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

Abstract

The present application relates to a control method, controller, endoscope system, and storage medium for an endoscope system. The present application first obtains type data corresponding to a target object to be operated by the endoscope system. Then, based on the type data, an operating parameter value having a mapping relationship with the type data is determined. Finally, based on the operating parameter value, the operation of the endoscope system is controlled. Thus, by pre-establishing a mapping relationship between the target object type data and the operating parameter value, matching operating parameter values ​​can be automatically retrieved based on the type of target object being operated on by the endoscope, thereby reducing the need for frequent manual adjustment of operating parameters during endoscope operation and improving the operational efficiency of the endoscope system.

Description

Technical Field

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

[0002] Endoscopic systems are precision optical instruments used for medical diagnosis and treatment. They enable visual inspection and minimally invasive intervention of internal structures in the human body without requiring open surgery. For example, laser lithotripsy can be performed using an endoscopic system. During the operation, fluid needs to be infused and aspirated simultaneously to expel the crushed stones from the kidneys. To ensure operational safety, laser parameters, as well as infusion and aspiration parameters, are usually set according to actual conditions. This requires debugging multiple devices, frequently switching device interfaces or manually adjusting knobs, making the debugging process more complex, inter-device coordination poor, and time-consuming, thereby reducing the operational efficiency of the endoscope system. Summary of the Invention

[0003] The purpose of this 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] In order to achieve the above-mentioned objectives, the first aspect of the present application provides a control method for an endoscope system, which is applied to the controller of the endoscope system, and the control method includes: obtaining type data corresponding to the target object operated by the endoscope system; determining an operation parameter value having a mapping relationship with the type data based on the type data; and controlling the operation of the endoscope system based on the operation parameter value.

[0005] The second aspect of the present application provides a control device for an endoscope system, the control device comprising: an acquisition module for acquiring type data corresponding to a target object operated by the endoscope system; a determination module for determining, based on the type data, an operation parameter value having a mapping relationship with the type data; and a control module for controlling the operation of the endoscope system based on the operation parameter value.

[0006] The third aspect of the present application provides a controller, comprising: a memory, which is configured to store instructions; and a processor, which is configured to call the instructions from the memory and implement the above-mentioned endoscope system control method when executing the instructions.

[0007] A fourth aspect of the present application provides an endoscope system including the above-mentioned controller.

[0008] A fifth aspect of the present application provides a computer-readable storage medium, in which a program is stored. The program can be loaded by a processor and execute the above-mentioned control method of the endoscope system.

[0009] The beneficial effects of the present application are as follows: the present application determines, based on the type data corresponding to the target object being operated by the endoscope system, an operating parameter value having a mapping relationship with the type data, and then controls the operation of the endoscope system based on the operating parameter value. The present application pre-establishes a mapping relationship between the type data of the target object and the operating parameter value, and can automatically retrieve the matching operating parameter value based on the type of the target object being operated by the endoscope, thereby reducing the need for frequent manual adjustment of the operating parameters during the endoscope operation and improving the operating efficiency of the endoscope system.

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

[0011] Figure 1 A schematic diagram of an application scenario of a control method for an endoscope system provided in an embodiment of the present application;

[0012] Figure 2 This is a flow chart of a control method for an endoscope system provided in one embodiment of the present application;

[0013] Figure 3 This is a flow chart of a control method for an endoscope system provided in another embodiment of the present application;

[0014] Figure 4 This is a schematic structural diagram of a control device for an endoscope system provided in an embodiment of the present application;

[0015] Figure 5 This is a structural block diagram of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0017] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically qualified. In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is provided to enable anyone skilled in the art to implement and use the present application. In the following description, details are listed for illustrative purposes. It should be understood that one of ordinary skill in the art will recognize that the present application can be implemented without these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

[0018] The control method of the endoscope system in the embodiment of the present application is applied to the controller. Figure 1 As shown, Figure 1 The following is a schematic diagram of an application scenario for a control method of an endoscope system 100 provided in an embodiment of the present application. The endoscope system 100 can be used to perform a laser lithotripsy operation, thereby causing the target object of the laser lithotripsy operation to be removed from a target area. For example, the target object in the embodiment of the present application can be a stone. The target area refers to the area where the laser lithotripsy operation is to be performed. For example, the target area can be the kidney area, the ureter area, the liver and gallbladder area, etc.

[0019] As an example, the endoscope system 100 may include a controller 110, a laser 120, an irrigation device 130, a suction device 140, and an image acquisition device 150. The controller 110 communicates with the laser 120, irrigation device 130, suction device 140, and image acquisition device 150, respectively. The laser 120 generates a laser beam. Using the laser's photothermal or photomechanical effects, the laser breaks down the stone into powder or fragments via the end face of an optical fiber, either in contact with or without contact with the stone, thereby crushing the stone within the target area. The irrigation device 130 is used to infuse the target area with liquid (e.g., saline) to maintain a clear field of view during operation of the endoscope system 100 and facilitate the removal of crushed stones from the target area. The suction device 140 uses negative pressure suction to remove crushed stone particles, irrigation waste, and tissue fragments from the target area. The image acquisition device 150 is used to acquire an optical image of the target area, display the stone's location within the target area in real time, and guide the positioning of the laser 120. The controller 110 is the core for realizing the collaborative work of multiple devices. By communicating with the laser 120, the perfusion device 130, the suction device 140 and the image acquisition device 150, a controllable lithotripsy-perfusion-imaging closed loop is formed.

[0020] The application scenario of the control method of the endoscope system 100 in the embodiment of the present application includes a controller 110 for the control method. The controller 110 can run the computer-readable storage medium corresponding to the control method of the endoscope system 100 to execute the steps of the control method of the endoscope system 100.

[0021] It is understandable that Figure 1 The electronic devices in the application scenario of the control method of the endoscope system 100 shown do not constitute a limitation on the embodiments of the present application. That is, the number of devices and types of devices included in the application scenario of the control method of the endoscope system 100, or the number of devices and types of devices included in each electronic device do not affect the overall implementation of the technical solution in the embodiments of the present application, and can all be regarded as equivalent replacements or derivatives of the technical solution claimed to be protected in the embodiments of the present application.

[0022] In the embodiments of the present application, the controller 110 may be a standalone device or a device network or device cluster. For example, the controller 110 described in the embodiments of the present application includes, but is not limited to, a computer, a network host, a single network device, a collection of multiple network devices, or a cloud device composed of multiple devices. A cloud device is composed of a large number of computers or network devices based on cloud computing.

