Disposable medical endoscope gradient heating control system and method

Abstract

The invention discloses a gradient heating control system and method for a disposable medical endoscope. The control method comprises the following steps that temperature values Ti are collected in real time through three temperature sensor sets distributed on the front section, the middle section and the rear section of an endoscope body; the temperature gradient delta Tj of each section is calculated, and the calculation result is compared with a set threshold value theta; when any temperature gradient delta Tj exceeds a threshold value theta, a gradient compensation algorithm is started, and heating power output Pout is calculated; and according to a compensation calculation result, the power output of each heating sheet is dynamically adjusted, so that the temperature gradient delta Ti is within a set value. The temperature sensor group is arranged on the endoscope body, the power output of the heating sheet is dynamically adjusted by adopting a self-adaptive gradient compensation algorithm, and the gradient compensation coefficient alpha is adjusted by introducing an exponential attenuation function, so that accurate temperature control, adaptation to different operation modes, reduction of temperature fluctuation and improvement of equipment reliability are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a gradient heating control system and method for a disposable medical endoscope. Background Art

[0002] In the field of medical endoscope technology, precise temperature control of the endoscope body is crucial to ensure that the endoscope can be used safely and effectively during surgery. On the one hand, the endoscope body is long, and the heat exchange between different parts and the surrounding environment varies significantly. If the temperature distribution of the endoscope body is uneven, local overheating may cause damage to the tissue, while excessively low temperatures may affect the normal use of the endoscope and reduce the safety and effectiveness of medical operations. On the other hand, surgical scenarios are complex and changeable, and different surgical modes have different requirements for temperature control. This requires the heating control system to be able to respond quickly and adapt to various environmental changes.

[0003] Existing endoscope heating control technology has numerous shortcomings. Traditional heating methods often rely on uniform heating, but lack the ability to precisely control the temperature of different parts of the endoscope, resulting in uneven temperature distribution and difficulty meeting actual surgical requirements. Some heating systems that use simple control algorithms, while capable of achieving a certain degree of temperature control, are unable to dynamically adjust control parameters in complex and changing surgical environments. This results in low temperature control accuracy, slow response speed, and prone to temperature fluctuations, which impact system stability. Summary of the Invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0005] To solve the above technical problems, the present invention provides the following technical solution: a gradient heating control system and method for a disposable medical endoscope, comprising the following steps:

[0006] The temperature value T is collected in real time by three temperature sensor groups distributed in the front, middle and rear sections of the mirror body. i ;

[0007] Calculate the temperature gradient ΔT in each section j , and compare the calculated result with the set threshold θ;

[0008] When any temperature gradient ΔT j ≤ threshold θ, keep the current heating power unchanged, when any temperature gradient ΔT j When the threshold value θ is exceeded, the gradient compensation algorithm is started to calculate the heating power output P out;

[0009] According to the compensation calculation results, the power output of each heating plate is dynamically adjusted to make the temperature gradient ΔT i Within the set value.

[0010] As a preferred solution of the gradient heating control system and method of the disposable medical endoscope of the present invention, wherein: the T i The value range of i is 1, 2, and 3, corresponding to the temperature sensor groups in the front, middle, and rear sections of the mirror body, respectively.

[0011] As a preferred solution of the gradient heating control system and method of the disposable medical endoscope of the present invention, wherein: the ΔT j The mathematical expression is:

[0012] ΔT j =|T j -T j-1 |(j=2,3)

[0013] Where, ΔT j represents the temperature gradient of the jth segment, that is, the absolute difference between the temperatures of two adjacent segments, in °C, and also represents the temperature changes at different positions of the endoscope; T j represents the temperature value measured by the temperature sensor group in the jth segment, in °C; T j-1 It represents the temperature value of the first section in °C; j = 2, 3 means that the temperature gradient calculation is applicable to two areas, namely the temperature gradient between the first section and the middle section and the temperature gradient between the middle section and the back section.

