Endoscope system control method, controller, endoscope system, and storage medium

Abstract

The invention relates to a control method of an endoscope system, a controller, the endoscope system and a storage medium. The method comprises the following steps: firstly, acquiring type data corresponding to a target object operated by an endoscope system; then, according to the type data, operating parameter values having a mapping relationship with the type data are determined. Finally, operation of the endoscope system is controlled based on the operating parameter values. Thus, by pre-establishing the mapping relation between the type data of the target object and the operation parameter value, the matched operation parameter value can be automatically called according to the type of the target object operated by the endoscope, the situation that operation parameters need to be manually and frequently adjusted in the endoscope operation process is reduced, and the operation efficiency of the endoscope system is improved.

Description

Technical Field

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

[0002] An endoscope system is a precision optical instrument used for medical diagnosis and treatment, which can realize visual inspection and minimally invasive intervention of the internal structure of the human body without performing open surgery. For example, laser lithotripsy can be performed through an endoscope system. During the operation, it is necessary to perfuse liquid and aspirate liquid at the same time to discharge the crushed stones from the kidney. To ensure the operation safety, laser parameters, perfusion parameters and aspiration parameters are usually set according to the actual situation. In this way, it is necessary to debug multiple devices, and it is necessary to frequently switch device interfaces or manually adjust knobs, making the debugging process relatively complex, the coordination between devices poor and time-consuming, thus reducing the operation efficiency of the endoscope system. Summary of the Invention

[0003] The purpose of the present application is to provide a control method, a controller, an endoscope system and a storage medium for an endoscope system, so as to solve the problem of low efficiency when operating a traditional endoscope system.

[0004] To achieve the above purpose, in the first aspect of the present application, a control method for an endoscope system is provided, which is applied to a controller of the endoscope system. The control method includes: obtaining type data corresponding to a target object of the endoscope system operation; determining an operation parameter value having a mapping relationship with the type data according to the type data; and controlling the endoscope system operation based on the operation parameter value.

[0005] In the second aspect of the present application, a control device for an endoscope system is provided. The control device includes: an obtaining module, configured to obtain type data corresponding to a target object of the endoscope system operation; a determining module, configured to determine an operation parameter value having a mapping relationship with the type data according to the type data; and a control module, configured to control the endoscope system operation based on the operation parameter value.

[0006] In the third aspect of the present application, a controller is provided, including: a memory configured to store instructions; and a processor configured to call the instructions from the memory and be capable of implementing the above control method for the endoscope system when executing the instructions.

[0007] In the fourth aspect of the present application, an endoscope system is provided, including the above controller.

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

[0009] The beneficial effects of the present application are as follows: According to the type data corresponding to the target object of the endoscopic system operation, the operation parameter value having a mapping relationship with the type data is determined, and then based on the operation parameter value, the endoscopic system operation is controlled. The present application pre-establishes the mapping relationship between the type data of the target object and the operation parameter value, and can automatically retrieve the matching operation parameter value according to the type of the target object of the endoscopic operation, reducing the situation of frequently manually adjusting the operation parameters during the endoscopic operation and improving the operation efficiency of the endoscopic system.

[0010] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of an application scenario of a control method for an endoscopic system provided in an embodiment of the present application; Figure 2 It is a schematic flowchart of a control method for an endoscopic system provided in an embodiment of the present application; Figure 3 It is a schematic flowchart of a control method for an endoscopic system provided in another embodiment of the present application; Figure 4 It is a schematic diagram of the structure of a control device for an endoscopic system provided in an embodiment of the present application; Figure 5 It is a block diagram of the structure of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

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

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

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

[0015] As an example, the endoscope system 100 may include a controller 110, a laser 120, an irrigation device 130, a suction device 140, and an image acquisition device 150. Among them, the controller 110 communicates with the laser 120, the irrigation device 130, the suction device 140, and the image acquisition device 150 respectively. Among them, the laser 120 is used to generate a laser beam. By using the photothermal effect or photo-mechanical effect of the laser, the stone is contacted or non-contacted by the end of the optical fiber, so that the stone is cracked into powder or fragments, realizing the fragmentation of the stone in the target area. The irrigation device 130 is used to irrigate the target area with a liquid (such as normal saline) to maintain a clear field of view during the operation of the endoscope system 100 and assist the discharged stone fragments out of the target area. The suction device 140 is used to discharge the fragmented stone particles, perfusion waste liquid, tissue fragments, etc. out of the target area through negative pressure suction. The image acquisition device 150 is used to obtain an optical image of the target area, display the position of the stone in the target area in real time, and guide the positioning of the laser 120. The controller 110 is the core to realize the coordinated operation of multiple devices. By communicating with the laser 120, the irrigation device 130, the suction device 140, and the image acquisition device 150, a controllable closed loop of lithotripsy-irrigation-imaging is formed.

[0016] In the application scenario of the control method of the endoscope system 100 in the embodiments of the present application, a controller 110 for the control method is included. The controller 110 may run a computer-readable storage medium corresponding to the control method of the endoscope system 100 to execute the steps of the control method of the endoscope system 100.

[0017] It can be understood that Figure 1 The various electronic devices in the application scenario of the control method of the endoscope system 100 shown do not constitute a limitation to the embodiments of the present application. That is, the number of devices, the types of devices included in the application scenario of the control method of the endoscope system 100, or the number of devices, the types of devices included in each electronic device do not affect the overall implementation of the technical solution in the embodiments of the present application, and can all be regarded as equivalent replacements or derivatives of the technical solution required to be protected in the embodiments of the present application.

[0018] In the embodiments of the present application, the controller 110 may be an independent device or a device network or device cluster composed of devices. 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 set of multiple network devices, or a cloud device composed of multiple devices. Among them, the cloud device is composed of a large number of computers or network devices based on cloud computing (Cloud Computing).

[0019] Those skilled in the art can understand Figure 1The application scenarios shown are merely one application scenario corresponding to the technical solution of the present application, and do not constitute a limitation on the application scenarios of the technical solution of the present application. Other application scenarios may also include more or fewer electronic devices than those shown in Figure 1 or different network connection relationships of electronic devices. For example, Figure 1 only one electronic device is shown in

[0020] It should be noted that Figure 1 the application scenario of the control method of the endoscope system 100 shown is only an example. The application scenario of the control method of the endoscope system 100 described in the embodiments of the present application is to more clearly illustrate the technical solution of the embodiments of the present application, and does not constitute a limitation on the technical solution provided by the embodiments of the present application.

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

[0022] Figure 2 is a schematic flowchart of a control method for an endoscope system provided in an embodiment of the present application. As Figure 2 shown, in one embodiment, the control method may execute steps 201-203 and other steps through the above controller 110, which will be introduced in detail below.