[0023] Those skilled in the art will understand that Figure 1The application scenario shown in the figure is only one application scenario corresponding to the technical solution of the present application and does not constitute a limitation on the application scenario of the technical solution of the present application. Other application scenarios may also include Figure 1 More or fewer electronic devices shown in, or electronic device network connection relationships, such as Figure 1 Only one electronic device is shown in the figure. It can be understood that the control method scenario of the perfusion device 130 can also include one or more other electronic devices, which are not specifically limited here.

[0024] 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 embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application.

[0025] Based on the application scenario of the control method of the endoscope system, an embodiment of the control method of the endoscope system is proposed, which is described in detail below with reference to the accompanying drawings.

[0026] Figure 2 FIG. 1 is a flow chart of a control method of an endoscope system provided in an embodiment of the present application. Figure 2 As shown, in one embodiment, the control method can execute steps 201-203 and other steps through the above-mentioned controller 110, which are described in detail below.

[0027] Step 201: Acquire type data corresponding to a target object operated by an endoscope system.

[0028] Step 202: Determine, based on the type data, an operation parameter value that has a mapping relationship with the type data.

[0029] Step 203: Control the operation of the endoscope system based on the operation parameter value.

[0030] In the embodiments of the present application, the type data corresponding to the target object refers to data that characterizes the type of the target object. In one example, the classification can be based on the physical characteristics, composition information, etc. of the target object. Taking stones as an example, the classification based on physical characteristics can include stone size (such as diameter), shape (such as round, square), CT value (such as a quantitative indicator of calcium content), etc. The classification based on composition information can include chemical composition obtained by spectral analysis (such as calcium oxalate, uric acid, cholesterol), tissue pathology type (such as benign tumor, malignant tumor, etc.).

[0031] During the operation of a conventional endoscope system, the operator typically sets operating parameter values, such as laser parameters, perfusion parameters, and suction parameters, based on actual conditions. This requires debugging multiple devices, which is complex and reduces accuracy and efficiency. Therefore, in an embodiment of the present application, the type data corresponding to the target object and the operating parameter values ​​are pre-mapped, with each type data corresponding to an operating parameter value. This allows the endoscope system to automatically adjust to the operating parameter value that maps to the type data simply by obtaining the type data corresponding to the target object being operated on. The operating parameter value is then converted into a control signal recognizable by the endoscope system to control the operation of the endoscope system. This pre-set mapping relationship allows the operator to automatically retrieve the matching operating parameter value based on the type of target object being operated on, eliminating individual differences in operator experience and ensuring consistent operating parameter values ​​for each target type. This increases the applicability of the endoscope system and reduces the need for frequent manual adjustment of operating parameters during endoscope operation. This reduces human error and improves the operational efficiency of the endoscope system.

[0032] In the embodiments of the present application, the target object type data can be obtained through image recognition, spectral analysis, ultrasound, or database access. Database access refers to an operator obtaining the target object type from a database. In one example, a patient's medical history data, such as previous stone type and surgical history, is obtained from an electronic medical record system. For another example, an operator can manually enter the target object type data into a database, causing the controller to directly access the target object type data from the database.

[0033] In step 201, raw data of the target object may be collected first, and then the target object's type data may be determined using a corresponding method. In an embodiment of the present application, the raw data of the target object may be collected by an external acquisition device connected to the controller and then transmitted to the controller; or the endoscope system may include an image acquisition device that communicates with the controller. The external acquisition device and image acquisition device may include, but are not limited to, a camera, a spectrometer, an ultrasound probe, etc. The following describes step 201 using the example of collecting raw data using the image acquisition device of the endoscope system.

[0034] In one example, an image acquisition device can capture an image of a target object, and based on a preset image recognition algorithm, the corresponding type data of the target object can be determined. For example, the image acquisition device can be a camera in an endoscope system. The camera captures a high-definition image of the target object in real time. Then, using image recognition algorithms such as U-shape Network (U-Net) and Convolutional Neural Network (CNN), the target object is segmented and features such as color, texture, and morphology are extracted. These features are then matched against a preset feature database to identify the target object's type data.

[0035] In another example, spectral data of a target object can be collected using an image acquisition device, and the corresponding type data of the target object can be determined based on a preset spectral analysis model. For example, the image acquisition device can be a spectrometer. The spectrometer collects the target object's reflection or absorption spectrum of light of a specific wavelength in real time, analyzes the position and intensity of characteristic spectral peaks, and matches them to a spectral database to determine the target object's type data.

[0036] In another example, ultrasonic data of a target object can be captured using an image acquisition device, and the target type data 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 determines the target type data based on the target's reflection characteristics (such as echo intensity, acoustic shadowing, and mobility). For example, calcium stones, due to their high acoustic impedance, appear as strong echoes with significant acoustic shadowing; uric acid stones, due to their low acoustic impedance, have weaker and more indistinct echoes.

[0037] It should be noted that the embodiment of the present application can also combine at least two methods to form a judgment of the type data of multimodal fusion, which can be applicable to complex endoscope usage scenarios.

[0038] In the embodiment of the present application, the mapping relationship between the target type data and the operation parameter values ​​is predetermined, wherein the operation parameter values ​​may include laser parameter values, perfusion parameter values, and suction parameter values.

[0039] Laser parameter values ​​refer to the parameters of the endoscope system's laser output energy and operating mode. For example, laser parameter values ​​may include, but are not limited to: laser energy (the energy value of a single laser pulse); laser pulse frequency (the number of laser pulses emitted per second); and laser pulse width (the duration of a single laser pulse). Higher laser parameter values ​​result in more efficient manipulation of the target object, but excessive laser energy may cause thermal damage to the target area.

[0040] Perfusion parameters control the input pressure and flow rate of the perfusion fluid (e.g., saline) in the perfusion device. They are used to maintain a clear field of view of the target area, flush debris, and reduce the temperature of the target area. For example, perfusion parameters may include, but are not limited to, perfusion pulse frequency, perfusion rate, and perfusion pulse amplitude.

[0041] Suction parameters control the negative pressure intensity and flow rate of the suction device, which is used to remove debris, liquid, or gas from the target area to ensure a clear view of the target area and sufficient operating space. For example, suction parameters may include, but are not limited to, suction speed and negative pressure.

[0042] In step 202, the mapping relationship between the type data and the operation parameter value can be determined in a variety of ways. For example, a mapping table can be pre-established, or a target model that can determine the type data can be trained. The following will be described in detail.

