One-time arthroscope imaging direction keeping method and system

Abstract

The invention provides a method and a system for keeping the imaging direction of a disposable arthroscope. The method comprises the following steps: detecting rotation sensing data of an operating handle of the disposable arthroscope in real time; resolving the rotation sensing data to obtain rotation direction data and rotation angle data of the current operating handle; and performing rotation compensation on currently displayed image data according to the rotation direction data and the rotation angle data to obtain target imaging data which does not rotate along with the operation action. According to the invention, the image displayed by the disposable arthroscope imaging does not change in directivity along with the change of the rotation direction of the operating handle, so that a surgeon can operate the arthroscope more randomly, the comfort of operation is increased, the energy consumption of the doctor in the operation process is reduced, and the operation efficiency is improved. And the working efficiency and the operation success rate of doctors are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of arthroscopic imaging, and particularly to a disposable arthroscopic imaging direction maintaining method and system. Background Art

[0002] The image direction output by the existing disposable arthroscopic imaging system is fixed. That is to say, when the direction of the handle of the arthroscope changes, the displayed image also changes accordingly.

[0003] During the operation, the doctor operates the arthroscope handle according to the on-site situation. When the handle rotates, the image displayed by the arthroscopic imaging system also changes accordingly. This requires the doctor to adapt to the constantly changing image information by himself and make decisions suitable for the current situation. In this case, it is inconvenient for the doctor to operate and increases the risk coefficient of the operation. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a disposable arthroscopic imaging direction maintaining method and system to overcome the technical problems in the prior art that when the direction of the handle of the arthroscope changes, the displayed image also changes accordingly, resulting in reduced doctor work efficiency and increased operation risk.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] According to the first aspect of the present invention, a disposable arthroscopic imaging direction maintaining method is provided, and the method includes:

[0007] Real-time detecting the rotation sensing data of the operation handle of the disposable arthroscope;

[0008] Solving the rotation sensing data to obtain the current rotation direction data and rotation angle data of the operation handle;

[0009] According to the rotation direction data and the rotation angle data, performing rotation compensation on the currently displayed image data to obtain target imaging data that does not rotate with the operation action.

[0010] Optionally, the real-time detecting the rotation sensing data of the operation handle of the disposable arthroscope includes:

[0011] Utilizing a real-time angle sensor disposed in the operation handle to real-time sense angle information;

[0012] When the angle information changes, generating rotation sensing data;

[0013] Wherein, the real-time angle sensor includes a three-axis gyroscope and a three-axis accelerometer.

[0014] Optionally, the rotation perception data includes acceleration data and angular velocity data;

[0015] The acceleration data includes the projections of the gravitational acceleration measured by the triaxial accelerometer on each sensitive axis;

[0016] The angular velocity data includes the angular velocities around each coordinate axis of the object measured by the triaxial gyroscope.

[0017] Optionally, resolving the rotation perception data to obtain the rotation direction data and rotation angle data of the current operating handle includes:

[0018] Calculating first attitude angle change data using the acceleration data; the first attitude angle change data includes pitch angle and roll angle; and, calculating and integrating using the angular velocity data to obtain second attitude angle change data; the change amounts of the attitude angles include pitch angle, roll angle, and yaw angle;

[0019] Based on the first attitude angle change data and the second attitude angle change data, an optimal attitude angle data is estimated using a fusion algorithm based on Kalman filter iteration to obtain the rotation direction data and the rotation angle data.

[0020] Optionally, calculating the first attitude angle change data using the acceleration data includes:

[0021] Let the projection components of the gravitational acceleration on each sensitive axis of the triaxial accelerometer be a x 、a y 、a z , the calculation formula for the pitch angle θ is:

[0022]

[0023] Roll angle The calculation formula for is:

[0024]

[0025] Optionally, calculating and integrating using the angular velocity data to obtain the second attitude angle change data includes:

[0026] Let the angular velocities around each coordinate axis of the object measured by the triaxial gyroscope be ω x 、ω y 、ω z , with time t as a variable, the calculation formula for the pitch angle θ(t) is:

[0027]

[0028] Roll angle The calculation formula is:

[0029]

[0030] The calculation formula for the yaw angle ψ(t) is:

[0031]

[0032] Where, θ(0), ψ(0) are the initial pitch angle, initial roll angle, and initial yaw angle respectively.

