Power system for endoscope, control method of power system and storage medium

Abstract

The invention discloses a power system for an endoscope, a control method of the power system and a storage medium. The control method of the power system for the endoscope comprises the steps that the theoretical rotating speed and the actual rotating speed of a driving motor are obtained; according to the theoretical rotating speed and the actual rotating speed, judging whether the actual rotating speed is reduced within a first preset duration and whether the reduction rate is greater than a first threshold value or not, and obtaining a first judgment result; and according to the first judgment result, whether locked-rotor happens to the tool head or not is determined.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a power system for an endoscope, a control method thereof, and a storage medium. Background Art

[0002] An endoscope is a detection instrument that integrates traditional optics, ergonomics, precision machinery, modern electronics, mathematics, software, etc. It has an image sensor, an optical lens, a light source illumination, a mechanical device, etc. It can enter the stomach through the oral cavity or enter the body through other natural orifices. Using an endoscope, lesions that cannot be shown by X-rays can be seen, so it is very useful for doctors.

[0003] Taking the power system for an endoscope used in gynecology as an example, the power system for an endoscope is mainly applicable to hysteroscopy examinations and surgeries. When removing intrauterine tissues including submucous myomas and endometrial polyps, it injects liquid to expand the uterus, and flushes and aspirates the liquid, blood clots, and tissue fragments in the uterine cavity. At the same time, it can monitor the volume difference between the liquid injected into and aspirated out of the uterus.

[0004] However, in the existing power system for an endoscope, when the cutter head cuts myoma tissues for a long time, or the myoma tissues to be cut are relatively hard, there is a certain probability that the inner cutter head will be blocked, thus affecting the surgical effect and efficiency.

[0005] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main object of the present invention is to provide a power system for an endoscope, a control method thereof, and a storage medium, aiming to solve the technical problem of how to accurately identify whether the cutter head is blocked.

[0007] To achieve the above object, the present invention provides a control method for a power system for an endoscope. The control method for the power system for an endoscope includes:

[0008] Obtaining the theoretical speed and the actual speed of the drive motor;

[0009] According to the theoretical speed and the actual speed, determining whether the actual speed drops within a first preset time period and the drop rate is greater than a first threshold value to obtain a first judgment result;

[0010] According to the first judgment result, determining whether the tool head is blocked.

[0011] Preferably, in the control method for the power system for an endoscope, the step of determining whether the tool head is blocked according to the first judgment result includes:

[0012] Obtain the output torque between the tool head and the output shaft of the driving motor;

[0013] When the first judgment result is yes, judge whether the output torque between the tool head and the output shaft of the driving motor increases within a second preset time period and the increase rate is greater than a second threshold value, to obtain a second judgment result;

[0014] When the second judgment result is yes, determine that the tool head is jammed.

[0015] Preferably, in the control method of the endoscopic power system, the step of determining whether the tool head is jammed according to the first judgment result includes:

[0016] Obtain the output current in the circuit;

[0017] When the first judgment result is yes, judge whether the output current increases within a third preset time period and the increase rate is greater than a third threshold value, to obtain a third judgment result;

[0018] When the third judgment result is yes, determine that the tool head is jammed.

[0019] Preferably, in the control method of the endoscopic power system, after the step of determining whether the tool head is jammed according to the first judgment result, the control method further includes:

[0020] When it is determined that the tool head is jammed, calculate an evaluation value of the tool head being jammed according to the actual speed drop rate, the increase rate of the output torque between the tool head and the output shaft of the driving motor, and the increase rate of the output current within a preset time period.

[0021] Preferably, in the control method of the endoscopic power system, the step of calculating an evaluation value of the tool head being jammed according to the actual speed drop rate, the increase rate of the output torque between the tool head and the output shaft of the driving motor, and the increase rate of the output current within a preset time period includes:

[0022] Divide the preset time period into several time regions, respectively determine the instantaneous speeds within the several time regions; calculate the instantaneous speed drop rate corresponding to each time region according to the determined instantaneous speeds; calculate the mean square deviation of the instantaneous speed drop rate within the preset time period according to the instantaneous speed drop rate; determine the evaluation value of the tool head being jammed according to the mean square deviation of the instantaneous speed drop rate within the preset time period;

[0023] and / or,

[0024] Divide a preset duration into a plurality of time regions, and respectively determine the instantaneous output torque within the plurality of time regions; calculate the instantaneous output torque increase rate corresponding to each time region according to the determined instantaneous output torque; calculate the mean square deviation of the output torque increase rate within the preset duration according to the instantaneous output torque increase rate; determine the evaluation value of the tool head jamming according to the mean square deviation of the instantaneous output torque increase rate within the preset duration.