[0043] In one example, a mapping table can be constructed based on the mapping relationship between different types of data and operating parameter values. In the mapping table, each type of data corresponds to a set of operating parameter values, which can be obtained based on a large number of experiments and references, so that the endoscope system can operate the target object corresponding to the type of data more effectively. Then, the mapping table is searched according to the type data to obtain the operating parameter values ​​with 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 stones as an example, each type of stone can correspond to a set of operating parameter values, including laser parameter value A, perfusion parameter value B and suction parameter value C. For example, the operating parameter values ​​corresponding to stone type 1 are (A1, B1, C1), the operating parameter values ​​corresponding to stone type 2 are (A2, B2, C2), and the operating parameter values ​​corresponding to stone type n are (An, Bn, Cn).

[0044] Table 1

[0045] Type Data Laser parameter values Perfusion parameter values Suction parameter values Stone type 1 A1 B1 C1 Stone type 2 A2 B2 C2 ... ... ... ... Stone type n An Bn Cn

[0046] By pre-building a mapping table that includes the mapping relationship between type data and operating parameter values, standardized operations can be achieved, and the operating parameter values ​​of the same type of targets can be consistent, reducing the deviation in parameter value settings due to experience differences. In addition, it takes less time to search the mapping table, and there is no need to repeatedly debug multiple devices, thereby improving the operating efficiency of the endoscope system.

[0047] In another example, a target model can be trained based on the mapping relationship between different type data and operational parameter values. The target model is an induced learning model or deep learning model that predicts the operational parameter value based on the input type data. For example, the target model may include, but is not limited to, a random forest model and a neural network. By learning the mapping relationship between type data and operational parameter values ​​through a large number of training samples, the target model can automatically output operational parameter values ​​that match the real-time input type data.

[0048] The training of the target model may include the following steps. First, a training sample set is obtained, which may include multiple training samples. The training samples may include sample types of stones and sample parameter values ​​corresponding to the sample types. The sample types and corresponding sample parameter values ​​can be obtained based on a large amount of historical experimental data and references. Multiple sample types are sequentially input into the model to be trained for parameter prediction to obtain predicted parameter values. 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, the model to be trained is iteratively updated according to the sample parameter values ​​and the predicted parameter values ​​until the convergence condition of the model training is reached to obtain the target model. The convergence condition of the model training may be that the number of iterations reaches a set number or the error is within a set range.

[0049] Finally, after training the target model, the type data is input into the target model, which then outputs the operating parameter values ​​corresponding to the type data. Furthermore, after each prediction of the operating parameter values, the target model's parameter values ​​can be dynamically adjusted to improve the target model's prediction accuracy. By using the target model to predict the operating parameter values ​​corresponding to the type data, the operating parameter values ​​can be dynamically adjusted to match the type data, thereby improving the accuracy of the model's predictions.

[0050] 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 operation on the target object. The predicted lithotripsy characteristics refer to characteristic information obtained by predicting the characteristics of the lithotripsy corresponding to the target object after endoscopic operation based on the target object's type data. In one example, the predicted lithotripsy characteristics may include the predicted size of the lithotripsy. For example, calcium oxalate stones are relatively hard, relatively brittle, and have a dense structure. Therefore, after an endoscopic operation such as laser lithotripsy, the predicted lithotripsy characteristics may be: irregular fragments with sharp edges, mainly medium-sized fragments (e.g., 2-4 mm), and a low powderization ratio (e.g., approximately 20-30%). For another example, the predicted lithotripsy characteristics of calcium phosphate stones may be: flaky or layered fragments with blunt edges, large fragment size variation (e.g., 1-5 mm), and a medium powderization ratio (e.g., 30-40%). For example, the predicted lithotripsy characteristics of cystine stones might include: massive or plate-like fragments with blunt edges, a high proportion of large fragments (e.g., larger than 5 mm), and a very low powderization ratio (e.g., less than 10%). Another example is the predicted lithotripsy characteristics of infectious stones (magnesium ammonium phosphate / struvite stones), which might include: irregular flake or needle-like fragments with varying fragment sizes (e.g., 1-10 mm), and a moderate powderization ratio (e.g., 40-50%). Different predicted lithotripsy characteristics can be matched to different operating parameter values.

[0051] In the embodiment of the present application, the perfusion parameter values ​​of the perfusion device are pulsed. Therefore, based on the predicted lithotripsy characteristics, the mapping relationship between the type data and the perfusion pulse frequency in the perfusion parameter values, the mapping relationship between the type data and the perfusion speed and aspiration speed in the perfusion parameter values, and the mapping relationship between the type data and the perfusion pulse amplitude in the perfusion parameter values ​​can be determined. The following uses the predicted lithotripsy characteristics as an example to explain each in detail.

[0052] In one example, the perfusion parameter value may include a perfusion pulse frequency. This refers to the number of times the perfused fluid is pulsed per unit time, typically measured in Hertz (Hz). In this embodiment of the present application, the predicted lithotripsy characteristics after an operation on the target object can be first obtained from the type data. Then, based on the predicted lithotripsy characteristics, the perfusion pulse frequency corresponding to the predicted lithotripsy characteristics is determined.

[0053] As the predicted stone size increases, larger eddies are required to ensure optimal operation efficiency. The lower the frequency of the perfusion pulse, the more likely larger eddies are to form. Conversely, the smaller the predicted stone size, the smaller the eddies are required to ensure optimal operation efficiency. The higher the frequency of the perfusion pulse, the more likely smaller eddies are to form. Therefore, the perfusion pulse frequency is negatively correlated with the predicted stone size.

[0054] It should be noted that, in the embodiments of the present application, a positive correlation between two variables 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 may be directly proportional. Similarly, a negative correlation between two variables 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 may be inversely proportional.

[0055] In another example, the perfusion parameter values ​​may include a perfusion rate and an aspiration rate. The perfusion rate refers to the amount of liquid injected into the target area by the perfusion device per unit time, and the aspiration rate refers to the amount of liquid, gas, or debris aspirated from the target area by the aspiration device per unit time.

[0056] In the embodiment of the present application, the predicted lithotripsy features after the operation on the target object can be first obtained from the type data, and then the perfusion speed and the suction speed corresponding to the predicted lithotripsy features are determined according to the predicted lithotripsy features.

[0057] As the predicted size of the lithotripsy increases, a higher irrigation rate and a lower aspiration rate are required to reduce the risk of lithotripsy blocking the exit of the target area. Conversely, as the predicted size of the lithotripsy decreases, a lower irrigation rate and a higher aspiration rate are required to minimize the impact of the lithotripsy on the visual field. Therefore, irrigation rate is positively correlated with predicted size, while aspiration rate is negatively correlated with predicted size.