[0023] Step 201: Obtain type data corresponding to the target object of the operation of the endoscope system.

[0024] Step 202: Determine the operation parameter values having a mapping relationship with the type data according to the type data.

[0025] Step 203: Control the operation of the endoscope system based on the operation parameter values.

[0026] In the embodiments of the present application, the type data corresponding to the target object refers to the data characterizing the type of the target object. In one example, it can be divided according to the physical characteristics, composition information, etc. of the target object. Taking the target object as a calculus, the division according to physical characteristics may include the size of the calculus (such as diameter), shape (such as round, square), CT value (such as a quantification index of calcium content), etc., and the division according to composition information may include chemical components obtained by spectral analysis (such as calcium oxalate, uric acid, cholesterol), tissue pathological types (such as benign tumors, malignant tumors, etc.).

[0027] During the operation of a traditional endoscope system, generally, the operator sets the operation parameter values according to the actual situation, such as laser parameter values, perfusion parameter values, and aspiration parameter values. It is necessary to debug multiple devices, which is relatively complex and has low accuracy and efficiency. Therefore, in the embodiments of the present application, the type data corresponding to the target object and the operation parameter values are pre-mapped, and each type of data corresponds to an operation parameter value. In this way, only the type data corresponding to the target object operated by the endoscope system needs to be obtained, and the operation parameter values mapped to the type data can be automatically adjusted. Then, based on the operation parameter values, they are converted into control signals recognizable by the endoscope system to control the operation of the endoscope system. In this way, through the preset mapping relationship, the matching operation parameter values can be automatically retrieved according to the type of the target object of the endoscope operation, so as to eliminate the individual experience differences of the operator, make the operation parameter values corresponding to each type of target object consistent, improve the usage breadth of the endoscope system, and reduce the situation of frequently manually adjusting the operation parameters during the endoscope operation. In this way, the situation of human operation errors is reduced, and the operation efficiency of the endoscope system is improved.

[0028] The type data of the target object in the embodiments of the present application can be obtained through image recognition, spectral analysis, ultrasonic waves, database call, etc. Database call means that the operator obtains the type of the target object from the database. In one example, the medical history data of the patient, such as previous stone types, surgical history, etc., is obtained from the electronic medical record system. For another example, the operator can input the type data of the target object into the value database manually so that the controller directly calls the type data of the target object from the database.

[0029] In step 201, the original data of the target object can be collected first, and then the type data of the target object can be determined by the corresponding method. In the embodiments of the present application, the original data of the target object can be collected by a peripheral acquisition device connected to the controller and then transmitted to the controller; or the endoscope system can include an image acquisition device communicating with the controller. Among them, the peripheral acquisition device and the image acquisition device can include, but are not limited to, cameras, spectrometers, ultrasonic probes, etc. Hereinafter, taking the collection of original data by the image acquisition device of the endoscope system as an example, step 201 will be elaborated.

[0030] In one example, an image of a target object can be collected by an image acquisition device, and the type data corresponding to the target object can be determined based on a preset image recognition algorithm. For example, the image acquisition device can be a camera of an endoscope system. The high-definition image of the target object is collected in real time by the camera, and then an image recognition algorithm, such as a U-shape Network (U-Net) and a Convolutional Neural Network (CNN), is used to segment the target object and extract features such as color texture and morphology, and then match a preset feature database to identify the type data of the target object.

[0031] In another example, spectral data of a target object can be collected by an image acquisition device, and the type data corresponding to the target object can be determined based on a preset spectral analysis model. For example, the image acquisition device can be a spectrometer. The reflection or absorption spectrum of the target object for a specific wavelength of light is collected in real time by the spectrometer, the positions and intensities of the characteristic spectral peaks are analyzed, and a spectral database is matched to determine the type data of the target object.

[0032] In yet another example, ultrasonic data of a target object can be collected by an image acquisition device, and the type data corresponding to the target object can be determined based on the ultrasonic data. For example, the image acquisition device can be an ultrasonic probe. The ultrasonic probe emits high-frequency sound waves, and the type data of the target object is judged according to the reflection characteristics of the target object to the sound waves (such as echo intensity, acoustic shadow, mobility). For example, calcium-containing stones have a high acoustic impedance and appear as strong echoes with obvious acoustic shadows; uric acid stones have a low acoustic impedance, weak echoes, and a fuzzy sound.

[0033] It should be noted that in the embodiments of the present application, at least two methods can also be used in combination to form a judgment of type data of multimodal fusion, which can be applied to complex endoscope usage scenarios.

[0034] In the embodiments of the present application, the mapping relationship between the type data of the target object and the operation parameter values is determined in advance. Among them, the operation parameter values can include laser parameter values, perfusion parameter values, and aspiration parameter values.

[0035] The laser parameter value refers to the parameter values of the output energy and working mode of the laser of the endoscope system. For example, the laser parameter values can include but are not limited to: laser energy, that is, the energy value of a single laser pulse; laser pulse frequency, that is, the number of laser pulses emitted per second; laser pulse width, that is, the duration of a single laser pulse. The higher the laser parameter value, the higher the operation efficiency for the target object, but too high laser energy may cause thermal damage to the target area.

[0036] The perfusion parameter values are the parameter values that control the input pressure and flow rate of the perfusion fluid (such as normal saline) in the perfusion device, and are used to maintain a clear field of view in the target area, flush debris, and reduce the temperature of the target area. For example, the perfusion parameter values may include, but are not limited to, perfusion pulse frequency, perfusion speed, and perfusion pulse amplitude, etc.

[0037] The aspiration parameter values are the values that control the negative pressure intensity and flow rate of the aspiration device, and are used to remove debris, liquid, or gas in the target area to ensure a clear field of view in the target area and sufficient operating space. For example, the aspiration parameters may include, but are not limited to, aspiration speed and aspiration negative pressure, etc.

[0038] In step 202, the mapping relationship between the type data and the operation parameter values can be determined in various ways. For example, a mapping table can be established in advance, or a target model that can determine the type data can be trained. The following is a detailed description.

[0039] In one example, a mapping table can be constructed based on the mapping relationship between different type data and operation parameter values first. In the mapping table, each type of data corresponds to a set of operation parameter values, and the operation parameter values can be obtained through a large number of experiments and reference documents, etc., so that the endoscopic system has a better effect on operating the target object corresponding to the type data. Then, according to the type data, the mapping table is searched to obtain the operation parameter values that have a mapping relationship with the type data. Table 1 is a schematic diagram of a mapping table in an embodiment of the present application. Taking the target object as a stone as an example, each stone type can correspond to a set of operation parameter values, including laser parameter value A, perfusion parameter value B, and aspiration parameter value C respectively. For example, the operation parameter values corresponding to stone type 1 are (A1, B1, C1), the operation parameter values corresponding to stone type 2 are (A2, B2, C2), and the operation parameter values corresponding to stone type n are (An, Bn, Cn).