[0025] And / or,

[0026] Divide a preset duration into a plurality of time regions, and respectively determine the instantaneous output current within the plurality of time regions; calculate the instantaneous output current increase rate corresponding to each time region according to the determined instantaneous output current; calculate the mean square deviation of the output current increase rate within the preset duration according to the instantaneous output current increase rate; determine the evaluation value of the tool head jamming according to the mean square deviation of the output current increase rate within the preset duration.

[0027] Preferably, in the control method of the endoscopic power system, after the step of determining whether the tool head jams according to the first judgment result, the control method further includes:

[0028] When it is determined that the tool head jams, judge whether the theoretical speed is greater than or equal to a first preset speed and less than a second preset speed to obtain a fourth judgment result, where the first preset speed is less than the second preset speed;

[0029] When the fourth judgment result is yes, control the theoretical speed of the driving motor to decrease to a first speed, and obtain the evaluation value of the current tool head jamming;

[0030] When the evaluation value decreases, determine that the load of the tool head is too large, and continue to control the theoretical speed of the driving motor to decrease until the evaluation value is zero.

[0031] Preferably, in the control method of the endoscopic power system, after the step of when it is determined that the tool head jams, judge whether the theoretical speed is greater than or equal to a first preset speed and less than a second preset speed to obtain a fourth judgment result, the control method further includes:

[0032] When the fourth judgment result is no, judge whether the theoretical speed is greater than or equal to a third preset speed and less than the first preset speed to obtain a fifth judgment result, where the third preset speed is less than the first preset speed;

[0033] When the fifth judgment result is yes, control the driving motor to reverse at the current theoretical speed;

[0034] Obtain the evaluation value of the current tool head being stuck in rotation in real time, and determine whether the current evaluation value is in a decreasing state;

[0035] When the current evaluation value is in a decreasing state, continue to control the drive motor to reverse at the current theoretical speed until the current evaluation value starts to be in an increasing state, and then control the drive motor to rotate forward and operate normally.

[0036] Preferably, in the control method of the endoscopic power system, after the step of when it is determined that the tool head is stuck in rotation, judging whether the theoretical speed is greater than or equal to a first preset speed and less than a second preset speed to obtain a fourth judgment result, the control method further includes:

[0037] When the fourth judgment result is negative, judge that the theoretical speed is less than a third preset speed to obtain a sixth judgment result, where the third preset speed is less than the first preset speed;

[0038] When the sixth judgment result is positive, control the drive motor to restart intermittently in forward and reverse rotation, and obtain the first temperature at the connection between the tool head and the drive motor;

[0039] When the first temperature is less than or equal to the preset temperature, continue to control the drive motor to restart intermittently in forward and reverse rotation until the evaluation value is zero.

[0040] To achieve the above object, the present invention provides an endoscopic power system, and the endoscopic power system includes:

[0041] A tool head;

[0042] A drive motor, which is drivingly connected to the tool head and is used to drive the tool head to rotate;

[0043] A controller, which is electrically connected to the drive motor, and the controller is further configured to:

[0044] Obtain the theoretical speed and the actual speed of the drive motor;

[0045] According to the theoretical speed and the actual speed, judge whether the actual speed decreases within a first preset time period and the decrease rate is greater than a first threshold value to obtain a first judgment result;

[0046] According to the first judgment result, determine whether the tool head is stuck in rotation.

[0047] To achieve the above object, the present invention provides an endoscopic power system, characterized in that it includes:

[0048] At least one processor; and,

[0049] A memory communicatively connected to the at least one processor; wherein,

[0050] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method of the endoscopic power system described above.

[0051] To achieve the above object, the present invention provides a computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processor, it implements the control method of the endoscopic power system described above.

[0052] The present invention has at least the following beneficial effects:

[0053] For the endoscopic power system provided by the present invention, the controller is configured to obtain the theoretical speed and the actual speed of the drive motor; according to the theoretical speed and the actual speed, it is determined whether the actual speed drops within a first preset time period and the drop rate is greater than a first threshold value to obtain a first judgment result; according to the first judgment result, it is determined whether the tool head is stuck, so that when the tool head is stuck, it can be accurately identified and it is convenient to make corresponding responses or reminders. Description of the Drawings

[0054] Figure 1 Schematically shows a schematic diagram of the endoscopic power system provided by the present invention;

[0055] Figure 2 Schematically shows a schematic diagram of the control method of the endoscopic power system provided by the present invention in a first embodiment;

[0056] Figure 3 Schematically shows a schematic diagram of the control method of the endoscopic power system provided by the present invention in a second embodiment;

[0057] Figure 4 Schematically shows a schematic diagram of another embodiment of the endoscopic power system provided by the present invention.