[0058] It should be noted that in actual operation, the target object may have a concentrated size of particles after being crushed. It’s just that the proportions of various particle sizes are different. Therefore, it is necessary to adjust the suction speed and irrigation speed according to the actual situation during the actual operation. For example, the type of gravel corresponding to the target object to be cleaned first can be determined based on image analysis. Specifically, it can be followed that the gravel type with a smaller actual size can be cleaned first, and then the gravel type with a larger actual size can be cleaned. It can also be followed that the gravel type with a higher volume ratio can be cleaned first, and then the gravel type with a lower volume ratio can be cleaned.

[0059] In cases where there are a large number of fine gravel (e.g., actual size less than 1 mm), the suction speed is increased and the irrigation speed is reduced. This helps reduce the impact of stones on the visual field and facilitates the rapid removal of small stones. For example, uric acid stones are small particles with high suspension properties that easily obscure the visual field, so they need to be removed quickly to prevent postoperative infection or ureteral obstruction. Based on this, the irrigation speed can be set to 20-40 mL / min (low flow rate to reduce powder suspension) and the suction speed to -200~-250 mmHg (extremely high negative pressure for rapid suction). In addition, the pulse mode can be set to high frequency (8-10 Hz) and low duty cycle (20%) to form micro-turbulent suspended powder.

[0060] For medium-sized fragments (e.g., 1-3 mm in actual size), moderate perfusion and aspiration rates are required. For example, calcium phosphate or mixed stones are prone to calyx retention. Therefore, a balance between clearance efficiency and intrarenal pressure control is crucial. For this purpose, the perfusion rate can be set to 40-60 mL / min (a moderate flow rate to maintain laminar flow) and the aspiration rate to -150-200 mmHg (a higher negative pressure to absorb porous fragments). Furthermore, the pulse mode can be set to a medium frequency (3-4 Hz) with a 50% duty cycle to generate periodic enhanced vortex flow.

[0061] For large fragments (e.g., larger than 3 mm in actual size), a higher perfusion rate and lower aspiration rate are required. This allows for a balance between clearance efficiency and clogging risk (the aspiration channel diameter is typically only 1.2–1.3 mm) using moderate negative pressure. For example, sharp-edged calcium oxalate stones can easily clog the aspiration channel and have large inertia, requiring a strong fluid dynamic force. For this reason, the perfusion rate can be set to 60–80 mL / min (high flow rate to flush the calyceal recess) and the aspiration rate to -100–150 mmHg (moderate negative pressure to avoid clogging). Furthermore, the pulse mode can be set to a low frequency (1–2 Hz) and a high duty cycle (70%) to create a large vortex to propel the fragments.

[0062] In another example, the perfusion parameter value may include a perfusion pulse amplitude. The perfusion pulse amplitude refers to the maximum intensity reached by the perfusion pulse, that is, the interdigital value between the maximum pulse signal value and the minimum pulse signal value in the pulse signal is the pulse amplitude.

[0063] In an embodiment of the present application, the predicted stone fragmentation characteristics after the target object is manipulated can be first obtained from the type data. Then, based on the predicted stone fragmentation characteristics, the perfusion pulse amplitude corresponding to the predicted stone fragmentation characteristics is determined. Because stone fragments with larger predicted sizes are harder and require more energy to break, a larger pulse amplitude is required to produce a stronger impact force. Conversely, stone fragments with smaller predicted sizes are relatively fragile, and a smaller pulse amplitude can break the target object. Based on this, the perfusion pulse amplitude is positively correlated with the predicted size.

[0064] For example, suppose pulse amplitude is categorized as small, medium, and large. Small amplitude is characterized by predominantly laminar flow with small pressure fluctuations (e.g., ±5 mmHg), making it suitable for delicate manipulation and applicable to stones in the bleeding phase, stones close to the ureteral wall, and small powdered stones. Medium amplitude represents a transitional flow regime, with localized vortices enhancing fragment movement and moderate pressure fluctuations (±10 mmHg). It is suitable for lithotripsy of medium-sized fragments (e.g., 1-3 mm in size). Large amplitude is characterized by predominantly turbulent flow, with strong impact but large pressure fluctuations (e.g., ±15 mmHg). It is suitable for loosening large impacted fragments (e.g., larger than 5 mm in size).

[0065] During the actual operation of the endoscope system, the actual size of the crushed stone after the target object is crushed may not match the predicted size. Therefore, the embodiment of the present application can also perform real-time detection of the crushed stone during the operation of the endoscope and dynamically adjust the operating parameters based on the detection results.

[0066] Figure 3 FIG. 1 is a flow chart of a control method of an endoscope system provided in another embodiment of the present application. Figure 3 As shown, in another embodiment of the present application, the control method may further include steps 204-205.

[0067] Step 204: Detect the actual size of the gravel corresponding to the target object during the operation in the current time period.

[0068] Step 205: Adjust the operating parameter value according to the actual size of the gravel corresponding to the target object. The operating parameter value includes at least one of the laser parameter value, the perfusion parameter value, and the suction parameter value.

[0069] In the embodiment of the present application, the actual size refers to the size of the gravel actually produced by the target object after the endoscopic operation. As an example, the actual size of the gravel in the target area can be detected by an image acquisition device. If the actual size of the gravel does not match the predicted size, the current operating parameter value can be adjusted based on the actual size of the gravel to improve the operating effect of the endoscope system. Here, the mismatch means that the error between the actual size and the predicted size exceeds a certain range, and the range can be set according to the actual operating environment or experience. Adjusting the operating parameter value can adjust at least one of the laser parameter value, the perfusion parameter value and the suction parameter value to make the operating effect of the endoscope system better.

[0070] In an embodiment of the present application, the perfusion parameter value may also include a pulse signal value. The pulse signal value refers to the amplitude value of the pulse signal corresponding to the parameter value of interest at a certain moment, reflecting the strength or size of the pulse signal. In actual operation, there may be multiple sizes of gravel corresponding to the target object. In order to improve the operation effect on the target object, the output of multiple pulse signals can be controlled according to different size proportions. In step 205, taking the adjustment of the perfusion parameter as an example, the actual size of the gravel corresponding to the target object in the target area can be obtained first, and the gravel type corresponding to the multiple gravel in the target area can be determined based on the actual size. Each type of gravel corresponds to a pulse signal value. For example, assuming there is a set size threshold, the gravel type greater than the set size threshold is coarse particles, and the gravel less than the size threshold is fine particles, then the coarse particles can be corresponded to a pulse signal value, such as a high-frequency pulse, and the fine particles can be corresponded to a pulse signal value, such as a low-frequency pulse.