[0040] Table 1 Type data Laser parameter value Perfusion parameter value Aspiration parameter value Stone type 1 A1 B1 C1 Stone type 2 A2 B2 C2 ... ... ... ... Stone type n An Bn Cn By pre-constructing a mapping table including the mapping relationship between type data and operation parameter values, standardized operation can be realized, the operation parameter values of the same type of target objects are made consistent, the deviation of parameter value setting caused by experience differences is reduced, and the time-consuming for searching the mapping table is less, without repeatedly debugging various devices, thus improving the operation efficiency of the endoscopic system.

[0041] In another example, a target model can be first trained based on the mapping relationship between different types of data and operation parameter values. The target model is a machine learning model or a deep learning model that predicts operation parameter values based on the input type of data. For example, the target model can include, but is not limited to, a random forest model and a neural network, etc. By using a large number of training samples to learn the mapping relationship between "type of data and operation parameter values", it is possible to automatically output operation parameter values that match the type of data for real-time input type of data.

[0042] The training of the target model can include the following steps. First, obtain a training sample set, which can include multiple training samples. The training samples can include the sample types of stones and the sample parameter values corresponding to the sample types. The sample types and the corresponding sample parameter values can be obtained based on a large amount of historical experimental data and reference documents, etc. Input the multiple sample types into the model to be trained in sequence for parameter prediction to obtain predicted parameter values. Among them, the model to be trained is an initial model that has not been trained. The predicted parameter value refers to the predicted value output by the model to be trained. Then, iteratively update the model to be trained according to the sample parameter values and the predicted parameter values until the convergence condition of model training is reached to obtain the target model. Among them, the convergence condition of model training can be that the number of iterations reaches a set number or the error is within a set range, etc.

[0043] Finally, after training the target model, input the type of data into the target model, and output the operation parameter value corresponding to the type of data through the target model. Moreover, after each prediction of the operation parameter value, the parameter value of the target model can also be dynamically adjusted to improve the prediction accuracy of the target model. By predicting the operation parameter value corresponding to the type of data through the target model, the operation parameter value that matches the type of data can be dynamically adjusted, and the prediction accuracy of the model can be improved.

[0044] In an embodiment of the present application, the mapping relationship between different type data and operation parameter values can be determined based on the predicted lithotripsy characteristics after the target object is operated. The predicted lithotripsy characteristics refer to the characteristic information obtained by predicting the characteristics of the lithotripsy corresponding to the target object after the endoscopic operation based on the type data of the target object. In one example, the predicted lithotripsy characteristics may include the predicted size of the lithotripsy. For example, calcium oxalate stones have high hardness, low brittleness, and dense structure. Therefore, after endoscopic operation, such as laser lithotripsy, the predicted lithotripsy characteristics may be: irregular fragments with sharp edges, sharp edges, mainly medium fragments (such as 2-4 mm), and a low powderization ratio (such as about 20-30%). For another example, the predicted lithotripsy characteristics of calcium phosphate stones may be: flaky or layered fragments, blunt edges, large differences in fragment size (such as 1-5 mm), and a medium powderization ratio (such as 30-40%). For another example, the predicted lithotripsy characteristics of cystine stones can be: block or plate-shaped fragments, blunt edges, a high proportion of large fragments (such as larger than 5 mm), and a very low powderization ratio (such as less than 10%). For another example, the predicted lithotripsy characteristics of infectious stones (magnesium ammonium phosphate / struvite) can be: irregular flakes or needle-shaped fragments, fragments of varying sizes (such as 1-10 mm), and a medium powderization ratio (such as 40-50%). Different predicted lithotripsy characteristics can match different operation parameter values.

[0045] In the embodiment of the present application, the perfusion parameter value of the perfusion device is performed in a pulsed manner, so the mapping relationship between the type data and the perfusion pulse frequency in the perfusion parameter value, the mapping relationship between the type data and the perfusion speed and suction speed in the perfusion parameter value, and the mapping relationship between the type data and the perfusion pulse amplitude in the perfusion parameter value can be determined based on the predicted lithotripsy feature. The following takes the predicted lithotripsy feature as the predicted size as an example to explain in detail.

[0046] In one example, the perfusion parameter value may include a perfusion pulse frequency. The perfusion pulse frequency refers to the number of times the perfused liquid is input in the form of pulses per unit time, and the unit is usually Hertz (Hz). In an embodiment of the present application, the predicted lithotripsy feature after the operation on the target object in the type data can be first obtained. Then, based on the predicted lithotripsy feature, the perfusion pulse frequency corresponding to the predicted lithotripsy feature is determined.

[0047] As the predicted size of the broken stone is larger, a larger eddy current is required to ensure better operating efficiency. The lower the frequency of the perfusion pulse, the easier it is to form a larger eddy current. Conversely, the smaller the predicted size of the broken stone is, the smaller the eddy current is required to ensure better operating efficiency. The higher the frequency of the perfusion pulse, the easier it is to form a smaller eddy current. Therefore, the perfusion pulse frequency is negatively correlated with the predicted size.

[0048] It should be noted that in the embodiments of the present application, two variables being positively correlated means that when the value of one variable increases, the value of the other variable also tends to increase. Conversely, when the value of one variable decreases, the value of the other variable also tends to decrease. For example, the two variables can be directly proportional. Similarly, two variables being negatively correlated means that when the value of one variable increases, the value of the other variable tends to decrease. Conversely, when the value of one variable decreases, the value of the other variable tends to increase. For example, the two variables can be inversely proportional.

[0049] In another example, the perfusion parameter values can include the perfusion rate and the aspiration rate. The perfusion rate refers to the amount of liquid injected into the target area through the perfusion device per unit time, and the aspiration rate refers to the amount of liquid, gas, or debris aspirated from the target area through the aspiration device per unit time.

[0050] In the embodiments of the present application, the predicted fragmentation characteristics after operating on the target object in the type data can be obtained first. Then, according to the predicted fragmentation characteristics, the corresponding perfusion rate and aspiration rate are determined.

[0051] Since the larger the predicted size of the fragmented stone, the higher the perfusion rate and the smaller the aspiration rate are required to reduce the risk of the fragmented stone blocking the outlet of the target area. Conversely, the smaller the predicted size of the fragmented stone, the smaller the perfusion rate and the higher the aspiration rate are required to reduce the impact of the fragmented stone on the field of view. Therefore, the perfusion rate is positively correlated with the predicted size, and the aspiration rate is negatively correlated with the predicted size.