[0058] 1 - main control board, 2 - current sampling chip, 3 - motor drive board, 4 - drive motor, 5 - tool head.

[0059] The implementation, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. Detailed Embodiments

[0060] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0061] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0062] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0063] In the embodiments of the present invention, the term "plurality" refers to two or more, and other quantifiers are similar.

[0064] In the present invention, unless otherwise stated, the orientation terms such as "upper", "lower", "top", "bottom" are usually in the direction shown in the accompanying drawings, or in the vertical, perpendicular or gravitational direction of the component itself; similarly, for the convenience of understanding and description, "inner" and "outer" refer to the inner and outer of the contour of each component itself, but the above orientation terms do not limit the present invention.

[0065] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be elaborated in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that in the embodiments of the present invention, many technical details are provided to help readers better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed by the present invention can still be implemented. The following division of each embodiment is for convenience of description and should not constitute any limitation to the specific implementation manner of the present invention. Each embodiment can be combined and cross-referenced with each other without conflict.

[0066] Figure 1 The schematic diagram of the power system for an endoscope provided by the present invention is shown. Please refer to Figure 1 . The power system for an endoscope includes a tool head 5, a drive motor 4, and a controller.

[0067] Among them, the tool head 5 can be, but is not limited to, a shaving cutter head. In some other embodiments, the tool head 5 can also be a tool head 5 provided on the endoscope and requiring rotation.

[0068] In some embodiments, the controller includes a main control board 1 and a motor drive board 3. The main control board 1 and the motor drive board 3 are connected and communicate through an RS485 interface. The main control board 1 includes an MCU and a current sampling chip 2. Data is processed by the MCU. The current sampling chip 2 can collect the current signal in the circuit and convert the analog current value signal into a digital signal through an ADC.

[0069] Figure 2 The figure shows a schematic diagram of the control method for the endoscopic power system provided by the present invention. This control method can be executed using Figure 1 the provided endoscopic power system or any other suitable computer device. Of course, in this embodiment, specifically, the controller of the endoscopic power system can be used to execute.

[0070] Figure 2 At step S110, the theoretical speed and the actual speed of the drive motor 4 are obtained. The theoretical speed of the drive motor 4 is the theoretically meaningful speed at which the motor drive board 3 controls the drive motor 4. The theoretical speed of the drive motor 4 can be the theoretically meaningful speed in the no-load state of the tool head. When the tool head is operating, there will be a difference between the theoretical speed and the actual speed of the drive motor 4. At this time, the theoretical speed of the drive motor 4 is usually greater than the actual speed of the drive motor 4.

[0071] The actual speed of the drive motor 4 is the actually occurring speed of the drive motor 4. The actual speed can be obtained by, but is not limited to, the method of using a Hall sensor and a magnet. The photoelectric encoder or Hall sensor can be installed on the rotating shaft of the drive motor 4 or the rotating shaft of the tool head 5 to measure the speed at the measurement position in real time.

[0072] At step S120, according to the theoretical speed and the actual speed, it is judged whether the actual speed drops within a first preset time period and the drop rate is greater than a first threshold value, and a first judgment result is obtained. When the drive motor 4 and the tool head 5 are rotating normally, they will have a stable speed. When the tool head 5 is blocked, it will cause a sharp drop in the actual speed of the drive motor 4, and it may even stop rotating.

[0073] When the speed of the drive motor 4 drops sharply, then the tool head 5 may have been blocked, for example, the head is blocked by resistance fragments due to some factors. In some embodiments, the first preset time period can be 1 second, and the first threshold value is 20%. In some other embodiments, the first preset time period and the first threshold value need to be determined according to specific situations, for example, set according to the performance parameters of the drive motor 4 and the like.

[0074] By comparing the theoretical rotational speed with the actual rotational speed, the state of the tool head 5 can be judged to a certain extent. For example, when the theoretical rotational speed is 1000 RPM, if the actual rotational speed drops below 100 RPM within 1 second, at this time, the rate of decrease in rotational speed is 90%.

[0075] The rate of decrease in rotational speed = (the amount of decrease in rotational speed / theoretical rotational speed) * 100%.