[0071] Then, a first proportion is determined for each gravel type. The first proportion is the ratio of the number of gravels corresponding to the gravel type to the total number of gravels. For example, assuming the ratio of the number of coarse particles to the total number of particles is 7:10 and the ratio of the number of fine particles to the total number of particles is 3:10, then the first proportion of coarse particles is 70%, and the first proportion of fine particles is 30%. Next, based on the first proportion, a second proportion is determined for multiple pulse signal values. The second proportion is the ratio of the sub-periods corresponding to multiple pulse signal values ​​within a set period to the set period. 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. The set period can be a pre-set pulse signal period, such as one pulse period. Finally, based on the second proportion, the pulse signal value of the perfusion parameter within the set period is controlled. For example, assuming the pulse signal value corresponding to coarse particles is M and the pulse signal value corresponding to fine particles is N, assuming that the time when the pulse signal value M appears within the set period T is t1 and the time when the pulse signal value N appears within the set period T is t2, the second proportion of the pulse signal value M is 30%, and the second proportion of the pulse signal value N is 30%. Then t1:T=3:10, t2:T=3:10.

[0072] As an example, different pulse signal values ​​can appear randomly within a set period, as long as the ratio of the sum of the time each pulse signal value appears within the set period to the length of the set period satisfies the second proportion corresponding to the pulse signal value. In this way, by randomly generating pulse signal values, irregular turbulence can be formed, thereby improving the operating efficiency of the endoscope system.

[0073] Specifically, within a set period, when the sum of the proportions of each pulse signal value is equal to a second proportion corresponding to the pulse signal value, different pulse signal values ​​can be controlled to appear in a random alternating manner to generate a random composite pulse signal value. Perfusion parameters within the set period are then controlled based on the random composite pulse signal value.

[0074] Among them, random alternation means that the starting time of each type of pulse signal within a set period, the number of consecutive occurrences, and the time interval between adjacent pulses are all randomly determined and are not restricted by specific rules. According to the real-time image analysis of the fragments of different actual sizes at different times, such as the change in the ratio of fine particles to coarse particles, different pulse signal values ​​are adjusted, such as the ratio of high-frequency pulses to low-frequency pulses. In this way, the dynamically changing pulse signal values ​​generated by randomization can break the fluid dynamics conditions for the aggregation of target objects and achieve efficient discharge of target objects, which not only ensures operational safety but also improves operational efficiency through turbulent effects. By matching the situation of the target object with the ratio of the actual size of the fragments generated during the operation, the operational efficiency of the endoscope system is improved.

[0075] In the embodiments of the present application, the laser parameter values ​​are not fixed values ​​and can be adjusted according to the actual size and shape of the fragments and the distance from the laser fiber. Adjustment of the laser parameter values ​​will cause changes in the heat generated by the laser. For example, the greater the power of the laser parameter value, the more heat is generated, and more liquid or a higher flow rate is required to cool the heat generated by the laser. In the endoscope system, the perfusion device and the suction device can remove the heat from the target area by perfusing and suctioning the liquid. In other words, the perfusion parameter value and the suction parameter value have a corresponding relationship with the heat that can be cooled.

[0076] Therefore, in step 203, the actual size of the lithotripsy during the current laser lithotripsy operation can be detected. If the actual size does not match the predicted size, the laser parameter values ​​within the current operating parameter values ​​are adjusted based on the actual and predicted sizes. Next, the heat generation value corresponding to the adjusted laser parameter values ​​is obtained, and the cooling heat value corresponding to the perfusion and suction parameter values ​​within the current operating parameter values ​​is obtained. If the heat generation value is greater than the cooling heat value, this indicates that the heat generated by the current laser parameter values ​​cannot be removed at the current perfusion and absorption parameter values, potentially leading to overheating of the target area. The perfusion and suction parameter values ​​within the current operating parameter values ​​are then adjusted to ensure that the heat generation value is less than or equal to the cooling heat value, thereby removing the heat generated by the adjusted laser parameter values ​​from the target area. This reduces damage to the target area caused by excessive heat.

[0077] In the embodiment of the present application, the perfusion operation can also be performed through a dual perfusion device mode.

[0078] In one example, the endoscope system may include a first perfusion device and a second perfusion device. The first perfusion device is used for basic perfusion flow, i.e., constant flow rate perfusion. The second perfusion device is used to form a pulsed perfusion flow. Therefore, in step 203, the perfusion flow of the first perfusion device is first set to a first perfusion flow with a constant flow rate, and the perfusion flow of the second perfusion device is set to a second perfusion flow with pulse control. Then, the first perfusion flow of the first perfusion device and the second perfusion flow of the second perfusion device are controlled respectively to control the perfusion flow value in the operating parameter value. In this way, the adjustment of the perfusion pulse can be separated from the minimum flow rate adjustment to improve the response speed of the endoscope system and improve the adjustment accuracy.

[0079] In response to an instruction to adjust the operating parameter value, the first perfusion flow rate is adjusted to adjust the perfusion flow rate value in the operating parameter value. The instruction to adjust the operating parameter value refers to an instruction sent by a user to adjust the operating parameter value, and can be sent to the controller via a button, a display panel, or terminal wireless communication. This embodiment of the present application primarily adjusts the basal perfusion flow rate by adjusting the first perfusion flow rate of the first perfusion device, making the adjustment simpler and improving the efficiency of perfusion flow rate regulation.

[0080] The embodiments of the present application utilize a dual perfusion flow control method to precisely control the pressure and flow of the perfusion liquid, ensuring clarity of vision in the target area. Furthermore, by adjusting the base perfusion flow, the responsiveness of the endoscope system is improved. Furthermore, by adjusting the perfusion parameter values ​​in real time, damage to the target area caused by excessive or insufficient pressure can be reduced, thereby improving the operational effectiveness of the endoscope system.

[0081] Figure 4 Schematic diagram of the structure of a control device of an endoscope system provided in an embodiment of the present application. Figure 4 As shown, the control device 400 of the endoscope system is integrated into Figure 1 The controller 110 may include: an acquisition module 401 for acquiring type data corresponding to a target object of an endoscope system operation; a determination module 402 for determining, based on the type data, an operation parameter value having a mapping relationship with the type data; and a control module 403 for controlling the operation of the endoscope system based on the operation parameter value.