[0033] Optionally, based on the first attitude angle change data and the second attitude angle change data, an optimal attitude angle data is estimated by using a fusion algorithm based on Kalman filter iteration, including:

[0034] Establish a state equation describing the change law of the system state over time and an observation equation describing the relationship between the measured value and the state variable; the formula of the state equation is expressed as:

[0035] X(k) = F(k)X(k - 1) + W(k);

[0036] Where, X(k) is the state vector at time k; F(k) is the state transition matrix; W(k) is the process noise;

[0037] The formula of the observation equation is expressed as:

[0038] Z(k) = H(k)X(k) + V(k);

[0039] Where, Z(k) is the measurement vector at time k, including the first attitude angle change data and the second attitude angle change data, H(k) is the observation matrix; V(k) is the observation noise;

[0040] According to the state estimate value at the previous moment and the state equation, predict the state prior estimate value at the current moment, and the formula is expressed as:

[0041]

[0042] And, predict the prior estimate value of the state estimate error covariance matrix, and the formula is expressed as:

[0043] P(k|k - 1) = F(k)P(k - 1|k - 1)F T (k) + Q(k);

[0044] Where, Q(k) is the process noise covariance matrix;

[0045] According to the measurement vector at the current moment and the observation equation, calculate the Kalman gain, and the formula is expressed as:

[0046] K(k) = P(k|k - 1)H T (k)[H(k)P(k|k - 1)H T (k) + R(k)] -1 ;

[0047] Wherein, R(k) is the observation noise covariance matrix;

[0048] The state estimate value and the state estimate error covariance matrix are updated by using the Kalman gain, and the formulas are respectively expressed as:

[0049]

[0050] P(k|k) = [I - K(k)H(k)]P(k|k - 1);

[0051] Wherein, I is the identity matrix;

[0052] Based on the above formulas, repeated iteration is performed to obtain the optimal attitude angle estimate value as the attitude angle data.

[0053] Optionally, the rotation compensation of the currently displayed image data according to the rotation direction data and the rotation angle data includes:

[0054] Obtain the actual image data collected by the current disposable arthroscope;

[0055] Determine the target rotation direction required for the actual image data based on the rotation direction data; and determine the target rotation angle required for the actual image data based on the rotation angle data;

[0056] Perform rotation adjustment on the actual image data according to the target rotation direction and the target rotation angle to achieve rotation compensation of the currently displayed image data.

[0057] According to the second aspect of the present invention, a disposable arthroscope imaging direction maintaining system is proposed, and the system includes:

[0058] An attitude sensing module for real-time detecting the rotation sensing data of the operation handle of the disposable arthroscope;

[0059] A data calculation module for calculating the rotation sensing data to obtain the rotation direction data and the rotation angle data of the current operation handle;

[0060] An image compensation module for performing rotation compensation on the currently displayed image data according to the rotation direction data and the rotation angle data to obtain target imaging data that does not rotate with the operation action.

[0061] Optionally, the system further includes:

[0062] A screen display module for displaying the target imaging data on the screen.

[0063] One or more of the above technical solutions provided by the present invention may have the following advantages or at least achieve the following technical effects:

[0064] A method for maintaining the imaging direction of a disposable arthroscope proposed by the present invention includes: real-time detecting the rotation perception data of the operation handle of the disposable arthroscope; resolving the rotation perception data to obtain the rotation direction data and rotation angle data of the current operation handle; and performing rotation compensation on the currently displayed image data according to the rotation direction data and the rotation angle data to obtain target imaging data that does not rotate with the operation action. The technical solution of the present invention enables the image screen displayed by the disposable arthroscope imaging not to change directionally with the rotation direction of the operation handle, so that the surgeon can operate the arthroscope more casually, increasing the comfort of the operation, reducing the energy consumption of the doctor during the operation, and greatly improving the work efficiency and surgical success rate of the doctor. Description of the Drawings

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0066] Figure 1 It is a schematic flowchart of a method for maintaining the imaging direction of a disposable arthroscope proposed in an embodiment of the present invention;

[0067] Figure 2 It is a schematic structural diagram of a system for maintaining the imaging direction of a disposable arthroscope proposed in an embodiment of the present invention;

[0068] Figure 3 It is a schematic structural diagram of a system for maintaining the imaging direction of a disposable arthroscope proposed in another embodiment of the present invention.