[0076] At step S130, according to the first judgment result, it is determined whether the tool head 5 is jammed. In some embodiments, it may be determined that the tool head 5 is jammed when the actual rotational speed drops within a first preset time period and the rate of decrease is greater than a first threshold; in some other embodiments, the output torque and / or output current may also be combined for judgment.

[0077] Specifically, in some embodiments, when it is determined that the actual rotational speed drops within a first preset time period and the rate of decrease is greater than a first threshold, and the output torque rises sharply, it is determined whether the tool head 5 is jammed, such as in steps S140, S150, and S180. In some other embodiments, when it is determined that the actual rotational speed drops within a first preset time period and the rate of decrease is greater than a first threshold, and the output current of the motor drive board 3 rises sharply, it is determined whether the tool head 5 is jammed, such as in steps S160 to S180. In some other embodiments, it may also be determined that the tool head 5 is jammed when it is determined that the actual rotational speed drops within a first preset time period and the rate of decrease is greater than a first threshold, and the output torque rises sharply and the output current of the motor drive board 3 rises sharply.

[0078] At step S140, the output torque between the tool head 5 and the output shaft of the drive motor 4 is obtained. The detection method of the output torque can be measured using a current sampling circuit. The electromagnetic torque of the drive motor 4 is proportional to the armature current. By measuring the motor input current through the current sampling circuit and combining the torque constant of the drive motor 4, the motor output torque can be indirectly calculated.

[0079] Since the output torque output by the drive motor 4 is related to the resistance received by the tool head 5, under normal circumstances, the output torque output by the drive motor 4 can maintain the normal rotation of the tool head 5. However, when the tool head 5 is jammed, the drive motor 4 needs to output a larger output torque to overcome the resistance, resulting in an increase in the output torque of the drive motor 4. When the tool head 5 is jammed, it may cause the output torque to rise sharply. For example, when the output torque causes the head of the tool head 5 to be blocked by tissue fragments due to some factors, the output torque will rise sharply.

[0080] At step S150, when the first judgment result is yes, it is judged whether the output torque between the tool head 5 and the output shaft of the driving motor 4 increases within a second preset time period and the increase rate is greater than a second threshold value, so as to obtain a second judgment result. When it is judged whether the output torque increases within the second preset time period and the increase rate is greater than the second threshold value, it is considered that the output torque between the tool head 5 and the output shaft of the driving motor 4 increases sharply, and it is determined whether the tool head 5 is jammed.

[0081] The increase rate of the output torque = (the increase amount of the output torque / the initial output torque) * 100%.

[0082] For example, at time t1, the output torque is N1; at time t2, the output torque is N2. Then the increase rate of the output torque = ((N2 - N1) / N1) * 100%.

[0083] In some embodiments, the second preset time period may be 500 milliseconds, and if the output torque increases by 10 mNm, it is considered that the output torque between the tool head 5 and the output shaft of the driving motor 4 increases sharply. Another example is that the second preset time period may be 1 second, and if the output torque increases to more than twice the normal operation within 1 second, it is considered that the output torque increases sharply. In some other embodiments, the second preset time period and the second threshold value need to be determined according to specific situations, for example, set according to the performance parameters of the driving motor 4, the tool head 5, etc.

[0084] At step S160, the output current in the circuit is acquired. The measurement of the output current can be directly measured by contact, for example, a low-resistance high-precision resistor is connected in series in the circuit, and according to Ohm's law, the output current is calculated by measuring the voltage across the shunt. In some other embodiments, the output current in the circuit can also adopt other contact or non-contact detection methods.

[0085] At step S170, when the first judgment result is yes, it is judged whether the output current increases within a third preset time period and the increase rate is greater than a third threshold value, so as to obtain a third judgment result. Since the output current in the circuit is relatively stable and within the rated range when the driving motor 4 is running normally, when the tool head 5 is jammed, the driving motor 4 needs to overcome greater resistance to rotate, which will cause the output current to increase sharply. When it is judged whether the output current increases within the third preset time period and the increase rate is greater than the third threshold value, it is considered that the output current increases sharply.

[0086] The increase rate of the output current = (the increase amount of the output current / the initial output current) * 100%.

[0087] For example, at time t1, the output current is A1; at time t2, the output current is A2. Then the increase rate of the output torque = ((A2 - A1) / A1) * 100%.

[0088] In some embodiments, the third preset duration can be 500 milliseconds. If the output current increases by 0.5 A, it is considered that the output current has increased sharply. For another example, the third preset duration can be 1 second. If the output current increases to more than twice the normal operation within 1 second, it is considered that the output current has increased sharply.