[0014] As a preferred solution of the gradient heating control system and method for disposable medical endoscopes of the present invention, the calculation formula of θ is:

[0015]

[0016] As a preferred embodiment of the gradient heating control system and method for disposable medical endoscopes of the present invention, the mathematical expression of the gradient compensation algorithm is:

[0017]

[0018] in:

[0019] K p e(t) is the proportional control term;

[0020] K p is the proportional gain, which adjusts the instantaneous response of the control system to the error;

[0021] e(t) is the temperature error, that is, the deviation between the set temperature and the actual temperature;

[0022] K i ∫e(t)dt is the integral control term;

[0023] K i is the integral gain, used to eliminate long-term steady-state error;

[0024] ∫e(t)dt is the time integral of the error, which represents the accumulation of error over time;

[0025] is the differential control term;

[0026] K d is the differential gain, used to suppress temperature fluctuations;

[0027] Indicates the rate of change of error over time, which is used to predict future error trends and enhance dynamic response; is the gradient compensation term;

[0028] It is the sum of the temperature gradients of the three temperature measurement sections, indicating the temperature gradient of the entire endoscope;

[0029] ΔT n represents the temperature gradient of the nth segment;

[0030] α is the gradient compensation coefficient, which determines the effect of temperature gradient on heating power. Its unit matches the PID control item, and its value changes dynamically. The calculation formula is:

[0031] α=0.32-0.18·exp(-t / τ)

[0032] Where exp(-t / τ) is an exponential decay function used to dynamically adjust the gradient compensation coefficient so that it changes over time; τ is the device time constant in seconds, which represents the thermal response characteristics of the system.

[0033] As a preferred embodiment of the gradient heating control system and method for disposable medical endoscopes of the present invention, a dual closed-loop control structure is adopted in the process of dynamically adjusting the power output of each heating plate according to the compensation calculation results, wherein:

[0034] The inner loop is a current loop with a response time of less than 100μs, which is used to adjust the current of the heater in real time to accurately control its power output;

[0035] The outer loop is the temperature loop with a control period of 50ms to ensure that the temperature gradient is controlled within the set range.

[0036] As a preferred solution of the disposable medical endoscope gradient heating control system and method described in the present invention, the process of dynamically adjusting the power output of each heating plate according to the compensation calculation results adopts an adaptive gradient compensation algorithm based on PID control.

[0037] As a preferred solution of the disposable medical endoscope gradient heating control system and method of the present invention, wherein: in the adaptive gradient compensation algorithm, the PID gain parameter K p , K i , K d Dynamic adjustments are made based on ambient temperature, thermal inertia, historical temperature data, and fuzzy control methods to maintain optimal temperature distribution in different operating modes.

[0038] The present invention also provides a disposable medical endoscope gradient heating control system, which includes:

[0039] A multi-channel temperature acquisition module is used to collect temperature data of the front, middle and rear sections of the endoscope in real time and transmit it to the gradient calculation unit for subsequent processing;

[0040] A gradient calculation unit, which is used to calculate the gradient temperature in real time and feed the calculation result back to the adaptive gradient compensation algorithm module;

[0041] An adaptive gradient compensation algorithm module that dynamically adjusts PID parameters based on ambient temperature, thermal inertia, historical temperature data, and fuzzy control methods;

[0042] A carbon nanotube heating element array, wherein the carbon nanotube heating element array adopts 5 or more independently controllable zones, and the power of each zone is independently adjusted;

[0043] The safety protection module is used for temperature anomaly protection. Whenever a single-point temperature difference of more than 8°C is detected, the power supply is automatically cut off and the backup battery is started to supply power.

[0044] As a preferred solution of the disposable medical endoscope gradient heating control system described in the present invention, the gradient calculation unit is based on the FPGA architecture, has a built-in 32-bit floating-point arithmetic unit, and uses parallel computing to improve the calculation speed to support real-time temperature adjustment.

[0045] Beneficial effects of the present invention:

[0046] 1. The present invention calculates the temperature gradient ΔT in real time by arranging temperature sensor groups at the front, middle and rear sections of the mirror body. jThe system uses a PID-controlled adaptive gradient compensation algorithm to dynamically adjust the power output of each heating element, ensuring that the temperature gradient is controlled within a range of ≤2°C / cm. This method effectively prevents local overheating and damage to tissues, while ensuring temperature uniformity and improving the safety and effectiveness of medical procedures.

[0047] 2. The method provided by the present invention adopts an adaptive gradient compensation algorithm, and the PID gain parameters are dynamically adjusted according to the ambient temperature, thermal inertia, historical temperature data and fuzzy control method to adapt to different surgical modes. A high-precision, fast-response temperature control system is achieved through a double closed-loop control structure, reducing temperature fluctuations and improving system stability.