[0069] The realization, functional characteristics and advantages of the object of the present invention will be further described in conjunction with the embodiments and with reference to the drawings. Detailed Embodiments

[0070] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0071] It should be noted that in the present invention, the terms "comprise", "include", or any other variant thereof are intended to cover non-exclusive inclusion, such that a device or system including a series of elements not only includes those elements but also other elements not explicitly listed, or elements inherent to such device or system. Without further limitation, the elements defined by the statement "comprising..." do not exclude the existence of additional identical elements in the device or system including such element. In the present invention, unless otherwise clearly specified and limited, the terms "connect", "fix", etc. should be understood in a broad sense. For example, "connect" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0072] The embodiments of the present invention provide a method for maintaining the imaging direction of a disposable arthroscope, as Figure 1 shown, which can at least include the following steps S101 to S103:

[0073] Step S101, real-time detection of the rotation perception data of the operation handle of the disposable arthroscope.

[0074] In the embodiments of the present invention, the rotation perception data can be obtained by a real-time angle sensor installed inside the operation handle of the arthroscope. The real-time angle sensor has a three-axis gyroscope and a three-axis accelerometer as the core. The three-axis accelerometer and the three-axis gyroscope (usually referred to as an angular velocity meter) are important components of an inertial measurement unit (IMU), and are often used to calculate the attitude angle of an object, thereby being able to perceive the angle information of the doctor's operation handle in real time, determine whether the angle changes, and if the angle changes, generate rotation perception data.

[0075] Among them, the rotation perception data are obtained by a three-axis gyroscope and a three-axis accelerometer respectively, including acceleration data and angular velocity data. The acceleration data include the projection components a x 、a y 、a z of the gravitational acceleration measured by the three-axis accelerometer on each sensitive axis; the angular velocity data include the angular velocities ω x 、ω y 、ω z measured by the three-axis gyroscope around the respective coordinate axes of the object.

[0076] Step S102: Solve the rotation perception data to obtain the rotation direction data and rotation angle data of the current operating handle.

[0077] In the embodiment of the present invention, the rotation perception data include the angular velocity data obtained by the three-axis gyroscope and the acceleration data obtained by the three-axis accelerometer. When solving the rotation perception data, the attitude angle data are solved according to the acceleration data and the angular velocity data respectively.

[0078] Specifically, the first attitude angle change data are calculated by using the acceleration data. The three-axis accelerometer measures the projection of the gravitational acceleration on its sensitive axes. Generally, the attitude angle data can be calculated through trigonometric function relationships. It can be understood that in a stationary or approximately stationary state, there is a specific mathematical relationship between the components of the gravitational acceleration on each axis of the accelerometer and the attitude angle. Based on this, let the projection components of the gravitational acceleration on the respective sensitive axes (X-axis, Y-axis, Z-axis) of the three-axis accelerometer be a x 、a y 、a z , the calculation formula for the pitch angle θ is:

[0079]

[0080] The calculation formula for the roll angle is:

[0081]

[0082] The specific values of the pitch angle θ and the roll angle are calculated respectively through the above formulas (1) to (2), and the first attitude change data including the pitch angle and the roll angle are obtained.

[0083] Further, integral calculation is performed using the angular velocity data to obtain the second attitude angle change data. The triaxial gyroscope measures the angular velocity of the object around each axis, and the change in the attitude angle is obtained by integrating the angular velocity. It should be noted that when the triaxial gyroscope measures the angular velocity of the object around each axis, a coordinate system is first established with the front of the object as the X-axis, the right side of the object's fuselage horizontally as the Y-axis, and the bottom of the object as the Z-axis. The object can be an arthroscopic operation handle. When the doctor uses the operation handle, the angular velocities ω x 、ω y 、ω z on the X-axis, Y-axis, and Z-axis are measured in real time. Based on this, with time t as the variable, the calculation formula for the pitch angle θ(t) is:

[0084]

[0085] The calculation formula for the roll angle is:

[0086]

[0087] The calculation formula for the yaw angle ψ(t) is:

[0088]

[0089] where θ(0), ψ(0) are the initial pitch angle, initial roll angle, and initial yaw angle respectively. The specific values of the pitch angle θ(t), roll angle and yaw angle ψ(t) are calculated respectively through the above formulas (3) to (5), and the second attitude change data including the pitch angle, roll angle, and yaw angle is obtained.

[0090] Further, since there are limitations in using only the triaxial accelerometer or the triaxial gyroscope alone, the embodiment of the present invention adopts a fusion algorithm based on Kalman filter iteration to estimate the optimal attitude angle data based on the first attitude angle change data and the second attitude angle change data, so as to improve the accuracy and stability of the attitude angle solution and obtain the rotation direction data and rotation angle data.