[0089] In some other embodiments, the third preset duration and the third threshold need to be determined according to specific situations. For example, they are set according to the performance parameters of the drive motor 4, the tool head 5, etc.

[0090] At step S180, it is determined that the tool head 5 is jammed. In some embodiments, it can be when the second judgment result is yes, determining that the tool head 5 is jammed; or it can be when the third judgment result is yes, determining that the tool head 5 is jammed. In some other embodiments, it can also be when the second judgment result is yes and the third judgment result is yes, determining that the tool head 5 is jammed.

[0091] It should be noted that in some other embodiments, it is also possible to obtain the sound signals emitted during the operation of the drive motor 4 and the tool head 5 through sound monitoring, and then analyze the sound signals and use a sound recognition algorithm to determine whether there are abnormal sounds; based on the abnormal sounds, determine whether the tool head 5 is jammed.

[0092] When it is determined that the tool head 5 is jammed, it may be due to the drive motor 4 being overloaded during the operation of the tool head 5, resulting in jamming; it can also be due to mechanical failures of the tool head 5 and the drive motor 4, such as damage to the bearings of the drive motor 4, friction between the rotor and stator of the drive motor 4, foreign objects getting stuck, etc.

[0093] Figure 3 Schematically shows a schematic diagram of another embodiment of the control method for the power system of the endoscope provided by the present invention.

[0094] To facilitate the analysis of the degree of jamming, an evaluation value for the jamming of the tool head 5 is introduced for evaluation. The specific evaluation method includes: when it is determined that the tool head 5 is jammed, calculate the evaluation value for the jamming of the tool head 5 according to the actual speed reduction rate within the preset duration, the increase rate of the output torque between the tool head 5 and the output shaft of the drive motor 4, and the increase rate of the output current.

[0095] It should be understood that within the preset time duration, the greater the rotational speed decline rate, the higher the evaluation value of stalling occurrence, that is, the more serious the stalling; within the preset time duration, the greater the increase rate of the output torque, the higher the evaluation value of stalling occurrence; within the preset time duration, the greater the increase rate of the output current, the higher the evaluation value of stalling occurrence.

[0096] To make the situation reflected by the calculation results more real and avoid the influence of short-term fluctuations on the results, the preset time duration can also be divided into several time regions. Of course, the more time points are divided, the more accurate the calculation results will be.

[0097] In some embodiments, the method for determining the evaluation value may include respectively determining the instantaneous rotational speeds within several time regions; calculating the corresponding instantaneous rotational speed decline rate for each time region according to the determined instantaneous rotational speeds; calculating the mean square deviation of the instantaneous rotational speed decline rate within the preset time duration according to the instantaneous rotational speed decline rate; and determining the evaluation value of stalling occurrence of the tool head 5 according to the mean square deviation of the instantaneous rotational speed decline rate within the preset time duration.

[0098] Among them, the greater the mean square deviation of the instantaneous rotational speed decline rate within the preset time duration, the higher the evaluation value of stalling occurrence.

[0099] In some embodiments, the method for determining the evaluation value may also include respectively determining the instantaneous output torques within several time regions; calculating the corresponding instantaneous output torque increase rate for each time region according to the determined instantaneous output torques; calculating the mean square deviation of the output torque increase rate within the preset time duration according to the instantaneous output torque increase rate; and determining the evaluation value of stalling occurrence of the tool head 5 according to the mean square deviation of the instantaneous output torque increase rate within the preset time duration.

[0100] Among them, the greater the mean square deviation of the instantaneous output torque increase rate within the preset time duration, the higher the evaluation value of stalling occurrence.

[0101] In some embodiments, the method for determining the evaluation value may also include respectively determining the instantaneous output currents within several time regions; calculating the corresponding instantaneous output current increase rate for each time region according to the determined instantaneous output currents; calculating the mean square deviation of the output current increase rate within the preset time duration according to the instantaneous output current increase rate; and determining the evaluation value of stalling occurrence of the tool head 5 according to the mean square deviation of the output current increase rate within the preset time duration.

[0102] Among them, the greater the mean square deviation of the instantaneous output current increase rate within the preset time duration, the higher the evaluation value of stalling occurrence.