[0082] In an embodiment of the present application, the endoscope system 100 includes an image acquisition device 150 that communicates with the controller 110, and the acquisition module 401 may include: an image recognition unit for acquiring an image of the target object through the image acquisition device, and determining the type data corresponding to the target object based on a preset image recognition algorithm; and / or a spectral analysis unit for acquiring spectral data of the target object through the image acquisition device, and determining the type data corresponding to the target object based on a preset spectral analysis model; and / or an ultrasonic detection unit for acquiring ultrasonic data of the target object through the image acquisition device, and determining the type data corresponding to the target object based on the ultrasonic data.

[0083] In an embodiment of the present application, the determination module 402 may include: a mapping table search unit, which is used to construct a mapping table based on the mapping relationship between different type data and operation parameter values, and search 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, which is used 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 the operation parameter value corresponding to the type data through the target model; wherein the operation parameter value includes a laser parameter value, an infusion parameter value, and a suction parameter value.

[0084] In an embodiment of the present application, the perfusion parameter value may include a perfusion pulse frequency, and the mapping table lookup unit may also be used to obtain the predicted lithotripsy characteristics after operation on the target object in the type data, the predicted lithotripsy characteristics including the predicted size of the lithotripsy; based on the predicted lithotripsy characteristics, the perfusion pulse frequency corresponding to the predicted lithotripsy characteristics is determined, wherein the perfusion pulse frequency is negatively correlated with the predicted size.

[0085] In an embodiment of the present application, the perfusion parameter values ​​may include perfusion speed and suction speed, and the mapping table lookup unit may also be used to obtain the predicted gravel characteristics after operation on the target object in the type data, the predicted gravel characteristics including the predicted size of the gravel; according to the predicted gravel characteristics, the perfusion speed and suction speed corresponding to the predicted gravel characteristics are determined, wherein the perfusion speed is positively correlated with the predicted size, and the suction speed is negatively correlated with the predicted size.

[0086] In an embodiment of the present application, the perfusion parameter value may include a perfusion pulse amplitude, and the mapping table lookup unit may also be used to obtain the predicted lithotripsy characteristics after operation on the target object in the type data, the predicted lithotripsy characteristics including the predicted size of the lithotripsy; based on the predicted lithotripsy characteristics, the perfusion pulse amplitude corresponding to the predicted lithotripsy characteristics is determined, wherein the perfusion pulse amplitude is positively correlated with the predicted size.

[0087] In an embodiment of the present application, the control device 400 of the endoscope system may further include: a detection module for detecting the actual size of the gravel corresponding to the target object during the operation within the current time period; an adjustment module for adjusting the operation parameter value according to the actual size of the gravel corresponding to the target object, and the operation parameter value includes at least one of the laser parameter value, the perfusion parameter value and the suction parameter value.

[0088] In an embodiment of the present application, the perfusion parameters may include pulse signal values, and the adjustment module may include: a type determination unit, used to obtain the actual size of the gravel corresponding to the target object in the target area, and determine the gravel type corresponding to multiple gravel in the target area based on the actual size, wherein each gravel type corresponds to a pulse signal value of the perfusion parameter, and at least one pulse parameter corresponding to two different pulse signal values ​​is different; a first proportion determination unit, used to determine the first proportion of each gravel type respectively, the first proportion being the proportion of the number of gravel corresponding to the gravel type to the total number of gravel; a second proportion determination unit, used to determine the second proportion corresponding to multiple pulse signal values ​​based on the first proportion, the second proportion being the proportion of the sub-periods corresponding to multiple pulse signal values ​​within the set period to the set period, wherein 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; a pulse adjustment unit, used to control the pulse signal value of the perfusion parameter within the set period according to the second proportion.

[0089] In an embodiment of the present application, the pulse adjustment unit can also be used to control different pulse signal values ​​to appear in a random alternating manner within a set period, while satisfying the second proportion corresponding to the pulse signal value, so as to generate a random composite pulse signal value; and control the perfusion parameters within the set period based on the random composite pulse signal value.

[0090] In the embodiment of the present application, the control module 403 may further include: a monitoring unit for detecting the actual size of the gravel in the laser lithotripsy operation at the current moment; a first correction unit for adjusting the laser parameter value in the operating parameter value at the current moment according to the actual size and the predicted size if the actual size does not match the predicted size; a heat determination unit for obtaining the generated heat value corresponding to the adjusted laser parameter value, and obtaining the cooling heat value corresponding to the perfusion parameter value and the suction parameter value in the operating parameter value at the current moment; a second correction unit for adjusting the perfusion parameter value and the suction parameter value in the operating parameter value at the current moment if the generated heat value is greater than the cooling heat value, so that the generated heat value is less than or equal to the cooling heat value.

[0091] In an embodiment of the present application, the endoscope system may include a first perfusion device and a second perfusion device, and the control module 403 may further include: a setting unit, used to set the perfusion flow of the first perfusion device to a first perfusion flow with a constant flow rate, and set the perfusion flow of the second perfusion device to a second perfusion flow with pulse control; a perfusion control unit, used to control the first perfusion flow of the first perfusion device and the second perfusion flow of the second perfusion device, respectively, to control the perfusion flow value in the operating parameter value; an adjustment unit, used to adjust the first perfusion flow in response to an instruction to adjust the operating parameter value, to adjust the perfusion flow value in the operating parameter value.

[0092] Figure 5 1 is a structural block diagram of a controller 110 provided in an embodiment of the present application. Figure 5 As shown, the controller 110 may include a memory 111 and a processor 112. The memory 111 is configured to store instructions. The processor 112 is configured to call instructions from the memory 111 and implement the above-mentioned control method of the endoscope system when executing the instructions.

[0093] like Figure 1 As shown, an embodiment of the present application provides an endoscope system 100, which may include the aforementioned controller 110. The controller 110 may be configured to: obtain type data corresponding to a target object to be operated by the endoscope system; determine, based on the type data, an operating parameter value having a mapping relationship with the type data; and control the operation of the endoscope system based on the operating parameter value.

[0094] In an embodiment of the present application, the endoscope system 100 includes an image acquisition device 150 that communicates with the controller 110. The controller 110 can also be configured to: acquire an image of the target object through the image acquisition device, and determine the 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 the 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 the type data corresponding to the target object based on the ultrasonic data.