[0052] It should be noted that in actual operation, particles of concentrated sizes may appear after the target object is shattered. It's just that the proportions of various particle sizes are different. Therefore, during the actual operation process, the aspiration rate and perfusion rate need to be adjusted according to the actual situation. For example, the type of fragmented stone corresponding to the target object to be preferentially cleared can be judged through image analysis. Specifically, it can be followed that the type of fragmented stone with a smaller actual size is cleared first, and then the type of fragmented stone with a larger actual size is cleared. Or it can also be followed that the type of fragmented stone with a higher volume ratio is cleared first, and then the type of fragmented stone with a lower volume ratio is cleared.

[0053] In the case of a relatively large amount of fine gravel (such as with an actual size less than 1 mm), the aspiration speed is increased and the perfusion speed is decreased. This helps to reduce the impact of the stone on the field of view and is beneficial for the rapid removal of fine stones. For example, uric acid stones have small particles, high suspension, and are prone to obscuring the field of view, so they need to be quickly removed to prevent postoperative infection or ureteral obstruction. Based on this, the perfusion speed can be set to 20 - 40 mL / min (low flow rate reduces powder suspension), and the aspiration speed can be set to -200 to -250 mmHg (extremely high negative pressure for rapid aspiration). Additionally, the pulse mode can be set to high frequency (8 - 10 Hz) and low duty cycle (20%) to form a micro-turbulent suspension of powder.

[0054] For medium-sized fragments (such as with an actual size between 1 - 3 mm), medium perfusion speed and medium aspiration speed are required. For example, calcium phosphate or mixed stones are prone to retention in the renal calyces. Therefore, it is necessary to balance the cleaning efficiency and the control of renal pressure. Based on this, the perfusion speed can be set to 40 - 60 mL / min (medium flow rate maintains laminar flow flushing), and the aspiration speed can be set to -150 to -200 mmHg (higher negative pressure to adsorb porous fragments). Additionally, the pulse mode can be set to medium frequency (3 - 4 Hz) and duty cycle 50% to form a periodically enhanced eddy current.

[0055] For large fragments (such as with an actual size greater than 3 mm), a higher perfusion speed and a lower aspiration speed are required. In this way, the cleaning efficiency and the risk of blockage can be balanced through medium negative pressure (the diameter of the aspiration channel is usually only 1.2 - 1.3 mm). For example, calcium oxalate stones with sharp edges are prone to blocking the aspiration channel and have a large moving inertia, so stronger hydrodynamic force is needed to push them. Based on this, the perfusion speed can be set to 60 - 80 mL / min (high flow rate flushes the renal calyceal recesses), and the aspiration speed can be set to -100 to -150 mmHg (medium negative pressure to avoid blockage). Additionally, the pulse mode can be set to low frequency (1 - 2 Hz) and high duty cycle (70%) to form a large eddy current to push the fragments.

[0056] In yet another example, the perfusion parameter value can include the perfusion pulse amplitude. The perfusion pulse amplitude refers to the maximum intensity reached by the perfusion pulse. That is to say, the difference between the maximum pulse signal value and the minimum pulse signal value in the pulse signal is the pulse amplitude.

[0057] In an embodiment of the present application, the predicted fragmentation characteristics after operating on the target object in the type data can be obtained first. Then, according to the predicted fragmentation characteristics, the perfusion pulse amplitude corresponding to the predicted fragmentation characteristics is determined. Since the gravel with a larger predicted size is harder in texture and requires more energy to be broken, a larger pulse amplitude is needed to generate a stronger impact force. Conversely, the structure of the gravel with a smaller predicted size is relatively fragile, and a smaller pulse amplitude can be used to break the target object. Based on this, the perfusion pulse amplitude is positively correlated with the predicted size.

[0058] For example, assume that the pulse amplitude is divided into small amplitude, medium amplitude, and large amplitude. The small amplitude is mainly laminar flow with small pressure fluctuations (such as ±5 mmHg), suitable for fine operations, and can be applied to the bleeding period, stones near the ureteral wall, and small powder stones. The medium amplitude is a transitional flow state, with local eddy currents enhancing debris movement and medium pressure fluctuations (±10 mmHg), and can be applied to the fragmentation operation of medium-sized debris (such as those with a size of 1-3 mm). The large amplitude is dominated by turbulent flow, with a strong impact force but large pressure fluctuations (such as ±15 mmHg), and can be applied to loosen large impacted debris (such as those larger than 5 mm).

[0059] During the actual operation of the endoscopic system, the actual size of the fragmented stones after the target object is broken may not match the predicted size. Therefore, in an embodiment of the present application, the fragmented stones can also be detected in real time during the operation of the endoscope, and the operation parameters can be dynamically adjusted based on the detection results.

[0060] Figure 3 It is a schematic flowchart of a control method for an endoscopic system provided in another embodiment of the present application. As Figure 3 shown, in another embodiment of the present application, the control method may further include steps such as 204-205.

[0061] Step 204: Detect the actual size of the fragmented stones corresponding to the target object during the operation in the current time period.

[0062] Step 205: Adjust the operation parameter values according to the actual size of the fragmented stones corresponding to the target object. The operation parameter values include at least one of the laser parameter values, perfusion parameter values, and aspiration parameter values.

[0063] In the embodiments of the present application, the actual size refers to the size of the crushed stones actually produced by the target object after endoscopic operation. As an example, the actual size of the crushed stones in the target area can be detected by an image acquisition device. If the actual size at any time does not match the predicted size, the current operation parameter value can be adjusted based on the actual size of the crushed stones to improve the operation effect of the endoscopic system. Among them, the non-match means that the error between the actual size and the predicted size exceeds a certain range, and this range can be set according to the actual operation environment or experience, etc. Adjusting the operation parameter value can adjust at least one of the laser parameter value, the perfusion parameter value, and the aspiration parameter value to make the operation effect of the endoscopic system better.

[0064] In the embodiments of the present application, the perfusion parameter value may further include a pulse signal value. The pulse signal value refers to the amplitude value of the pulse signal corresponding to the perfusion parameter value at a certain moment, which reflects the intensity or magnitude of the pulse signal. In actual operation, there may be various sizes of crushed stones corresponding to the target object. To improve the operation effect on the target object, the output of multiple pulse signals can be controlled according to different size ratios. In step 205, taking the adjustment of the perfusion parameter as an example, first, the actual size of the crushed stones corresponding to the target object in the target area can be obtained, and the crushed stone types corresponding to multiple crushed stones in the target area can be determined according to the actual size. Among them, each crushed stone type corresponds to a pulse signal value. For example, assume that there is a set size threshold. The crushed stone type larger than the set size threshold is coarse particles, and the crushed stone smaller than the size threshold is fine particles. Then, a pulse signal value can be corresponding to the coarse particles, such as a high-frequency pulse, and a pulse signal value can be corresponding to the fine particles, such as a low-frequency pulse.

