Fault processing method and device of confocal microendoscope, medium and terminal

Abstract

The invention relates to the field of confocal microendoscopes, and discloses a confocal microendoscope fault processing method and device, a medium and a terminal.The method comprises the steps that a current operation stage and / or a preorder action for generating a target fault image are / is obtained, and an initial fault reason and an image feature judgment condition are generated; and calculating a fault feature parameter of the target fault image, matching the fault feature parameter with the image feature judgment condition, positioning a target fault reason according to a matching result, and executing a corresponding preset fault processing scheme. According to the invention, analysis can be carried out through image features of the fault image, and a refined user operation sequence, system automatic actions, environment interference events and data of each state sensor are recorded and associated, so that combined judgment is carried out in combination with a fault occurrence stage and preorder actions before the fault occurs, image fault reasons are comprehensively traced, and the fault detection efficiency is improved. The accuracy and the recognition efficiency of fault recognition are improved, and a correct processing method can be provided according to a fault recognition result.

Description

Technical Field

[0001] The present invention relates to the field of confocal microendoscopy, and in particular to a confocal microendoscopy fault handling method, device, medium and terminal. Background Art

[0002] A microendoscope is a medical device that can be inserted into the human body through channels such as gastroscopes and colonoscopes to obtain localized histological images for accurate diagnosis of small lesions, gastrointestinal lesions, and early gastrointestinal cancers. The microendoscope consists of a main unit, a probe, and a display. During a clinical examination, the probe is connected to the main unit, imaging is activated, and the probe is passed through the channel into the patient's body to the observation area. The display displays a real-time microscopic image of the area being observed.

[0003] During the imaging process, there are many reasons that lead to image failure, such as unclear images. One is a collision with the probe. During clinical examinations, doctors need to manually insert the probe into the channel, or accidentally touch the probe during use. This operation will cause the relative position of the probe and the host to change, resulting in serious degradation of image quality. In addition, during the long-term operation of the microendoscope, the change in motor position leads to a decrease in focusing effect, which can easily lead to unclear images. How to quickly and effectively identify the cause of the abnormality and realize automatic correction is a key issue that needs to be solved urgently. Summary of the Invention

[0004] The present invention provides a confocal microendoscopic fault handling method, device, medium and terminal, which solve the above-mentioned technical problems.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: A first aspect of an embodiment of the present invention provides a method for troubleshooting a confocal microendoscopy, comprising the following steps: Step 1: query the operation log of the confocal endoscope to obtain the current operation stage and / or preceding actions that generated the target fault image; Step 2: generating the initial fault cause of the target fault image and the image feature judgment condition corresponding to each initial fault cause according to the current operation stage and / or the preceding action; Step 3: Calculate the fault characteristic parameters of the target fault image, match the fault characteristic parameters with each image feature judgment condition, and locate the target fault cause from the initial fault cause based on the matching result; Step 4: Execute the corresponding preset fault handling solution according to the target fault cause.

[0006] A second aspect of an embodiment of the present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the above-mentioned confocal microendoscopy fault handling method is implemented.

[0007] A third aspect of an embodiment of the present invention provides a confocal microendoscopy fault handling terminal, comprising a computer-readable storage medium and a processor, wherein the processor implements the steps of the above-mentioned confocal microendoscopy fault handling method when executing the computer program on the computer-readable storage medium.

[0008] A fourth aspect of the embodiments of the present invention provides a confocal microendoscopy fault handling device, comprising a first acquisition module, a second acquisition module, a matching module, and an execution module. The first acquisition module is used to query the operation log of the confocal endoscope to obtain the current operation stage and / or preceding action that generated the target fault image; The second acquisition module is used to generate the initial fault cause of the target fault image and the image feature judgment condition corresponding to each initial fault cause according to the current operation stage and / or the previous action; The matching module is used to calculate the fault characteristic parameters of the target fault image, match the fault characteristic parameters with each image feature judgment condition, and locate the target fault cause from the initial fault cause based on the matching result; The execution module is used to execute a corresponding preset fault handling solution according to the target fault cause.