[0095] In an embodiment of the present application, the controller 110 can also be configured to: construct a mapping table based on the mapping relationship between different type data and operating parameter values, and search the mapping table according to the type data to obtain operating parameter values ​​having a mapping relationship with the type data; and / or train a target model based on the mapping relationship between different type data and operating parameter values, input the type data into the target model, and output the operating parameter values ​​corresponding to the type data through the target model; wherein the operating parameter values ​​include laser parameter values, perfusion parameter values ​​and suction parameter values.

[0096] In an embodiment of the present application, the perfusion parameter value may include a perfusion pulse frequency, and the controller 110 may also be configured to: obtain the predicted lithotripsy characteristics after operating on the target object in the type data, the predicted lithotripsy characteristics including the predicted size of the lithotripsy; based on the predicted lithotripsy characteristics, determine the perfusion pulse frequency corresponding to the predicted lithotripsy characteristics, wherein the perfusion pulse frequency is negatively correlated with the predicted size.

[0097] In an embodiment of the present application, the perfusion parameter value may also include a perfusion speed and a suction speed, and the controller 110 may also be configured to: obtain the predicted stone crushing characteristics after operating the target object in the type data, the predicted stone crushing characteristics including the predicted size of the stone crushing; according to the predicted stone crushing characteristics, determine the perfusion speed and suction speed corresponding to the predicted stone crushing characteristics, wherein the perfusion speed is positively correlated with the predicted size, and the suction speed is negatively correlated with the predicted size.

[0098] In an embodiment of the present application, the perfusion parameter value may further include a perfusion pulse amplitude, and the controller 110 may further be configured to: obtain the predicted lithotripsy characteristics after operating on the target object in the type data, the predicted lithotripsy characteristics including the predicted size of the lithotripsy; and determine the perfusion pulse amplitude corresponding to the predicted lithotripsy characteristics based on the predicted lithotripsy characteristics, wherein the perfusion pulse amplitude is positively correlated with the predicted size.

[0099] In an embodiment of the present application, the controller 110 can also be configured to: detect the actual size of the gravel corresponding to the target object during the operation within the current time period; adjust the operation parameter value according to the actual size of the gravel corresponding to the target object, and the operation parameter value includes at least one of the laser parameter value, the perfusion parameter value and the suction parameter value.

[0100] In an embodiment of the present application, the perfusion parameters may include pulse signal values, and the controller 110 may also be configured to: obtain the actual size of the gravel corresponding to the target object in the target area, and determine the gravel type corresponding to the multiple gravel in the target area based on the actual size, wherein each gravel type corresponds to a pulse signal value of the perfusion parameter, and at least one pulse parameter corresponding to two different pulse signal values ​​is different; determine the first proportion of each gravel type respectively, the first proportion being the proportion of the number of gravel corresponding to the gravel type to the total number of gravel; based on the first proportion, determine the second proportion corresponding to the multiple pulse signal values, the second proportion being the proportion of the sub-periods corresponding to the multiple pulse signal values ​​within the set period to the set period, wherein 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; and control the pulse signal value of the perfusion parameter within the set period according to the second proportion.

[0101] In an embodiment of the present application, the controller 110 can also be configured to: within a set period, under the condition that the sum of the proportions of each pulse signal value is the second proportion corresponding to the pulse signal value, control different pulse signal values ​​to appear in a random alternating manner to generate a random composite pulse signal value; and control the perfusion parameters within the set period based on the random composite pulse signal value.

[0102] In an embodiment of the present application, the operating parameter values ​​may include laser parameter values, perfusion parameter values, and suction parameter values. The controller 110 may also be configured to: detect the actual size of the gravel in 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 operating 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 perfusion parameter value and the suction parameter value in the operating parameter value at the current moment; if the generated heat value is greater than the cooling heat value, adjust the perfusion parameter value and the suction parameter value in the operating parameter value at the current moment so that the generated heat value is less than or equal to the cooling heat value.

[0103] In an embodiment of the present application, the endoscope system 100 may include a first perfusion device and a second perfusion device, and the controller 110 may also be configured to: set the perfusion flow of the first perfusion device to a first perfusion flow with a constant flow rate, and set the perfusion flow of the second perfusion device to a second perfusion flow with pulse control; control the first perfusion flow of the first perfusion device and the second perfusion flow of the second perfusion device respectively to control the perfusion flow value in the operating parameter value; and adjust the first perfusion flow in response to an instruction to adjust the operating parameter value to adjust the perfusion flow value in the operating parameter value.

[0104] An embodiment of the present application further provides a computer-readable storage medium, in which a program is stored. The program can be loaded by a processor and execute any one of the control methods of the endoscope system in the embodiments of the present application.

[0105] Since the instructions stored in the control device, controller, endoscope system and computer-readable storage medium of the endoscope system can execute the steps in any one of the control methods for the endoscope system provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the control methods for the endoscope system provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0106] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer program. When all or part of the functions in the above embodiments are implemented by computer program, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above functions can be implemented. In addition, when all or part of the functions in the above embodiments are implemented by computer program, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and saved in the memory of the local device by downloading or copying, or the system of the local device is updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be implemented.

[0107] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For those skilled in the art of the present application, based on the concept of the present application, they can also make some simple deductions, modifications or substitutions.

Claims

1. A method for controlling an endoscope system, characterized in that: The controller applied to the endoscope system, the control method includes: Acquiring type data corresponding to a target object operated by the endoscope system; determining, based on the type data, operating parameter values ​​having a mapping relationship with the type data, the operating parameter values ​​including laser parameter values, perfusion parameter values, and aspiration parameter values, the perfusion parameter values ​​including pulse signal values, the mapping relationships between different type data and operating parameter values ​​being determined based on predicted lithotripsy characteristics after performing a laser lithotripsy operation on the target object; controlling the operation of the endoscope system based on the operating parameter value; Detecting the actual size of the gravel corresponding to the target object during the laser lithotripsy operation in the current time period; If the actual size of the gravel corresponding to the target object does not match the predicted size, adjusting the operation parameter value, the operation parameter value including at least one of a laser parameter value, a perfusion parameter value, and a suction parameter value; If the actual size of the gravel corresponding to the target object does not match the predicted size, adjusting the operating parameter value includes: Acquire the actual size of the gravel corresponding to the target object in the target area, and determine the gravel types corresponding to the multiple gravel in the target area according to the actual size, wherein each gravel type corresponds to a pulse signal value; Determine a first proportion of each type of gravel respectively, where the first proportion is the ratio of the number of gravels corresponding to the type of gravel to the total number of gravels; determining, based on the first proportion, a second proportion corresponding to the plurality of pulse signal values, where the second proportion is a ratio of sub-periods corresponding to the plurality of pulse signal values ​​within a set period to the set period, wherein the second proportion of the pulse signal values ​​is the same as the first proportion of the lithotripsy types corresponding to the pulse signal values; According to the second ratio, the pulse signal value of the perfusion parameter within the set period is controlled.