[0065] Then, the first ratio of each crushed stone type is determined respectively. Among them, the first ratio is the ratio of the number of crushed stones corresponding to the crushed stone type to the total number of crushed stones. For example, assume that the number ratio of coarse particles to total particles is 7:10, and the number ratio of fine particles to total particles is 3:10. Then, the first ratio of coarse particles is 70%, and the first ratio of fine particles is 30%. Next, based on the first ratio, the second ratio corresponding to multiple pulse signal values is determined. Among them, the second ratio is the ratio of the sub-period corresponding to multiple pulse signal values within the set period to the set period. The second ratio of the pulse signal value is the same as the first ratio of the crushed stone type corresponding to the pulse signal value. The set period can be the period of the pulse signal set in advance, such as a pulse period. Finally, according to the second ratio, the pulse signal value of the perfusion parameter within the set period is controlled. For example, assume that the pulse signal value corresponding to the coarse particles is M, and the pulse signal value corresponding to the fine particles is N. Assume that the time when the pulse signal value M appears within the set period T is t1, the time when the pulse signal value N appears within the set period T is t2, the second ratio of the pulse signal value M is 30%, and the second ratio of the pulse signal value N is 30%. Then, t1:T = 3:10, t2:T = 3:10.

[0066] As an example, within a set period, different pulse signal values can appear randomly, as long as the ratio of the sum of the occurrence times of each pulse signal value within the set period to the length of the set period meets the second ratio corresponding to the pulse signal value. In this way, irregular turbulence can be formed by randomly generating pulse signal values, improving the operation efficiency of the endoscope system.

[0067] Specifically, within the set period, when the sum of the ratios of each pulse signal value meets the second ratio corresponding to the pulse signal value, different pulse signal values can be controlled to appear in a random alternating manner to generate random composite pulse signal values. Then, based on the random composite pulse signal values, the perfusion parameters within the set period are controlled.

[0068] Among them, random alternation means that the starting occurrence time, the number of consecutive occurrences, and the time interval between adjacent pulses of each type of pulse signal within the set period are all randomly determined and not restricted by specific rules. According to the analysis of the real-time images collected, the ratio changes of debris with different actual sizes, such as fine particles and coarse particles, at different times are used to adjust different pulse signal values, such as the ratio of high-frequency pulses and low-frequency pulses. In this way, by using the dynamically changing pulse signal values generated by randomization, the hydrodynamic conditions for the aggregation of the target object can be broken, and the efficient discharge of the target object can be realized, which not only ensures the operation safety but also improves the operation efficiency through the turbulence effect. By corresponding the situation of the target object to the ratio of the actual size of the debris generated during the operation process, the operation efficiency of the endoscope system is improved.

[0069] In the embodiments of the present application, the laser parameter values are not fixed values either and can be adjusted according to the actual size, shape of the debris, and the distance from the laser fiber, etc. The adjustment of the laser parameter values will cause changes in the heat generation of the laser. For example, the greater the power of the laser parameter value, the more heat is generated, and thus more liquid or a greater flow rate, etc. are required to cool the heat generated by the laser. In the endoscope system, the perfusion device and the suction device can take away the heat of the target area through the operations of perfusing liquid and sucking liquid. That is to say, there is a corresponding relationship between the perfusion parameter values and the suction parameter values and the heat that can be cooled.

[0070] Therefore, in step 203, the actual size of the gravel during the laser lithotripsy operation at the current moment can be detected. If the actual size does not match the predicted size, the laser parameter value among the operation parameter values at the current moment is adjusted according to the actual size and the predicted size. Then, the heat generation value corresponding to the adjusted laser parameter value is obtained, and the cooling heat value corresponding to the perfusion parameter value and the aspiration parameter value among the operation parameter values at the current moment is obtained. If the heat generation value is greater than the cooling heat value, it means that the heat generated by the current laser parameter value cannot be carried away under the current perfusion parameter value and absorption parameter value, and it is easy to cause overheating of the target area. Therefore, it is necessary to adjust the perfusion parameter value and the aspiration parameter value among the operation parameter values at the current moment so that the heat generation value is less than or equal to the cooling heat value, so as to carry out the heat generated by the adjusted laser parameter value out of the target area. In this way, the damage problem caused by excessive heat in the target area can be reduced.

[0071] In the embodiment of the present application, the perfusion operation can also be performed in the mode of a dual-perfusion device.

[0072] In one example, the endoscope system may include a first perfusion device and a second perfusion device. The first perfusion device is used for the basic perfusion flow rate, that is, constant flow rate perfusion. The second perfusion device is used to form a pulsed perfusion flow rate. Therefore, in step 203, first, the perfusion flow rate of the first perfusion device is set to the first perfusion flow rate with a constant flow rate, and the perfusion flow rate of the second perfusion device is set to the second perfusion flow rate controlled by a pulse. Then, the first perfusion flow rate of the first perfusion device and the second perfusion flow rate of the second perfusion device are respectively controlled to control the perfusion flow rate value among the operation parameter values. In this way, the adjustment of the perfusion pulse can be separated from the adjustment of the minimum flow rate, so as to improve the response speed of the endoscope system and improve the adjustment accuracy.

[0073] In response to the instruction to adjust the operation parameter value, the first perfusion flow rate is adjusted to adjust the perfusion flow rate value among the operation parameter values. The instruction to adjust the operation parameter value refers to the instruction sent by the user to adjust the operation parameter value, which can be sent to the controller through a button, a display panel or terminal wireless communication, etc. In the embodiment of the present application, the basic perfusion flow rate is mainly adjusted by adjusting the first perfusion flow rate of the first perfusion device, and the adjustment is simpler, which improves the adjustment efficiency of the perfusion flow rate.

[0074] In the embodiment of the present application, through the control method of dual-perfusion flow rates, the pressure and flow rate of the perfusion liquid can be accurately controlled to ensure the visibility of the target area. And by adjusting the basic perfusion flow rate, the response speed of the endoscope system is improved. In addition, by adjusting the perfusion parameter value in real time, the situation that the target area is damaged due to too high or too low pressure in the target area can be reduced, thereby improving the operation effect of the endoscope system.