[0009] Beneficial effects of the present invention: The embodiments of the present invention provide a confocal microendoscopy fault handling method, device, medium and terminal, which changes the inefficient operation of the existing technology that can only check the causes of faults one by one. It can not only analyze the image features of the fault image, but also record and associate the refined user operation sequence, system automatic actions, environmental interference events and various status sensor data, so as to combine the fault occurrence stage and the preceding actions before the fault occurs to jointly judge and comprehensively trace the cause of the fault, improve the accuracy and efficiency of fault identification, and provide a correct handling method according to the fault identification result.

[0010] In order to make the above-mentioned objects, features and advantages of the invention more obvious and easy to understand, preferred embodiments of the present invention are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1 1 is a flow chart of a method for troubleshooting a confocal microendoscopy provided in Example 1; Figure 2 This is a fault image formed by the coupling lens not being focused in Example 1; Figure 3 This is the fault image caused by the loose probe in Example 1; Figure 4 2 is a schematic structural diagram of a troubleshooting device for a confocal endoscope provided in Example 2; Figure 5 This is a schematic diagram of the structure of the fault handling terminal for the confocal endoscope provided in Example 3. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solution and beneficial technical effects of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are only for the purpose of explaining the present invention and are not intended to limit the present invention.

[0014] Figure 1 FIG. 1 is a flow chart of a troubleshooting method for a confocal microendoscopy system according to Example 1. Figure 1 As shown, the following steps are included: Step 1: query the operation log of the confocal endoscope to obtain the current operation stage and / or preceding actions that generated the target fault image; Step 2: generating the initial fault cause of the target fault image and the image feature judgment condition corresponding to each initial fault cause according to the current operation stage and / or the preceding action; Step 3: Calculate the fault characteristic parameters of the target fault image, match the fault characteristic parameters with each image feature judgment condition, and locate the target fault cause from the initial fault cause based on the matching result; Step 4: Execute the corresponding preset fault handling solution according to the target fault cause.

[0015] The above embodiment provides a confocal microendoscopy fault handling method, which can not only analyze the image features of the fault image, but also record and associate the refined user operation sequence, system automatic actions, environmental interference events and various status sensor data, so as to combine the fault occurrence stage and the preceding actions before the fault occurs to make a joint judgment and comprehensively trace the cause of the fault, thereby improving the accuracy and efficiency of fault identification, and providing a correct handling method based on the fault identification results.

[0016] The specific technical solutions and technical effects of the above steps are described below through specific embodiments.

[0017] Exemplarily, in a preferred embodiment, the operation process of the confocal microendoscope is divided into three stages, including a startup stage, a scanning stage, and a maintenance stage. The main cause of image failure in the startup stage includes probe coupling focus failure. Specifically, after the confocal microendoscope is started, the laser emits a laser of a certain intensity under command control. The laser is expanded by a beam expander lens and then reflected by a dichroic mirror to a galvanometer system composed of a horizontal galvanometer and a vertical galvanometer. Driven by a control signal, the galvanometer system deflects the laser to perform a plane scan. After the scanning laser beam passes through the relay lens and the coupling lens, it is coupled into the imaging probe. The focusing motor is responsible for driving the coupling lens position to ensure that the laser is accurately coupled to the end face of the imaging probe. If the system focus is unstable or does not meet the focus requirements, it is easy to cause overall blurred imaging, such as Figure 2 shown.

[0018] The causes of image failure during the scanning phase include probe collision and changes in the connection status between the probe and the host caused by equipment movement. This is because the microendoscope is a very precise instrument, and its imaging area is usually only a few hundred microns. A slight change in the relative position of the probe and the host will cause the image quality to deteriorate and affect the imaging accuracy. Specifically, some areas of the image are normal, while some areas are unclear due to incomplete connection, and the unclear areas in multiple frames of images are basically the same, such as Figure 3 The left and lower areas in the image are shown.

[0019] The causes of image failure in the maintenance phase include the adjustment of debugging parameters corresponding to the preset processing modules, such as the motor control module, the distortion correction module or the packaging module, where the motor control module is used to drive the coupling lens position to achieve focusing, the distortion correction module is used to correct the scanned image that is not aligned or has stretching distortion, and the packaging module is used to send the distortion-corrected image to the host computer. During use, especially in maintenance mode, these modules will automatically change the various parameters according to the preset method, thereby forming various types of fault images, thereby detecting the actual application effect of the corresponding module, or the accuracy of data transmission. For example, for the motor control module, only acceleration-uniform speed-deceleration control can be used during the focusing process. In order to verify the effect, other control schemes can be added, such as a control scheme of uniform speed throughout the entire process or acceleration throughout the entire process, and corresponding fault images are formed under these control schemes.