[0103] It should be noted that the three implementation manners of the above method for determining the evaluation value can also be combined to overall judge the evaluation value of the tool head 5 being stuck. For example, the evaluation value determined according to the instantaneous rotational speed is the first evaluation value, the evaluation value determined according to the instantaneous output torque is the second evaluation value, and the evaluation value determined according to the instantaneous output current is the third evaluation value; when the first evaluation value, the second evaluation value, and the third evaluation value all meet the first preset condition, the first evaluation value, the second evaluation value, and the third evaluation value are accumulated as the final evaluation value; when two of the first evaluation value, the second evaluation value, and the third evaluation value meet the first preset condition, the evaluation values that meet the preset condition are accumulated as the final evaluation value; when one of the first evaluation value, the second evaluation value, and the third evaluation value meets the first preset condition, the evaluation values that do not meet the preset condition are accumulated as the final evaluation value. The first preset condition can be determined according to the model of the drive motor 4, the model of the tool head 5, etc. For example, the first preset condition is greater than the evaluation threshold.

[0104] At step S211, when it is determined that the tool head 5 is stuck, it is judged whether the theoretical rotational speed is greater than or equal to the first preset rotational speed and less than the second preset rotational speed, and a fourth judgment result is obtained, where the first preset rotational speed is less than the second preset rotational speed. When the theoretical rotational speed of the drive motor 4 is relatively high and a jam occurs, if the theoretical rotational speed is reduced to make the drive motor 4 operate at a derated state, and at this time when the jam state of the tool head 5 disappears, it is considered that the drive motor 4 is overloaded, resulting in the tool head 5 being stuck. In some implementation manners, the relatively high theoretical rotational speed of the drive motor 4 can be considered that the rotational speed of the drive motor 4 is between 6000 r / min and 10,000 r / min; in other implementation manners, the specific rotational speed when the theoretical rotational speed of the drive motor 4 is relatively high needs to be comprehensively considered according to parameters such as the drive motor 4 and the tool head 5, and the possible load size of the tool head 5.

[0105] At step S212, when the fourth judgment result is yes, the theoretical rotational speed of the drive motor 4 is controlled to be reduced to the first rotational speed, and the evaluation value of the current tool head 5 being stuck is obtained. The first rotational speed can be one-half of the theoretical rotational speed of the drive motor 4, or can be set according to specific needs.

[0106] At step S213, when the evaluation value decreases, it is determined that the load of the tool head 5 is too large, and the theoretical rotational speed of the drive motor 4 is continuously controlled to decrease until the evaluation value is zero. When the evaluation value is zero, it is considered that the situation of the tool head 5 being stuck disappears, and at this time the tool head 5 can resume normal operation. On the contrary, when the evaluation value does not show a decreasing trend, it is considered that the tool head 5 is not stuck due to excessive load. At this time, a prompt message can be sent to prompt the user to choose whether to continue working or stop working by the user himself.

[0107] At step S221, when the fourth judgment result is negative, it is judged whether the theoretical speed is greater than or equal to the third preset speed and less than the first preset speed, and a fifth judgment result is obtained, where the third preset speed is less than the first preset speed. In some embodiments, when the theoretical speed is relatively small, for example, greater than or equal to the third preset speed and less than the first preset speed, a mechanical failure may occur. For example, when the theoretical speed is between 6000 r / min and 400 r / min, the tool head 5 is blocked at this time, which may be a mechanical failure. Since mechanical failures include the phenomenon of releasable mechanical jamming and mechanical failures inside components (such as bearing damage), further investigation is required. When a releasable mechanical jam occurs, it can be alleviated by adjusting the drive motor 4; but when a mechanical failure inside a component occurs, it can only be alleviated by notifying the user for repair.

[0108] At step S222, when the fifth judgment result is positive, control the drive motor 4 to reverse at the current theoretical speed. Since there are also various different situations of mechanical jamming between the drive motor 4 and the tool head 5, for example, it may be blocked by a hard substance or wrapped by a flexible tissue, and the corresponding treatment methods are also different. Usually, when the theoretical speed is greater than or equal to the third preset speed and less than the first preset speed, when mechanical jamming occurs, it is mostly blocked by a flexible substance. When considering a flexible substance, the drive motor 4 can be controlled to reverse, and it is determined whether the blockage has improved by judging the current evaluation value.

[0109] At step S223, the evaluation value of the current blockage of the tool head 5 is obtained in real time, and it is judged whether the current evaluation value is in a decreasing state. When the current evaluation value is in a decreasing state, it indicates that the blockage situation has improved.

[0110] At step S224, when the current evaluation value is in a decreasing state, continue to control the drive motor 4 to reverse at the current theoretical speed until the current evaluation value starts to be in an increasing state, and then control the drive motor 4 to rotate forward and run normally. When the current evaluation value starts to be in an increasing state, the mechanical failure can be eliminated by rotating forward at this time.