[0048] 3. This invention introduces an exponential decay function to adjust the gradient compensation coefficient α, causing it to change over time and dynamically influence the heating power output. This method provides higher compensation strength during the initial operation of the device to quickly reach the target temperature, while gradually reducing the compensation strength during the stable phase to reduce power consumption and improve energy efficiency. This ensures that the temperature gradient remains within the set range, thereby improving the reliability and service life of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0050] Figure 1 This is a flowchart of the gradient heating control method for a disposable medical endoscope of the present invention. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0052] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0053] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0054] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing the embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, the three-dimensional dimensions of length, width, and depth should be included.

[0055] Example 1

[0056] Reference Figure 1 , as one embodiment of the present invention, provides a disposable medical endoscope gradient heating control system and method, comprising the following steps:

[0057] S1: The temperature value T is collected in real time through three temperature sensor groups distributed in the front, middle and rear sections of the mirror (each group contains three sensors distributed in a 120° ring). i .

[0058] Specifically, the T i The value range of i is 1, 2, and 3, corresponding to the temperature measurements of the front (lens area at the front end of the endoscope), the middle (operation area), and the back (handle connection area) of the endoscope, respectively. It can also be understood that T1 is the lens temperature, T2 is the temperature of the surgical site, and T3 is the handle temperature. T1 must ensure that it does not overheat and affect visualization, T2 must remain within the set range, and T3 must prevent overheating of the operating area of the surgeon.

[0059] S2: Calculate the temperature gradient ΔT of each section j , and compare the calculated result with the set threshold θ.

[0060] Specifically, ΔT j The mathematical expression is:

[0061] ΔT j =|T j -T j-1 |(j=2,3)

[0062] in:

[0063] ΔT j It represents the temperature gradient of the jth segment, that is, the absolute difference between the temperatures of two adjacent segments, in °C. It also represents the temperature changes at different positions of the endoscope and is an important reference value for heating compensation.

[0064] T j It represents the temperature value measured by the temperature sensor group in the jth segment, in °C. Endoscopes are usually divided into the front, middle, and back segments, corresponding to T1, T2, and T3 respectively.

[0065] T j-1Indicates the temperature value of the previous section in °C. For example, if j = 2, then T j-1 =T1 (front section temperature); if j=2, then T j-1 =T2 (middle temperature).

[0066] j = 2,3 means that the temperature gradient calculation applies to two regions:

[0067] ΔT2 = |T2-T1| (temperature gradient between the front section and the middle section)

[0068] ΔT3 = |T3-T2| (temperature gradient between the middle section and the rear section).

[0069] The function of this formula is to calculate the degree of temperature change between two adjacent segments and to determine whether it is necessary to start the heating compensation algorithm to ensure that the temperature gradient does not exceed the set threshold and avoid lens fogging or damage caused by uneven temperature.

[0070] Specifically, the threshold θ is adjusted according to different surgical modes. When the working mode is mucosal repair mode, θ = 5°C, which is suitable for gastric ulcer repair. The temperature should not be too high to promote tissue healing; when the working mode is tumor ablation mode, θ = 3°C to ensure the temperature of the ablation site is stable to avoid heat diffusion affecting normal tissue; when the ambient temperature is <10°C, θ = 7°C, and a higher temperature gradient is required to quickly heat the endoscope to prevent the lens from fogging.

[0071] S3: When any temperature gradient ΔT j ≤ threshold θ, keep the current heating power unchanged, when any temperature gradient ΔT j When the threshold value θ is exceeded, the gradient compensation algorithm is started to calculate the heating power output P out .

[0072] For example: when the working mode is mucosal repair mode, θ=5℃, if ΔT2 and ΔT3 are both ≤5℃, the current temperature gradient is within the safe range, there is no need to adjust the heating power, and the current heating state remains unchanged; if one of ΔT2 and ΔT3 is greater than 5℃, the gradient compensation algorithm is started.