[0020] Exemplarily, the preceding actions in the embodiments of the present invention include user operation actions, system automatic actions and / or environmental actions. During the use of the confocal microendoscope, after the operation start instruction of the confocal microendoscope is obtained, the user operation actions and the system automatic actions will be continuously recorded, and an operation log with a unified timestamp will be established. Different actions will be marked in the operation log. By analyzing the operation log, all the operator's actions within a preset time before the fault image is generated, such as 30 seconds to 5 minutes, can be obtained, including the insertion / extraction of the probe, the movement of the equipment, the change of control parameters (such as laser power adjustment), the input or call of various control instructions, such as start / pause scanning, save image, switch mode, etc. System automatic actions, such as autofocus and automatic gain adjustment generated by executing control instructions, will also be recorded in the operation log.

[0021] Preferred embodiments also take into account environmental factors, such as ambient temperature and vibration. Ambient temperature is captured using a temperature sensor. Ambient temperature can cause changes in the characteristics of electronic components, such as altering the motion of a galvanometer mirror, resulting in unclear images. The same applies to environmental vibrations. For example, moving a confocal imaging device can cause vibrations. Vibration exceeding a threshold can cause probe loosening and motor displacement. Therefore, accelerometers can be deployed in key locations of the device (such as the main unit and probe handle) to continuously monitor vibration amplitude and spectrum, marking vibration events exceeding the threshold and their timing.

[0022] In this way, this solution can build a time-synchronized, multi-source fusion operation-environment-image state event log system, ensuring the synchronization of image timestamps, operation log timestamps, and sensor data timestamps. This allows the preceding actions of the fault image to be obtained from the operation log, and a preliminary cause determination can be made based on these preceding actions combined with the current operation stage. Specifically, a preset fault library can be queried based on the current operation stage and preceding actions, and the corresponding fault causes can be obtained through pre-established mapping relationships. The overlapping fault causes can then be selected as the preliminary fault causes of this embodiment.

[0023] For example, in one embodiment, locating the cause of the target fault in step 3 specifically includes the following steps: Acquire a continuous multi-frame target fault image, wherein the target fault image is an optical fiber end face image; Detecting the optical fiber cores and / or preset patterns of each frame of the target fault image, and calculating fault characteristic parameters based on the detection results, wherein the fault characteristic parameters include the average number of fiber cores, the number of fiber cores in each preset end face area, the overlap rate of the undistributed fiber core areas in multiple frames of the target fault image, and / or the target pattern contained in any target fault image; The fault feature parameter is matched with each image feature judgment condition to obtain a target judgment condition satisfied by the fault feature parameter, and the initial fault cause corresponding to the target judgment condition is used as the target fault cause.

[0024] Specifically, the image feature judgment conditions include: If the fault is probe coupling focus failure, the image feature judgment condition is: the average number of fiber cores is less than a first preset value and the difference in the number of fiber cores in each preset end face area is less than a second preset value; If the change in the connection state between the probe and the host is caused by a probe collision or device movement, the image feature judgment condition is: the average number of fiber cores is greater than a third preset value and the overlap rate of the fiber core undistributed area in the multi-frame target fault image is greater than a fourth preset value, and the third preset value is greater than the first preset value; If the debugging parameter corresponding to the preset processing module is adjusted, the image feature judgment condition is: the target pattern included in any target fault image is consistent with the preset pattern.

[0025] Different faults cause different image failure states. If the motor shift causes misfocus, then the entirety of multiple consecutive frames of images will be unclear. In this case, the fiber end face can be divided into multiple fiber end face regions of equal area. The number of identifiable fiber cores in each frame of image can be detected to obtain the first average number of fiber cores in the multiple frames of image and the second average number of fiber cores in each preset end face region. If the first average number of fiber cores is less than the first preset value, and the difference in the second average number of fiber cores in each preset end face region is less than the second preset value, then the unclearness is uniform, indicating that the image failure is caused by the motor not being focused. In this case, return the motor to its initial position and refocus. If the probe becomes loose due to vibration, contact, etc., the image of the loose part will be unclear, but the image of the connected part will be clear. At this time, the number of identifiable fiber cores in each frame of the image and the distribution area of ​​the identifiable fiber cores can be detected. If the first average number of fiber cores in the multi-frame images is detected to be greater than the third preset value and the overlap rate of the undistributed area of ​​the fiber cores in the multi-frame target fault images is greater than the fourth preset value, it means that most of the fiber cores can be detected and the distribution area is concentrated and fixed, then it can be considered that the fault is caused by the loose probe. At this time, a prompt can be given, and after the probe is re-fixed, the optical fiber positioning can be re-performed, so as to obtain a more accurate cause of the fault by combining the stage at which the above-mentioned fault image appears, the preceding action, etc.