[0091] Specifically, estimating the optimal attitude angle data based on the fusion algorithm of Kalman filter iteration includes at least the following steps S102-1 to S102-5:

[0092] Step S102-1, establish a state equation describing the change law of the system state over time and an observation equation describing the relationship between the measured value and the state variable.

[0093] The formula representation of the state equation is:

[0094] X(k) = F(k)X(k - 1) + W(k) (6) where X(k) is the state vector at time k; F(k) is the state transition matrix; W(k) is the process noise;

[0095] The formula of the observation equation is expressed as:

[0096] Z(k) = H(k)X(k) + V(k) (7)

[0097] where Z(k) is the measurement vector at time k, including the first attitude angle change data and the second attitude angle change data, H(k) is the observation matrix; V(k) is the observation noise.

[0098] Step S102-2: Predict the prior estimate of the state and the prior estimate of the state estimation error covariance matrix at the current time according to the state estimate value and the state equation at the previous time.

[0099] The formula of the prior estimate of the state at the current time is expressed as:

[0100]

[0101] The formula of the prior estimate of the state estimation error covariance matrix is expressed as:

[0102] P(k|k - 1) = F(k)P(k - 1|k - 1)F T (k) + Q(k) (9)

[0103] where Q(k) is the process noise covariance matrix.

[0104] Step S102-3: Calculate the Kalman gain according to the measurement vector and the observation equation at the current time.

[0105] The formula of the Kalman gain is expressed as:

[0106] K(k) = P(k|k - 1)H T (k)[H(k)P(k|k - 1)H T (k) + R(k)] -1 (10)

[0107] where R(k) is the observation noise covariance matrix.

[0108] Step S102-4: Update the state estimate value and the state estimation error covariance matrix using the Kalman gain.

[0109] The formula for updating the state estimate value is expressed as:

[0110]

[0111] The formula for updating the state estimation error covariance matrix is expressed as:

[0112] P(k|k) = [I - K(k)H(k)]P(k|k - 1) (12)

[0113] Where I is the identity matrix.

[0114] Step S102-5, based on the above formulas (6) to (12), perform repeated iterations to obtain the optimal attitude angle estimation value as the attitude angle data. It can be understood that when the error is minimized, the optimal rotation direction value and rotation angle value are obtained as the rotation direction data and rotation angle data, that is, the optimal attitude angle data.

[0115] Step S103, according to the rotation direction data and rotation angle data, perform rotation compensation on the currently displayed image data to obtain target imaging data that does not rotate with the operation action.

[0116] After obtaining the rotation direction data and rotation angle data, rotation compensation can be performed on the image data to be displayed, so that the image seen by the doctor does not rotate with the operation action.

[0117] Specifically, the actual image data collected by the current disposable arthroscope can be obtained; the target rotation direction required for the actual image data can be determined based on the rotation direction data; and the target rotation angle required for the actual image data can be determined based on the rotation angle data; the actual image data is rotationally adjusted according to the target rotation direction and target rotation angle to achieve rotation compensation for the currently displayed image data.

[0118] Generally speaking, this step determines whether the image to be displayed should be rotated clockwise or counterclockwise according to the rotation direction value corresponding to the rotation direction data, and then determines how many degrees the image to be displayed should be rotated according to the rotation angle value corresponding to the rotation angle data. It can be understood that according to these two parameters, rotation compensation for the actual image data can be achieved, and target imaging data that does not rotate with the operation action can be obtained for screen display.

[0119] The embodiment of the present invention provides a method for maintaining the imaging direction of a disposable arthroscope, which includes: real-time detecting the rotation perception data of the operation handle of the disposable arthroscope; resolving the rotation perception data to obtain the rotation direction data and rotation angle data of the current operation handle; and performing rotation compensation on the currently displayed image data according to the rotation direction data and rotation angle data to obtain target imaging data that does not rotate with the operation action. Through the present invention, at least the following technical effects are achieved:

[0120] 1) It improves the comfort of doctors' operation: The present invention can prevent the image displayed by the disposable arthroscopic imaging system from changing directionally with the rotation direction of the operating handle, enabling surgeons to operate the arthroscope more freely and increasing the comfort of operation.

[0121] 2) It reduces the energy consumption of doctors during the operation: During the operation, doctors do not need to consume extra energy to adaptively move the surgical knife according to the changing direction of the image, but can directly make corresponding treatments based on the on-site image. This greatly saves doctors' energy during an operation, thus preventing them from feeling tired.