[0073] Specifically, the mathematical expression of the gradient compensation algorithm is:

[0074]

[0075] in:

[0076] K p e(t) is the proportional control term;

[0077] K p The proportional gain is used to adjust the instantaneous response strength of the control system to the error, which can be obtained through modeling, experiments or optimization algorithms and belongs to the existing technology;

[0078] e(t) is the temperature error, that is, the deviation between the set temperature and the actual temperature;

[0079] K i ∫e(t)dt is the integral control term;

[0080] K i is the integral gain, which is used to eliminate long-term steady-state errors and improve system stability. It can be obtained through modeling, experiments or optimization algorithms and belongs to the existing technology;

[0081] ∫e(t)dt is the time integral of the error, which represents the accumulation of error over time;

[0082] is the differential control term;

[0083] K d It is a differential gain used to suppress temperature fluctuations and improve system response speed. It can be obtained through modeling, experiments or optimization algorithms and belongs to the existing technology.

[0084] Indicates the rate of change of error over time, which is used to predict future error trends and enhance dynamic response; is the gradient compensation term;

[0085] It is the sum of the temperature gradients of the three temperature measurement sections, indicating the temperature gradient of the entire endoscope;

[0086] ΔT n represents the temperature gradient of the nth segment;

[0087] α is the gradient compensation coefficient, which determines the effect of temperature gradient on heating power. Its unit matches the PID control item, and its value changes dynamically. The calculation formula is:

[0088] α=0.32-0.18·exp(-t / τ)

[0089] in:

[0090] exp(-t / τ) is an exponential decay function, which is used to dynamically adjust the gradient compensation coefficient so that it changes over time.

[0091] t represents time, which refers to the time from the start of heating or the start of temperature compensation. At t = 0, α is the largest, indicating that the compensation effect is strong at the beginning. As t increases, exp(-t / τ) gradually approaches 0 and α gradually approaches 0.32, indicating that the compensation effect weakens after the system stabilizes.

[0092] τ is the device time constant, in seconds, which represents the thermal response characteristics of the system. It is obtained through experimental measurement or theoretical calculation and belongs to the existing technology, so it will not be described in detail here.

[0093] The value of τ is usually related to the thermal inertia and thermal response characteristics of the device. If the thermal response characteristics of the device are slightly different in different modes (such as the same material, heating power and thermal conductivity characteristics), τ can be set to a fixed value; if the heating power, target temperature or heat loss are different in different modes (such as the tumor ablation mode may require higher power, resulting in different thermal inertia), τ should vary with the mode.

[0094] The mathematical expression of the above gradient compensation algorithm combines PID control (for stabilizing temperature) and gradient compensation (for suppressing temperature gradient), which can ensure uniform heating of the endoscope and avoid affecting the use effect due to local excessively high or low temperatures.

[0095] S4: According to the compensation calculation results, dynamically adjust the power output of each heating plate to make the temperature gradient ΔT i Within the set value, the set value is 2℃ / cm, that is, ΔT i ≤2℃ / cm. The heating element is made of carbon nanotube material, which has excellent thermal conductivity and fast response characteristics.

[0096] Specifically, in the process of dynamically adjusting the power output of each heating plate according to the compensation calculation result, a double closed-loop control structure is adopted, wherein:

[0097] The inner loop is a current loop with a response time of less than 100μs, which is used to adjust the current of the heater in real time to accurately control its power output;

[0098] The outer loop is the temperature loop with a control period of 50ms to ensure that the temperature gradient is controlled within the set range (2°C / cm).

[0099] Furthermore, according to the compensation calculation results, the process of dynamically adjusting the power output of each heating plate adopts an adaptive gradient compensation algorithm based on PID control. In the adaptive gradient compensation algorithm, the PID gain parameter K p , K i , K d Dynamic adjustments are made based on ambient temperature, thermal inertia, historical temperature data, and fuzzy control methods to maintain optimal temperature distribution under different working modes (such as mucosal repair mode and tumor ablation mode), thereby improving temperature control accuracy and reducing temperature fluctuations.

[0100] Among them, the dynamic adjustment rule of PID gain parameters is:

[0101] According to the ambient temperature:

[0102] Ambient temperature affects heat loss in the heating area:

[0103] In low temperature environment (such as <10℃), the device dissipates heat quickly and the system response becomes slow, so it is necessary to increase K p and K i To speed up the temperature rise.

[0104] In high temperature environments (such as >35°C), heat dissipation is slow and the risk of overshoot increases, so it is necessary to reduce K p And improve K d To reduce oscillation.