[0111] It should be noted that in the present invention, when it is mentioned that the evaluation value starts to be in an increasing state, the shorter the interval for judging whether it starts to be in an increasing state, the more accurate it is.

[0112] For example, the evaluation value at time t1 is 10 points, and the evaluation value at time t2 is 11 points. The shorter the interval time between t1 and t2, the more accurate the detection result will be. Of course, the specific detection time interval can be determined according to actual needs.

[0113] At step S231, when the fourth judgment result is negative, it is judged that the theoretical speed is less than the third preset speed, and a sixth judgment result is obtained, where the third preset speed is less than the first preset speed. When the theoretical speed is slow and a jam occurs, it may be stuck by a hard substance. At this time, the driving motor 4 can be controlled to restart intermittently in the forward and reverse directions to loosen the hard substance and make it fall off.

[0114] At step S232, when the sixth judgment result is positive, the driving motor 4 is controlled to restart intermittently in the forward and reverse directions. Specifically, the intermittent restart in the forward and reverse directions can be that the rotation time and the stop time are the same, or the rotation time can be longer and the stop time can be shorter, which is specifically determined according to the hard substance causing the jam; it can also be determined according to the actual effect.

[0115] At step S233, the first temperature at the connection between the tool head 5 and the driving motor 4 is obtained. It should be noted that due to the intermittent restart in the forward and reverse directions, in order to avoid excessive temperature caused by frequent restart, it is necessary to detect the first temperature. When the first temperature is within the preset range, the driving motor 4 can continue to be controlled to restart intermittently.

[0116] At step S234, when the first temperature is less than or equal to the preset temperature, the driving motor 4 continues to be controlled to restart intermittently in the forward and reverse directions until the evaluation value is zero. Generally, the size of the preset temperature can be determined according to the model of the driving motor, etc. To avoid affecting the normal operation of the driving motor 4 due to excessive first temperature caused by frequent restart.

[0117] To achieve the above object, the present invention also provides a power system for an endoscope, as Figure 4 shown. The power system for the endoscope includes at least one processor 301; and a memory 302 communicatively connected to the at least one processor 301; wherein, the memory 302 stores instructions executable by the at least one processor 301, and the instructions are executed by the at least one processor 301 to enable the at least one processor 301 to execute the above control method for the power system of the endoscope.

[0118] Among them, the memory 302 and the processor 301 are connected in a bus manner. The bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 301 and the memory 302 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, so they will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices over a transmission medium. The data processed by the processor 301 is transmitted over a wireless medium via an antenna. Further, the antenna also receives data and transmits the data to the processor 301.

[0119] The processor 301 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory 302 can be used to store data used by the processor 301 when performing operations.

[0120] To achieve the above object, the present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by the processor 301, the control method of the above-mentioned endoscopic power system is implemented.

[0121] That is, those skilled in the art can understand that all or part of the steps in implementing the above-described method of the embodiment can be completed by instructing relevant hardware through a program. This program is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or the processor 3014 (processor) to execute all or part of the steps of the method described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0122] Obviously, the above-described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art can make other different forms of changes or modifications without creative efforts, and all of them should fall within the protection scope of the present invention.

Claims

1. A control method for a power system of an endoscope, characterized in that, Including: Obtaining the theoretical speed and the actual speed of the drive motor; According to the theoretical speed and the actual speed, judging whether the actual speed decreases within a first preset time period and the decrease rate is greater than a first threshold value to obtain a first judgment result; According to the first judgment result, determining whether the tool head is blocked.

2. The control method of the power system for an endoscope according to claim 1, characterized in that, The step of determining whether the tool head is blocked according to the first judgment result includes: Obtaining the output torque between the tool head and the output shaft of the drive motor; When the first judgment result is yes, judging whether the output torque between the tool head and the output shaft of the drive motor increases within a second preset time period and the increase rate is greater than a second threshold value to obtain a second judgment result; When the second judgment result is yes, determining that the tool head is blocked.

3. The control method of the power system for an endoscope according to claim 1, wherein, The step of determining whether the tool head is blocked according to the first judgment result includes: Obtaining the output current in the circuit; When the first judgment result is yes, judging whether the output current increases within a third preset time period and the increase rate is greater than a third threshold value to obtain a third judgment result; When the third judgment result is yes, determining that the tool head is blocked.

4. The control method of the power system for an endoscope according to claim 1, characterized in that, After the step of determining whether the tool head is blocked according to the first judgment result, the control method further includes: When it is determined that the tool head is blocked, calculating an evaluation value of the tool head being blocked according to the actual speed decrease rate, the increase rate of the output torque between the tool head and the output shaft of the drive motor, and the increase rate of the output current within a preset time period.

