area of ​​the target object's accumulation region is larger than a set area, while satisfying that the volume change of the perfusion fluid is within the set change range, increase the pulse frequency of the composite pulse signal.

[0123] In an embodiment of the present application, the controller 110 is further configured to: obtain image information containing the target object captured by the image acquisition device; in response to the image information showing that the movement of the target object is outside the set range, and the particles of the target object are in an irregular suspension state and / or the clarity index of the image captured by the endoscope system is less than the set clarity index, while satisfying that the volume change of the perfusion fluid is within the set change range, reduce the pulse frequency of the composite pulse signal.

[0124] In an embodiment of the present application, the controller 110 is further configured to: obtain image information containing the target object captured by the image acquisition device; in response to the image information showing 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, 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 a constant flow; determine the pulse frequency as the first pulse frequency in the first time period, and determine the pulse frequency as the second pulse frequency in the second time period; control the pulse frequency of the composite pulse signal in a manner that the first time period and the second time period are cyclically alternatingly executed.

[0125] 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, which is a pulse mode with a constant perfusion flow rate; acquire image information containing the target object acquired by the image acquisition device in real time; reduce the perfusion flow rate in response to the image information showing that the movement of the target object is within a set range; enter a second mode 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, and the second mode includes at least two pulse signals with different pulse parameters.

[0126] In the embodiment of the present application, the controller 110 is further connected to the instruction input device for communication. The controller 110 is further configured to: respond to the control instruction sent by the instruction input device and determine a composite pulse signal corresponding to the control instruction.

[0127] An embodiment of the present application further provides a computer-readable storage medium, in which a program is stored. The program can be loaded by a processor and execute the control method of any perfusion device in the embodiment of the present application.

[0128] Since the control device, controller, endoscope system and instructions stored in the computer-readable storage medium of the perfusion device can execute the steps in the control method of any perfusion device provided in the embodiments of the present application, the beneficial effects that can be achieved by the control method of any perfusion device provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0129] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer program. When all or part of the functions in the above embodiments are implemented by computer program, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above functions. 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. In addition, when all or part of the functions in the above embodiments are implemented by computer program, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and saved in the memory of the local device by downloading or copying, or the system of the local device is updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be implemented.

[0130] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For those skilled in the art of the present application, based on the concept of the present application, they can also make some simple deductions, modifications or substitutions.

Claims

1. A control device for a perfusion device, characterized in that: Integrated in a controller, the controller is in communication with the perfusion device, and the control device includes: an acquisition module, configured to acquire a composite pulse signal, wherein 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; a determination module, configured to determine perfusion control information according to the composite pulse signal; a regulating module, configured to control the perfusion device to regulate the perfusion flow of the perfusion device according to the perfusion control information; Wherein, the acquisition module includes: a first acquiring unit, configured to acquire the perfusion flow rate and the aspiration flow rate within a set time period; a calculation unit, configured to obtain a volume change of the perfusion fluid based on the perfusion flow rate and the aspiration flow rate; a second acquiring unit, configured to acquire a set variation range of the perfusion fluid volume variation; The first generating unit is configured to generate a composite pulse signal including at least two different pulse parameters when the change in the volume of the perfusion fluid is within the set change range.

2. The control device according to claim 1, characterized in that The controller is further connected to a suction device in communication, the suction flow of the suction device being a set flow, and the calculation unit is further configured to: Obtaining a working pressure value corresponding to the infusion flow rate and the suction flow rate within a set time period, and obtaining a range of the working pressure values; The set variation range of the perfusion fluid volume variation is determined according to the correlation between the perfusion fluid volume variation and the working pressure value and the working pressure value range.

3. The control device according to claim 1, characterized in that The acquisition module also includes: a third acquiring unit, configured to acquire a current working pressure value and a first pulse waveform of the composite pulse signal; The second generating unit is 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.

4. The control device according to claim 3, characterized in that The pulse parameters include pulse signal values, each of the pulse signal values ​​corresponds to a perfusion flow rate, the pressure thresholds include 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 second generating unit is further configured to: If the current working pressure value is greater than or equal to the first pressure threshold, selecting a position in the first pulse waveform where the perfusion flow rate is less than or equal to the pulse signal value of the aspiration flow rate as the target position; If the current working pressure value is less than the second pressure threshold, selecting a position in the first pulse waveform where the perfusion flow rate is greater than or equal to the pulse signal value of the aspiration flow rate as the target position; The target position is used as the starting position.

5. The control device according to claim 1, characterized in that The controller is further connected to the image acquisition device for communication. The pulse parameter includes the maximum pulse signal value of the pulse. The acquisition module further includes: a fourth acquiring unit, configured to acquire image information containing the target object acquired by the image acquisition device; The first adjustment unit is configured to increase the maximum pulse signal value of the composite pulse signal in response to the image information indicating that the movement of the target object is within a set range and under the condition that the volume change of the perfusion fluid is within the set change range.

6. The control device according to claim 1, characterized in that The controller is also in communication with the image acquisition device, and the acquisition module further includes: a fourth acquiring unit, configured to acquire image information containing the target object acquired by the image acquisition device; The second adjustment unit is configured to increase the pulse frequency of the composite pulse signal in response to the image information indicating that the movement of the target object is outside a set range and the area of ​​the target object's accumulation region is larger than a set area, while satisfying that the volume change of the perfusion fluid is within the set change range.

7. The control device according to claim 1, characterized in that The controller is also in communication with the image acquisition device, and the acquisition module further includes: a fourth acquiring unit, configured to acquire image information containing the target object acquired by the image acquisition device; a third adjustment unit, configured to, in response to the image information indicating that the movement of the target object is outside a set range, 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, reduce the pulse frequency of the composite pulse signal while satisfying that the volume change of the perfusion fluid is within the set change range.

8. The control device according to claim 1, characterized in that The controller is also in communication with the image acquisition device, and the acquisition module further includes: a fourth acquiring unit, configured to acquire image information containing the target object acquired by the image acquisition device; a fourth adjustment unit, configured to determine, in response to the image information indicating that the movement of the target object is outside a set range, a first pulse frequency and a second pulse frequency based on a current pulse frequency, wherein 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 constant; a frequency determining unit, configured to 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; The alternating unit is used to control the pulse frequency of the composite pulse signal in a manner that the first time period and the second time period are cyclically alternatingly executed.

9. The control device according to any one of claims 1 to 8, characterized in that: The controller is also in communication with the image acquisition device, and the control device further comprises: a control module for controlling the operation of the perfusion device according to a first mode, wherein the first mode is a pulse mode with a constant perfusion flow rate; An acquisition module, configured to acquire in real time image information containing a target object acquired by the image acquisition device; a flow rate reducing module, configured to reduce the perfusion flow rate in response to the image information indicating that the movement of the target object is within a set range; The mode switching module is configured to enter a second mode in response to a working pressure value of a target area where the target object is located being less than a set working pressure value, wherein the second mode includes at least two pulse signals with different pulse parameters.

10. The control device according to any one of claims 1 to 8, characterized in that The controller is also in communication with the instruction input device, and the acquisition module is further configured to: In response to a control instruction sent by the instruction input device, the composite pulse signal corresponding to the control instruction is determined.

11. A controller, characterized in that: A control device comprising the filling apparatus according to any one of claims 1 to 10.

12. An endoscope system, characterized in that: include: Perfusion equipment; The controller of claim 11, in communication with the perfusion device.

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