[0075] Figure 4 This is a schematic structural diagram of a control device for an endoscope system provided in an embodiment of the present application. As Figure 4 shown, the control device 400 of the endoscope system is integrated into Figure 1 the controller 110. The control device 400 may include: an acquisition module 401, configured to acquire type data corresponding to an object of operation of the endoscope system; a determination module 402, configured to determine an operation parameter value having a mapping relationship with the type data according to the type data; and a control module 403, configured to control the operation of the endoscope system based on the operation parameter value.

[0076] In an embodiment of the present application, the endoscope system 100 includes an image acquisition device 150 communicating with the controller 110. The acquisition module 401 may include: an image recognition unit, configured to acquire an image of the object through the image acquisition device and determine type data corresponding to the object based on a preset image recognition algorithm; and / or a spectral analysis unit, configured to acquire spectral data of the object through the image acquisition device and determine type data corresponding to the object based on a preset spectral analysis model; and / or an ultrasonic detection unit, configured to acquire ultrasonic data of the object through the image acquisition device and determine type data corresponding to the object according to the ultrasonic data.

[0077] In an embodiment of the present application, the determination module 402 may include: a mapping table lookup unit, configured to construct a mapping table based on the mapping relationship between different type data and operation parameter values, and look up the mapping table according to the type data to obtain an operation parameter value having a mapping relationship with the type data; and / or a model prediction unit, configured to train a target model based on the mapping relationship between different type data and operation parameter values, input the type data into the target model, and output an operation parameter value corresponding to the type data through the target model; wherein, the operation parameter value includes a laser parameter value, a perfusion parameter value, and a suction parameter value.

[0078] In an embodiment of the present application, the perfusion parameter value may include a perfusion pulse frequency. The mapping table lookup unit may further be configured to obtain a predicted lithotripsy feature after operating on the object in the type data. The predicted lithotripsy feature includes a predicted size of the lithotripsy; and determine a perfusion pulse frequency corresponding to the predicted lithotripsy feature according to the predicted lithotripsy feature, wherein the perfusion pulse frequency is negatively correlated with the predicted size.

[0079] In an embodiment of the present application, the perfusion parameter value may include a perfusion speed and a suction speed. The mapping table lookup unit may further be configured to obtain a predicted lithotripsy feature after operating on the object in the type data. The predicted lithotripsy feature includes a predicted size of the lithotripsy; and determine a perfusion speed and a suction speed corresponding to the predicted lithotripsy feature according to the predicted lithotripsy feature, wherein the perfusion speed is positively correlated with the predicted size, and the suction speed is negatively correlated with the predicted size.

[0080] In an embodiment of the present application, the perfusion parameter value may include a perfusion pulse amplitude. The mapping table lookup unit may also be used to obtain the predicted lithotripsy characteristics after operating on the target object in the type data. The predicted lithotripsy characteristics include the predicted size of the lithotripsy. According to the predicted lithotripsy characteristics, a perfusion pulse amplitude corresponding to the predicted lithotripsy characteristics is determined, where the perfusion pulse amplitude is positively correlated with the predicted size.

[0081] In an embodiment of the present application, the control device 400 of the endoscope system may further include: a detection module, configured to detect the actual size of the lithotripsy corresponding to the target object during the operation in the current time period; an adjustment module, configured to adjust the operation parameter value according to the actual size of the lithotripsy corresponding to the target object, where the operation parameter value includes at least one of a laser parameter value, a perfusion parameter value, and a suction parameter value.

[0082] In an embodiment of the present application, the perfusion parameter may include a pulse signal value. The adjustment module may include: a type determination unit, configured to obtain the actual size of the lithotripsy corresponding to the target object in the target area and determine the lithotripsy type corresponding to multiple lithotripsies in the target area according to the actual size, where each lithotripsy type corresponds to a pulse signal value of a perfusion parameter, and at least one of the pulse parameters corresponding to two different pulse signal values is different; a first ratio determination unit, configured to respectively determine the first ratio of each lithotripsy type, where the first ratio is the ratio of the number of lithotripsies corresponding to the lithotripsy type to the total number of lithotripsies; a second ratio determination unit, configured to determine the second ratio corresponding to multiple pulse signal values based on the first ratio, where the second ratio is the ratio of the sub-period corresponding to multiple pulse signal values in a set period to the set period, and the second ratio of the pulse signal value is the same as the first ratio of the lithotripsy type corresponding to the pulse signal value; a pulse adjustment unit, configured to control the pulse signal value of the perfusion parameter in the set period according to the second ratio.

[0083] In an embodiment of the present application, the pulse adjustment unit may further be configured to, in the set period, when the sum of the ratios of each pulse signal value satisfies the second ratio corresponding to the pulse signal value, control different pulse signal values to appear in a randomly alternating manner to generate a random composite pulse signal value; control the perfusion parameter in the set period based on the random composite pulse signal value.

[0084] In an embodiment of the present application, the control module 403 may further include: a monitoring unit, configured to detect an actual size of the crushed stones during the current laser lithotripsy operation; a first correction unit, configured to, if the actual size does not match the predicted size, adjust a laser parameter value in the operation parameter values at the current moment according to the actual size and the predicted size; a heat determination unit, configured to obtain a generated heat value corresponding to the adjusted laser parameter value, and obtain a cooling heat value corresponding to a perfusion parameter value and a suction parameter value in the operation parameter values at the current moment; a second correction unit, configured to, if the generated heat value is greater than the cooling heat value, adjust the perfusion parameter value and the suction parameter value in the operation parameter values at the current moment, so that the generated heat value is less than or equal to the cooling heat value.

[0085] In an embodiment of the present application, the endoscope system may include a first perfusion device and a second perfusion device. The control module 403 may further include: a setting unit, configured to set a perfusion flow rate of the first perfusion device to a first perfusion flow rate with a constant flow rate, and set a perfusion flow rate of the second perfusion device to a second perfusion flow rate with pulse control; a perfusion control unit, configured to control the first perfusion flow rate of the first perfusion device and the second perfusion flow rate of the second perfusion device respectively to control a perfusion flow rate value in the operation parameter values; an adjustment unit, configured to, in response to an instruction to adjust the operation parameter values, adjust the first perfusion flow rate to adjust the perfusion flow rate value in the operation parameter values.

[0086] Figure 5 It is a structural block diagram of a controller 110 provided in an embodiment of the present application. As Figure 5 shown, the controller 110 may include a memory 111 and a processor 112. The memory 111 is configured to store instructions. The processor 112 is configured to call instructions from the memory 111 and be capable of implementing the control method of the endoscope system as described above when executing the instructions.

[0087] As Figure 1 shown, an embodiment of the present application provides an endoscope system 100, which may include the above-mentioned controller 110. The controller 110 may be configured to: obtain type data corresponding to a target object of the operation of the endoscope system; determine operation parameter values having a mapping relationship with the type data according to the type data; and control the operation of the endoscope system based on the operation parameter values.