2. The control method according to claim 1, characterized in that: The obtaining of type data corresponding to the target object operated by the endoscope system includes: Acquire an image of the target object 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, and determine type data corresponding to the target object based on a preset spectral analysis model; and / or Ultrasonic data of the target object is acquired, and type data corresponding to the target object is determined based on the ultrasonic data.

3. The control method according to claim 1, wherein: The determining, according to the type data, an operation parameter value having a mapping relationship with the type data includes: Constructing a mapping table based on the mapping relationship between different types of data and operating parameter values, and searching the mapping table according to the type data to obtain the operating parameter value having a mapping relationship with the type data; and / or A target model is obtained by training based on the mapping relationship between different type data and operation parameter values, the type data is input into the target model, and the operation parameter value corresponding to the type data is output through the target model.

4. The control method according to claim 3, characterized in that: The perfusion parameter value includes a perfusion pulse frequency, and the mapping table is constructed based on the mapping relationship between different types of data and operation parameter values, including: Acquiring predicted lithotripsy features after laser lithotripsy is performed on the target object from the type data, the predicted lithotripsy features including a predicted size of the lithotripsy; According to the predicted lithotripsy characteristics, a perfusion pulse frequency corresponding to the predicted lithotripsy characteristics is determined, wherein the perfusion pulse frequency is negatively correlated with the predicted size.

5. The control method according to claim 3, characterized in that: The perfusion parameter values ​​include perfusion speed and suction speed. The mapping table is constructed based on the mapping relationship between different types of data and operation parameter values, including: Acquiring predicted lithotripsy features after laser lithotripsy is performed on the target object from the type data, the predicted lithotripsy features including a predicted size of the lithotripsy; According to the predicted lithotripsy characteristics, an infusion rate and a suction rate corresponding to the predicted lithotripsy characteristics are determined, wherein the infusion rate is positively correlated with the predicted size, and the suction rate is negatively correlated with the predicted size.

6. The control method according to claim 3, characterized in that: The perfusion parameter value includes the perfusion pulse amplitude. The mapping table is constructed based on the mapping relationship between different types of data and the operation parameter values, including: Acquiring predicted lithotripsy features after laser lithotripsy is performed on the target object from the type data, the predicted lithotripsy features including a predicted size of the lithotripsy; According to the predicted lithotripsy feature, a perfusion pulse amplitude corresponding to the predicted lithotripsy feature is determined, wherein the perfusion pulse amplitude is positively correlated with the predicted size.

7. The control method according to claim 1, characterized in that: The controlling of the perfusion parameters 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 is equal to the second proportion corresponding to the pulse signal value, controlling the different pulse signal values ​​to appear in a random alternating manner to generate a random composite pulse signal value; The perfusion parameters within the set period are controlled based on the random composite pulse signal value.

8. The control method according to claim 1, characterized in that: If the actual size of the gravel corresponding to the target object does not match the predicted size, adjusting the operating parameter value includes: If the actual size does not match the predicted size, adjusting the laser parameter value in the operating parameter value at the current moment according to the actual size and the predicted size; Obtaining a generated heat value corresponding to the adjusted laser parameter value, and obtaining a cooling heat value corresponding to the perfusion parameter value and the suction parameter value in the current operation parameter value; If the generated heat value is greater than the cooling heat value, the perfusion parameter value and the suction parameter value in the current operation parameter value are adjusted so that the generated heat value is less than or equal to the cooling heat value.

9. The control method according to claim 1, characterized in that: The endoscope system includes a first irrigation device and a second irrigation device, and controlling the operation of the endoscope system based on the operating parameter value includes: Setting the perfusion flow rate of the first perfusion device to a first perfusion flow rate with a constant flow rate, and setting the perfusion flow rate of the second perfusion device to a second perfusion flow rate with pulse control; controlling a first perfusion flow rate of the first perfusion device and a second perfusion flow rate of the second perfusion device respectively, so as to control a perfusion flow rate value in the operating parameter value; In response to an instruction to adjust the operating parameter value, the first perfusion flow rate is adjusted to adjust the perfusion flow rate value in the operating parameter value.

10. A control device for an endoscope system, characterized in that: The control device comprises: an acquisition module, configured to acquire type data corresponding to a target object operated by the endoscope system; a determination module, configured to determine, based on the type data, an operating parameter value having a mapping relationship with the type data, the operating parameter value including a laser parameter value, a perfusion parameter value, and a suction parameter value, the perfusion parameter value including a pulse signal value, the mapping relationship between different type data and the operating parameter value being determined based on predicted lithotripsy characteristics after performing a laser lithotripsy operation on the target object; a control module for controlling the operation of the endoscope system based on the operating parameter value; A detection module, configured to detect the actual size of the gravel corresponding to the target object during the laser lithotripsy operation in a current time period; an adjustment module, configured to adjust the operation parameter value if the actual size of the gravel corresponding to the target object does not match the predicted size, the operation parameter value comprising at least one of a laser parameter value, a perfusion parameter value, and a suction parameter value; The adjustment module also includes: a type determination unit, configured to obtain an actual size of a gravel corresponding to the target object in the target area, and determine the gravel types corresponding to the multiple gravel in the target area according to the actual size, wherein each gravel type corresponds to a pulse signal value; a first proportion determining unit, configured to respectively determine a first proportion of each of the gravel types, wherein the first proportion is a ratio of the number of gravels corresponding to the gravel type to the total number of gravels; a second proportion determining unit, configured to determine, based on the first proportion, a second proportion corresponding to the plurality of pulse signal values, wherein the second proportion is a ratio of sub-periods corresponding to the plurality of pulse signal values ​​within a set period to the set period, wherein the second proportion of the pulse signal values ​​is the same as the first proportion of the lithotripsy types corresponding to the pulse signal values; The pulse adjustment unit is used to control the pulse signal value of the perfusion parameter within a set period according to the second proportion.

11. A controller, characterized in that: include: a memory configured to store instructions; as well as A processor configured to call the instructions from the memory and implement the method for controlling the endoscope system according to any one of claims 1 to 9 when executing the instructions.

12. An endoscope system, characterized in that: Comprising the controller of claim 11.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program, which can be loaded by a processor to execute the method for controlling an endoscope system according to any one of claims 1 to 9.

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