[0122] 3) It improves the work efficiency of doctors: The present invention enables doctors not to be distracted by the change in the display image direction caused by the rotation direction of the operating handle, so that they can concentrate on making correct decisions based on the real-time on-site image displayed by the arthroscopic imaging system, improving the work efficiency per unit time. More operations can be performed in a day, and the surgical risk is reduced while the success probability of the operation is increased.

[0123] Further, as a Figure 1 specific implementation, an embodiment of the present invention provides a disposable arthroscopic imaging direction maintaining system, as Figure 2 shown. This system may include: an attitude perception module 210, a data calculation module 220, and an image compensation module 230.

[0124] The attitude perception module 210 can be used to detect the rotation perception data of the operating handle of the disposable arthroscope in real time;

[0125] The data calculation module 220 can be used to calculate the rotation perception data to obtain the rotation direction data and rotation angle data of the current operating handle;

[0126] The image compensation module 230 can be used to perform rotation compensation on the currently displayed image data according to the rotation direction data and rotation angle data to obtain target imaging data that does not rotate with the operating action.

[0127] In an optional embodiment, the disposable arthroscopic imaging direction maintaining system, as Figure 3 shown, may further include a screen display module 240.

[0128] The screen display module 240 can be used to display the target imaging data on the screen.

[0129] An embodiment of the present invention provides a disposable arthroscopic imaging direction maintaining system. The attitude sensing module 210 can sense the attitude angle of the operating handle in real time, detect the rotation sensing data of the current operating handle, and send the rotation sensing data to the data calculation module 220 in real time; the data calculation module 220 calculates the angle data and the angle direction of the rotation sensing data uploaded by the attitude sensing module 210, and sends the calculated rotation direction value and rotation angle value to the image compensation module 230; the image compensation module 230 compensates the direction and angle of the image data to be displayed according to the rotation direction data and rotation angle data uploaded by the data calculation module 220, so that the image data to be displayed is not affected by the rotation of the operating handle, and uploads the target imaging data to the screen display module 240; the screen display module 240 displays the target imaging data for doctors to refer to.

[0130] It should be noted that for other corresponding descriptions of the various functional modules involved in the disposable arthroscopic imaging direction maintaining system provided by the embodiment of the present invention, reference can be made to Figure 1 the corresponding description of the method shown, which will not be repeated here.

[0131] Those skilled in the art can clearly understand that the specific working processes of the above-described system, device, module, and unit can refer to the corresponding processes in the foregoing method embodiments. For the sake of brevity, they will not be described in detail here.

[0132] In addition, the functional units in each embodiment of the present invention can be physically independent of each other, or two or more functional units can be integrated together, or all the functional units can be integrated in one processing unit. The above-mentioned integrated functional units can be implemented in the form of hardware, or in the form of software or firmware.

[0133] Those skilled in the art can clearly understand that the specific working processes of the above-described system, device, module, and unit can refer to the corresponding processes in the foregoing method embodiments. For the sake of brevity, they will not be described in detail here.

[0134] In addition, the functional units in each embodiment of the present invention can be physically independent of each other, or two or more functional units can be integrated together, or all the functional units can be integrated in one processing unit. The above-mentioned integrated functional units can be implemented in the form of hardware, or in the form of software or firmware.

[0135] Those of ordinary skill in the art will understand that: If the integrated functional units are implemented in software and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computing device (such as a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present invention when the instructions are run. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0136] Alternatively, all or part of the steps of implementing the foregoing method embodiments can be completed by hardware related to program instructions (such as a computing device like a personal computer, a server, or a network device, etc.). The program instructions can be stored in a computer-readable storage medium. When the program instructions are executed by the processor of the computing device, the computing device executes all or part of the steps of the methods described in the embodiments of the present invention.

[0137] Finally, it should be noted that: The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that within the spirit and principles of the present invention, it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; And these modifications or replacements do not cause the corresponding technical solutions to deviate from the protection scope of the present invention.

Claims

1. A disposable method for maintaining the imaging direction of an arthroscope, characterized in that, The method includes: Real-time detecting the rotation sensing data of the operating handle of the disposable arthroscope; Calculating the rotation direction data and rotation angle data of the current operating handle by resolving the rotation sensing data; According to the rotation direction data and the rotation angle data, performing rotation compensation on the currently displayed image data to obtain target imaging data that does not rotate with the operation action.

2. The method according to claim 1, characterized in that, The real-time detecting the rotation sensing data of the operating handle of the disposable arthroscope includes: Using a real-time angle sensor provided in the operating handle to sense angle information in real time; When the angle information changes, generating rotation sensing data; Wherein, the real-time angle sensor includes a three-axis gyroscope and a three-axis accelerometer.