[0088] In an embodiment of the present application, the endoscope system 100 includes an image acquisition device 150 that communicates with a controller 110. The controller 110 may further be configured to: acquire an image of a target object through the image acquisition device, and determine type data corresponding to the target object based on a preset image recognition algorithm; and / or acquire spectral data of the target object through the image acquisition device, and determine type data corresponding to the target object based on a preset spectral analysis model; and / or acquire ultrasonic data of the target object through the image acquisition device, and determine type data corresponding to the target object according to the ultrasonic data.

[0089] In an embodiment of the present application, the controller 110 may further be configured to: construct a mapping table based on the mapping relationship between different type data and operation parameter values, and look up the mapping table according to the type data to obtain the operation parameter value having a mapping relationship with the type data; and / or train a target model based on the mapping relationship between different type data and operation parameter values, input the type data into the target model, and output the operation parameter value corresponding to the type data through the target model; wherein, the operation parameter values include laser parameter values, perfusion parameter values, and aspiration parameter values.

[0090] In an embodiment of the present application, the perfusion parameter value may include a perfusion pulse frequency. The controller 110 may further be configured to: acquire a predicted lithotripsy feature after operating on the target object in the type data, and the predicted lithotripsy feature includes a predicted size of the lithotripsy; determine a perfusion pulse frequency corresponding to the predicted lithotripsy feature according to the predicted lithotripsy feature, wherein the perfusion pulse frequency is negatively correlated with the predicted size.

[0091] In an embodiment of the present application, the perfusion parameter value may further include a perfusion speed and an aspiration speed. The controller 110 may further be configured to: acquire a predicted lithotripsy feature after operating on the target object in the type data, and the predicted lithotripsy feature includes a predicted size of the lithotripsy; determine a perfusion speed and an aspiration speed corresponding to the predicted lithotripsy feature according to the predicted lithotripsy feature, wherein the perfusion speed is positively correlated with the predicted size, and the aspiration speed is negatively correlated with the predicted size.

[0092] In an embodiment of the present application, the perfusion parameter value may further include a perfusion pulse amplitude. The controller 110 may further be configured to: acquire a predicted lithotripsy feature after operating on the target object in the type data, and the predicted lithotripsy feature includes a predicted size of the lithotripsy; determine a perfusion pulse amplitude corresponding to the predicted lithotripsy feature according to the predicted lithotripsy feature, wherein the perfusion pulse amplitude is positively correlated with the predicted size.

[0093] In an embodiment of the present application, the controller 110 may further be configured to: detect the actual size of the crushed stones corresponding to the target object during the operation in the current time period; adjust the operation parameter value according to the actual size of the crushed stones corresponding to the target object, where the operation parameter value includes at least one of a laser parameter value, an infusion parameter value, and a suction parameter value.

[0094] In an embodiment of the present application, the infusion parameter may include a pulse signal value, and the controller 110 may further be configured to: obtain the actual size of the crushed stones corresponding to the target object in the target area, and determine the crushed stone types corresponding to the multiple crushed stones in the target area according to the actual size, where each crushed stone type corresponds to a pulse signal value of an infusion parameter, and at least one of the pulse parameters corresponding to two different pulse signal values is different; respectively determine the first proportion of each crushed stone type, where the first proportion is the proportion of the number of crushed stones corresponding to the crushed stone type to the total number of crushed stones; based on the first proportion, determine the second proportion corresponding to the multiple pulse signal values, where the second proportion is the proportion of the sub-period corresponding to the multiple pulse signal values in the set period to the set period, and the second proportion of the pulse signal value is the same as the first proportion of the crushed stone type corresponding to the pulse signal value; control the pulse signal value of the infusion parameter in the set period according to the second proportion.

[0095] In an embodiment of the present application, the controller 110 may further be configured to: within the set period, when the sum of the proportions of each pulse signal value satisfies the second proportion corresponding to the pulse signal value, control different pulse signal values to appear in a randomly alternating manner to generate a random composite pulse signal value; control the infusion parameter within the set period based on the random composite pulse signal value.

[0096] In an embodiment of the present application, the operation parameter value may include a laser parameter value, an infusion parameter value, and a suction parameter value, and the controller 110 may further be configured to: detect the actual size of the crushed stones during the laser lithotripsy operation at the current moment; if the actual size does not match the predicted size, adjust the laser parameter value in the operation parameter value at the current moment according to the actual size and the predicted size; obtain the generated heat value corresponding to the adjusted laser parameter value, and obtain the cooling heat value corresponding to the infusion parameter value and the suction parameter value in the operation parameter value at the current moment; if the generated heat value is greater than the cooling heat value, adjust the infusion parameter value and the suction parameter value in the operation parameter value at the current moment so that the generated heat value is less than or equal to the cooling heat value.

[0097] In an embodiment of the present application, the endoscope system 100 may include a first perfusion device and a second perfusion device. The controller 110 may further be configured to: set the perfusion flow rate of the first perfusion device to a first perfusion flow rate with a constant flow velocity, and set the perfusion flow rate of the second perfusion device to a second perfusion flow rate with pulse control; respectively control the first perfusion flow rate of the first perfusion device and the second perfusion flow rate of the second perfusion device to control the perfusion flow rate value in the operation parameter values; in response to an instruction to adjust the operation parameter values, adjust the first perfusion flow rate to adjust the perfusion flow rate value in the operation parameter values.

[0098] An embodiment of the present application further provides a computer-readable storage medium. A program is stored in the computer-readable storage medium, and the program can be loaded and executed by a processor to execute the control method of any endoscope system in the embodiments of the present application.

[0099] Since the control device, controller, endoscope system, and instructions stored in the computer-readable storage medium of the endoscope system can execute the steps in any of the control methods of the endoscope system provided in the embodiments of the present application, the beneficial effects achievable by any of the control methods of the endoscope system provided in the embodiments of the present application can be realized. For details, see the previous embodiments and will not be repeated here.

[0100] Those skilled in the art can understand that all or part of the functions of the above methods can be implemented in a hardware manner or in a computer program manner. When all or part of the functions in the above embodiments are implemented in a computer program manner, the program can be stored in a computer-readable storage medium. The storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc. The above functions are implemented by a computer executing the program. For example, the program is stored in the memory of the device, and when the processor executes the program in the memory, the above all or part of the functions can be implemented. In addition, when all or part of the functions in the above embodiments are implemented in a computer program manner, the program can also be stored in a storage medium such as a server, another computer, magnetic disk, optical disk, flash drive, or mobile hard disk, downloaded or copied and saved to the memory of the local device, or the system of the local device is updated. When the processor executes the program in the memory, the above all or part of the functions in the embodiments can be implemented.