[0105] Based on thermal inertia:

[0106] The greater the thermal inertia, the slower the response and the more obvious the hysteresis effect:

[0107] When thermal inertia (τ) is large, increase K p , reduce K d , improve the integral action to overcome the lag.

[0108] When thermal inertia (τ) is small, reduce K p , increase K d , to prevent overshoot and oscillation.

[0109] When based on historical temperature data:

[0110] Analyze system performance through historical temperature control errors and trends:

[0111] If historical data shows that the control error is large, it means that PID needs a stronger regulation effect, and K should be increased. p , K i .

[0112] If historical data indicates a large overshoot, K should be lowered. p , increase K d To improve stability.

[0113] According to the fuzzy control method:

[0114] Using fuzzy control rules, according to the current error e(t) and the error change rate Adjust PID parameters:

[0115] If the error is large and changes quickly, increase K p To speed up adjustments.

[0116] If the error is large but changes slowly, increase K i To eliminate steady-state errors.

[0117] If the error is small but changes quickly, increase K d To suppress overshoot.

[0118] e(t) and No need to adjust K p , K i , K d .

[0119] In summary, the present invention calculates the temperature gradient ΔT in real time by arranging temperature sensor groups at the front, middle and rear sections of the mirror body. j , and adopts the adaptive gradient compensation algorithm of PID control to dynamically adjust the power output of each heating plate to ensure that the temperature gradient is controlled within the range of ≤2℃ / cm. This method can effectively prevent local overheating from causing damage to tissues, while ensuring temperature uniformity and improving the safety and effectiveness of medical operations. The method provided by the present invention adopts an adaptive gradient compensation algorithm, and the PID gain parameters are dynamically adjusted according to the ambient temperature, thermal inertia, historical temperature data and fuzzy control methods to adapt to different surgical modes, and a high-precision, fast-response temperature control system is achieved through a double closed-loop control structure to reduce temperature fluctuations and improve system stability. The present invention introduces an exponential decay function to adjust the gradient compensation coefficient α so that it changes over time and dynamically affects the heating power output. The method provides a higher compensation intensity in the initial stage of equipment operation to quickly reach the target temperature, and gradually reduces the compensation intensity in the stable stage to reduce power consumption and improve energy efficiency, while ensuring that the temperature gradient always remains within the set range, which is beneficial to improving the reliability and service life of the equipment.

[0120] Example 2, an embodiment of the present invention, provides a gradient heating control system for a disposable medical endoscope, comprising: a multi-channel temperature acquisition module for real-time acquisition of temperature data from the front, middle, and rear sections of the endoscope body and transmission to a gradient calculation unit for subsequent processing; a gradient calculation unit for real-time calculation of gradient temperatures and feedback of the calculation results to an adaptive gradient compensation algorithm module; an adaptive gradient compensation algorithm module for dynamically adjusting PID parameters based on ambient temperature, thermal inertia, historical temperature data, and fuzzy control methods; a carbon nanotube heating plate array employing five or more independently controllable zones, with power independently adjusted for each zone to ensure that the temperature gradient at different locations remains within a set range; and a safety protection module for temperature anomaly protection. Whenever a single-point temperature difference greater than 8°C is detected, the power is automatically cut off and a backup battery is activated for power supply. The gradient calculation unit is based on an FPGA architecture with a built-in 32-bit floating-point arithmetic unit (FPU). Parallel computing is used to increase computational speed and support real-time temperature adjustment.

[0121] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A gradient heating control method for a disposable medical endoscope, characterized in that: The following steps are involved: The temperature value T is collected in real time by three temperature sensor groups distributed in the front, middle and rear sections of the mirror body. i ; Calculate the temperature gradient ΔT in each section j , and compare the calculated result with the set threshold θ; When any temperature gradient ΔT j ≤ threshold θ, keep the current heating power unchanged, when any temperature gradient ΔT j When the threshold value θ is exceeded, the gradient compensation algorithm is started to calculate the heating power output P out ; According to the compensation calculation results, the power output of each heating plate is dynamically adjusted to make the temperature gradient ΔT i Within the set value.

2. The gradient heating control method for a disposable medical endoscope according to claim 1, wherein: The T i The value range of i is 1, 2, and 3, corresponding to the temperature sensor groups in the front, middle, and rear sections of the mirror body, respectively.