5. The control method of the endoscopic power system according to claim 4, wherein The step of calculating an evaluation value of the tool head being blocked according to the actual speed decrease rate, the increase rate of the output torque between the tool head and the output shaft of the drive motor, and the increase rate of the output current within a preset time period includes: Dividing the preset time period into several time regions, respectively determining the instantaneous speeds within the several time regions; calculating the instantaneous speed decrease rate corresponding to each time region according to the determined instantaneous speeds; calculating the mean square deviation of the instantaneous speed decrease rate within the preset time period according to the instantaneous speed decrease rate; determining the evaluation value of the tool head being blocked according to the mean square deviation of the instantaneous speed decrease rate within the preset time period; And / or, Dividing the preset time period into several time regions, respectively determining the instantaneous output torques within the several time regions; calculating the instantaneous output torque increase rate corresponding to each time region according to the determined instantaneous output torques; calculating the mean square deviation of the instantaneous output torque increase rate within the preset time period according to the instantaneous output torque increase rate; determining the evaluation value of the tool head being blocked according to the mean square deviation of the instantaneous output torque increase rate within the preset time period; And / or, Divide a preset duration into a plurality of time regions, and respectively determine the instantaneous output current within the plurality of time regions; calculate the instantaneous output current increase rate corresponding to each time region according to the determined instantaneous output current; calculate the mean square deviation of the output current increase rate within the preset duration according to the instantaneous output current increase rate; determine an evaluation value for the tool head being jammed according to the mean square deviation of the output current increase rate within the preset duration.

6. The control method of the endoscopic power system according to claim 5, characterized in that, After the step of determining whether the tool head is jammed according to the first judgment result, the control method further includes: When it is determined that the tool head is jammed, determine whether the theoretical speed is greater than or equal to a first preset speed and less than a second preset speed to obtain a fourth judgment result, where the first preset speed is less than the second preset speed; When the fourth judgment result is yes, control the theoretical speed of the drive motor to decrease to a first speed, and obtain an evaluation value for the current tool head being jammed; When the evaluation value decreases, determine that the load of the tool head is too large, and continue to control the theoretical speed of the drive motor to decrease until the evaluation value is zero.

7. The control method of the power system for an endoscope according to claim 6, characterized in that, After the step of determining whether the theoretical speed is greater than or equal to a first preset speed and less than a second preset speed to obtain a fourth judgment result when it is determined that the tool head is jammed, the control method further includes: When the fourth judgment result is no, determine whether the theoretical speed is greater than or equal to a third preset speed and less than the first preset speed to obtain a fifth judgment result, where the third preset speed is less than the first preset speed; When the fifth judgment result is yes, control the drive motor to reverse at the current theoretical speed; Obtain in real time an evaluation value for the current tool head being jammed, and determine whether the current evaluation value is in a decreasing state; When the current evaluation value is in a decreasing state, continue to control the drive motor to reverse at the current theoretical speed until the current evaluation value starts to be in an increasing state, and then control the drive motor to rotate forward and operate normally.

8. The control method of the endoscopic power system according to claim 6, characterized in that, After the step of determining whether the theoretical speed is greater than or equal to a first preset speed and less than a second preset speed to obtain a fourth judgment result when it is determined that the tool head is jammed, the control method further includes: When the fourth judgment result is no, determine that the theoretical speed is less than the third preset speed to obtain a sixth judgment result, where the third preset speed is less than the first preset speed; When the sixth judgment result is yes, control the drive motor to restart intermittently in forward and reverse, and obtain a first temperature at the connection between the tool head and the drive motor; When the first temperature is less than or equal to a preset temperature, continue to control the drive motor to restart intermittently in forward and reverse until the evaluation value is zero.

9. A power system for an endoscope, characterized in that, Includes: Tool head; A drive motor, which is drivingly connected to the tool head and is used to drive the tool head to rotate; A controller, which is electrically connected to the drive motor, and the controller is further configured to: Obtain the theoretical speed and the actual speed of the drive motor; According to the theoretical speed and the actual speed, determine whether the actual speed decreases within a first preset duration and the decrease rate is greater than a first threshold to obtain a first judgment result; Based on the first determination result, determine whether the tool head is stuck.

10. A power system for an endoscope, characterized in that, Comprising: At least one processor; And, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method of the endoscopic power system according to any one of claims 1 to 8.

11. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the control method of the endoscopic power system according to any one of claims 1 to 8.

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