[0101] The above uses specific examples to elaborate on the present application, which is only for helping to understand the present application and is not used to limit the present application. For those skilled in the art of the present application, several simple deductions, deformations, or substitutions can be made based on the idea of the present application.

Claims

1. A control method for an endoscope system, characterized in that, A controller applied to the endoscopic system, the control method comprising: Obtaining type data corresponding to the target object of the operation of the endoscopic system; Determining an operation parameter value having a mapping relationship with the type data according to the type data; Controlling the operation of the endoscopic system based on the operation parameter value.

2. The control method according to claim 1, wherein The obtaining type data corresponding to the target object of the operation of the endoscopic system includes: Obtaining an image of the target object and determining the type data corresponding to the target object based on a preset image recognition algorithm; and / or Obtaining spectral data of the target object and determining the type data corresponding to the target object based on a preset spectral analysis model; and / or Obtaining ultrasonic data of the target object and determining the type data corresponding to the target object according to the ultrasonic data.

3. The control method according to claim 1, characterized in that The determining an operation parameter value having a mapping relationship with the type data according to the type data includes: Constructing a mapping table based on the mapping relationship between different type data and operation parameter values, and looking up the mapping table according to the type data to obtain an operation parameter value having a mapping relationship with the type data; and / or Training a target model based on the mapping relationship between different type data and operation parameter values, inputting the type data into the target model, and outputting an operation parameter value corresponding to the type data through the target model; Wherein, the operation parameter value includes a laser parameter value, a perfusion parameter value and a suction parameter value.

4. The control method according to claim 3, wherein The perfusion parameter value includes a perfusion pulse frequency, and the constructing a mapping table based on the mapping relationship between different type data and operation parameter values includes: Obtaining a predicted lithotripsy feature after operating on the target object in the type data, the predicted lithotripsy feature including a predicted size of the lithotripsy; Determining a perfusion pulse frequency corresponding to the predicted lithotripsy feature according to the predicted lithotripsy feature, wherein the perfusion pulse frequency is negatively correlated with the predicted size.

5. The control method according to claim 3, wherein The perfusion parameter value includes a perfusion speed and a suction speed, and the constructing a mapping table based on the mapping relationship between different type data and operation parameter values includes: Obtaining a predicted lithotripsy feature after operating on the target object in the type data, the predicted lithotripsy feature including a predicted size of the lithotripsy; Determining a perfusion speed and a suction speed corresponding to the predicted lithotripsy feature according to the predicted lithotripsy feature, wherein the perfusion speed is positively correlated with the predicted size, and the suction speed is negatively correlated with the predicted size.

6. The control method according to claim 3, wherein The perfusion parameter value includes a perfusion pulse amplitude, and the constructing a mapping table based on the mapping relationship between different type data and operation parameter values includes: Obtaining a predicted lithotripsy feature after operating on the target object in the type data, the predicted lithotripsy feature including a predicted size of the lithotripsy; Determining a perfusion pulse amplitude corresponding to the predicted lithotripsy feature according to the predicted lithotripsy feature, wherein the perfusion pulse amplitude is positively correlated with the predicted size.

7. The control method according to any one of claims 1 to 6, characterized in that, The control method further includes: Detecting an actual size of the lithotripsy corresponding to the target object during the operation in the current time period; Adjust the operation parameter value according to the actual size of the gravel corresponding to the target object, where the operation parameter value includes at least one of a laser parameter value, a perfusion parameter value, and a suction parameter value.

8. The control method according to claim 7, characterized in that, The perfusion parameter value includes a pulse signal value. Adjusting the perfusion parameter value according to the actual size of the gravel corresponding to the target object includes: Obtain the actual size of the gravel corresponding to the target object in the target area, and determine the gravel types corresponding to multiple gravels in the target area according to the actual size, where each gravel type corresponds to a pulse signal value; Determine the first proportion of each gravel type respectively, where the first proportion is the proportion of the number of gravels corresponding to the gravel type to the total number of gravels; Based on the first proportion, determine the second proportion corresponding to multiple pulse signal values, where the second proportion is the proportion of the sub-periods corresponding to multiple pulse signal values within a set period to the set period, and the second proportion of the pulse signal value is the same as the first proportion of the gravel type corresponding to the pulse signal value; Control the pulse signal value of the perfusion parameter within the set period according to the second proportion.

9. The control method according to claim 8, characterized in that, The controlling the perfusion parameter within the set period according to the second proportion includes: Within the set period, when the sum of the proportions of each pulse signal value satisfies the second proportion corresponding to the pulse signal value, control different pulse signal values to appear in a randomly alternating manner to generate a random composite pulse signal value; Control the perfusion parameter within the set period based on the random composite pulse signal value.

10. The control method according to claim 1, characterized in that, The operation parameter value includes a laser parameter value, a perfusion parameter value, and a suction parameter value. Controlling the operation of the endoscope system based on the operation parameter value includes: Detect the actual size of the gravel during the laser lithotripsy operation at the current moment; If the actual size does not match the predicted size, adjust the laser parameter value in the operation parameter value at the current moment according to the actual size and the predicted size; Obtain the heat generation value corresponding to the adjusted laser parameter value, and obtain the cooling heat value corresponding to the perfusion parameter value and the suction parameter value in the operation parameter value at the current moment; If the heat generation value is greater than the cooling heat value, adjust the perfusion parameter value and the suction parameter value in the operation parameter value at the current moment so that the heat generation value is less than or equal to the cooling heat value.

11. The control method according to claim 1, wherein The endoscope system includes a first perfusion device and a second perfusion device. Controlling the operation of the endoscope system based on the operation parameter value includes: Set the perfusion flow rate of the first perfusion device to a first perfusion flow rate with a constant flow rate, and set the perfusion flow rate of the second perfusion device to a second perfusion flow rate with pulse control; Control the first perfusion flow rate of the first perfusion device and the second perfusion flow rate of the second perfusion device respectively to control the perfusion flow rate value in the operation parameter value; In response to an instruction to adjust the operation parameter value, adjust the first perfusion flow rate to adjust the perfusion flow rate value in the operation parameter value.

12. A control device for an endoscope system, characterized in that, The control device includes: An acquisition module, configured to acquire type data corresponding to an object on which the endoscope system operates; A determination module, configured to determine an operation parameter value having a mapping relationship with the type data according to the type data; A control module, configured to control the operation of the endoscope system based on the operation parameter value.

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

14. An endoscope system, characterized in that, Comprising the controller according to claim 13.

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

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