3. The gradient heating control method for a disposable medical endoscope according to claim 1, wherein: The ΔT j The mathematical expression is: ΔT j =|T j -T j-1 | (j=2,3) Where, ΔT j It represents the temperature gradient of the jth segment, that is, the absolute difference between the temperatures of two adjacent segments, in °C, and also represents the temperature changes at different positions of the endoscope; T j represents the temperature value measured by the temperature sensor group in the jth segment, in °C; T j-1 It represents the temperature value of the first section in °C; j = 2, 3 means that the temperature gradient calculation is applicable to two areas, namely the temperature gradient between the first section and the middle section and the temperature gradient between the middle section and the back section.

4. The gradient heating control method for a disposable medical endoscope according to claim 1, wherein: The calculation formula of θ is:

5. The gradient heating control method for a disposable medical endoscope according to claim 1, wherein: The mathematical expression of the gradient compensation algorithm is: in: K p e(t) is the proportional control term; K p is the proportional gain, which adjusts the instantaneous response of the control system to the error; e(t) is the temperature error, that is, the deviation between the set temperature and the actual temperature; K i ∫e(t)dt is the integral control term; K i is the integral gain, which is used to eliminate long-term steady-state errors; ∫e(t)dt is the time integral of the error, which represents the accumulation of error over time; is the differential control term; K d is the differential gain, used to suppress temperature fluctuations; Indicates the rate of change of error over time, which is used to predict future error trends and enhance dynamic response; is the gradient compensation term; It is the sum of the temperature gradients of the three temperature measurement sections, indicating the temperature gradient of the entire endoscope; ΔT n represents the temperature gradient of the nth segment; α is the gradient compensation coefficient, which determines the effect of temperature gradient on heating power. Its unit matches the PID control item, and its value changes dynamically. The calculation formula is: α=0.32-0.18·exp(-t / τ) Where exp(-t / τ) is an exponential decay function used to dynamically adjust the gradient compensation coefficient so that it changes over time; τ is the device time constant in seconds, which represents the thermal response characteristics of the system.

6. The gradient heating control method for a disposable medical endoscope according to claim 1, wherein: In the process of dynamically adjusting the power output of each heating plate according to the compensation calculation results, a double closed-loop control structure is adopted, wherein: The inner loop is a current loop with a response time of less than 100μs, which is used to adjust the current of the heater in real time to accurately control its power output; The outer loop is the temperature loop with a control period of 50ms to ensure that the temperature gradient is controlled within the set range.

7. The gradient heating control method for a disposable medical endoscope according to claim 6, wherein: The process of dynamically adjusting the power output of each heating plate according to the compensation calculation result adopts an adaptive gradient compensation algorithm based on PID control.

8. The gradient heating control method for a disposable medical endoscope according to claim 7, wherein: In the adaptive gradient compensation algorithm, the PID gain parameter K p , K i , K d Dynamic adjustments are made based on ambient temperature, thermal inertia, historical temperature data, and fuzzy control methods to maintain optimal temperature distribution in different operating modes.

9. A disposable medical endoscope gradient heating control system, based on the disposable medical endoscope gradient heating control method according to any one of claims 1 to 8, characterized in that: include, A multi-channel temperature acquisition module is used to collect temperature data of the front, middle and rear sections of the endoscope in real time and transmit it to the gradient calculation unit for subsequent processing; A gradient calculation unit, which is used to calculate the gradient temperature in real time and feed the calculation result back to the adaptive gradient compensation algorithm module; An adaptive gradient compensation algorithm module that dynamically adjusts PID parameters based on ambient temperature, thermal inertia, historical temperature data, and fuzzy control methods; A carbon nanotube heating element array, wherein the carbon nanotube heating element array adopts 5 or more independently controllable zones, and the power of each zone is independently adjusted; The safety protection module is used for temperature anomaly protection. Whenever a single-point temperature difference of more than 8°C is detected, the power supply is automatically cut off and the backup battery is started to supply power.

10. The gradient heating control system for a disposable medical endoscope according to claim 9, characterized in that: The gradient calculation unit is based on FPGA architecture, has a built-in 32-bit floating-point arithmetic unit, and uses parallel computing to increase the calculation speed to support real-time temperature adjustment.

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