3. The method according to claim 2, characterized in that, The rotation sensing data includes acceleration data and angular velocity data; The acceleration data includes the projections of the gravitational acceleration measured by the three-axis accelerometer on each sensitive axis; The angular velocity data includes the angular velocities around each coordinate axis of the object measured by the three-axis gyroscope.

4. The method according to claim 3, characterized in that, The calculating the rotation direction data and rotation angle data of the current operating handle by resolving the rotation sensing data includes: Calculating first attitude angle change data using the acceleration data; the first attitude change data includes pitch angle and roll angle; and, calculating by performing integral calculation using the angular velocity data to obtain second attitude angle change data; the change amount of the attitude angle includes pitch angle, roll angle and yaw angle; Based on the first attitude angle change data and the second attitude angle change data, using a fusion algorithm based on Kalman filter iteration to estimate optimal attitude angle data, to obtain the rotation direction data and the rotation angle data.

5. The method according to claim 4, characterized in that, The calculating first attitude angle change data using the acceleration data includes: Assume that the projection components of gravity acceleration on each sensitive axis of the three-axis accelerometer are a x 、a y 、a z , the calculation formula of the pitch angle θ is: Roll angle The calculation formula is as follows:

6. The method according to claim 4, characterized in that, The calculating by performing integral calculation using the angular velocity data to obtain second attitude angle change data includes: Let the angular velocities about the respective coordinate axes of the object measured by the three-axis gyroscope be ω x , ω y , ω z . Taking time t as a variable, the calculation formula for the pitch angle θ(t) is: Roll angle The calculation formula is as follows: The calculation formula for the yaw angle ψ(t) is: Among them, θ(0), ψ(0) are the initial pitch angle, the initial roll angle, and the initial yaw angle, respectively.

7. The method according to claim 4, characterized in that, Based on the first attitude angle change data and the second attitude angle change data, using a fusion algorithm based on Kalman filter iteration to estimate optimal attitude angle data includes: Establishing a state equation describing the change law of the system state over time and an observation equation describing the relationship between the measurement value and the state variable; the formula of the state equation is expressed as: X(k) = F(k)X(k - 1) + W(k); Wherein, X(k) is the state vector at time k; F(k) is the state transition matrix; W(k) is the process noise; The formula of the observation equation is expressed as: Z(k) = H(k)X(k) + V(k); Wherein, Z(k) is the measurement vector at time k, including the first attitude angle change data and the second attitude angle change data, H(k) is the observation matrix; V(k) is the observation noise; According to the state estimate value at the previous moment and the state equation, predicting the state prior estimate value at the current moment, the formula is expressed as: And, predicting the prior estimate value of the state estimate error covariance matrix, the formula is expressed as: P(k|k - 1) = F(k)P(k - 1|k - 1)F T (k) + Q(k); Wherein, Q(k) is the process noise covariance matrix; According to the measurement vector at the current moment and the observation equation, calculating the Kalman gain, the formula is expressed as: K(k) = P(k|k - 1)H T (k)[H(k)P(k|k - 1)H T (k) + R(k)] -1 ; where, R(k) is the observation noise covariance matrix; Update the state estimation value and the state estimation error covariance matrix using the Kalman gain, and the formulas are respectively expressed as: P(k|k) = [I - K(k)H(k)]P(k|k - 1); where, I is the identity matrix; Based on the above formulas, perform repeated iterations to obtain the optimal attitude angle estimation value as the attitude angle data.

8. The method according to claim 1, characterized in that The rotation compensation of the currently displayed image data according to the rotation direction data and the rotation angle data includes: Obtain the actual image data collected by the current disposable arthroscope; Determine the target rotation direction required for the actual image data based on the rotation direction data; and determine the target rotation angle required for the actual image data based on the rotation angle data; Perform rotation adjustment on the actual image data according to the target rotation direction and the target rotation angle to achieve the rotation compensation of the currently displayed image data.

9. A disposable arthroscopic imaging direction maintaining system, characterized in that, The system includes: An attitude sensing module for real-time detecting the rotation sensing data of the operation handle of the disposable arthroscope; A data calculation module for calculating the rotation sensing data to obtain the rotation direction data and the rotation angle data of the current operation handle; An image compensation module for performing rotation compensation on the currently displayed image data according to the rotation direction data and the rotation angle data to obtain target imaging data that does not rotate with the operation action.

10. The system according to claim 9, wherein The system further includes: A screen display module for screen-displaying the target imaging data.

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