[0026] For example, to test whether there are any abnormalities in data transmission, the packaging parameters can be adjusted so that the packaged image includes not only the normal calibrated image, but also a fault image containing preset patterns such as vertically spaced stripes, horizontally spaced stripes, checkerboard patterns, horizontal grayscale, and vertical grayscale. In this case, if the fault image is detected to include the target pattern such as vertically spaced stripes, horizontally spaced stripes, checkerboard patterns, horizontal grayscale, or vertical grayscale, it indicates that the data transmission is normal. In this case, the normal calibrated image can be used for image diagnostic analysis or image display on the host computer at a later stage. Otherwise, it is necessary to analyze the abnormal phenomenon to locate the data transmission problem. Once the problem is resolved, the normal calibrated image can be used for image diagnostic analysis or image display on the host computer at a later stage.

[0027] Of course, in other embodiments, other judgment conditions may be set according to image features of different faults, and all of these are within the protection scope of the present invention.

[0028] Exemplarily, an early warning step is also included, specifically: if the fault feature parameters do not meet any of the image feature judgment conditions, a warning instruction is generated, and repeated image features of the consecutive multiple-frame target fault images are identified, that is, features that exist in multiple frames of fault images, and are matched one by one in the alternative fault library, and an alternative fault list is generated based on the repeated image features. In the above preferred embodiment, when all conditions cannot be matched, it means that the range of possible initial fault causes is too small. In this case, the operation stage or preceding action is not limited, and the fault library is directly matched based on the image features to obtain an alternative fault list and send it to the technician for technical personnel to check, further improving the effect of image fault cause detection.

[0029] It should be understood that the order of execution of the steps in the above embodiments does not necessarily mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0030] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for troubleshooting confocal microendoscopy.

[0031] Figure 4 FIG. 1 is a schematic diagram of the structure of the troubleshooting device for the confocal endoscope provided in Example 2. Figure 4 As shown, it includes a first acquisition module 100, a second acquisition module 200, a matching module 300 and an execution module 400. The first acquisition module 100 is used to query the operation log of the confocal endoscope to obtain the current operation stage and / or preceding action that generated the target fault image; The second acquisition module 200 is used to generate the initial fault cause of the target fault image and the image feature judgment condition corresponding to each initial fault cause according to the current operation stage and / or the previous action; The matching module 300 is used to calculate the fault characteristic parameters of the target fault image, match the fault characteristic parameters with each image feature judgment condition, and locate the target fault cause from the initial fault cause based on the matching result; The execution module 400 is used to execute a corresponding preset fault handling solution according to the target fault cause.

[0032] The above embodiment provides a confocal microendoscopy fault handling device, which can not only analyze the image features of the fault image, but also record and associate the refined user operation sequence, system automatic actions, environmental interference events and various status sensor data, so as to combine the fault occurrence stage and the preceding actions before the fault occurs to make a joint judgment and comprehensively trace the cause of the fault, thereby improving the accuracy and efficiency of fault identification, and providing a correct handling method based on the fault identification results.

[0033] In a preferred embodiment, the device also includes a log establishment module, which is used to obtain the operation start instruction of the confocal endoscope, and continuously record user operation actions, system automatic actions and / or environmental actions at a preset frequency, and establish an operation log with a unified timestamp.

[0034] In a preferred embodiment, the matching module 300 specifically includes: An image acquisition unit, configured to acquire a plurality of consecutive frames of target fault images, wherein the target fault images are optical fiber end face images; An image detection unit is configured to detect the optical fiber cores and / or preset patterns of each frame of the target fault image and calculate fault characteristic parameters based on the detection results, wherein the fault characteristic parameters include the average number of fiber cores, the number of fiber cores in each preset end face area, the overlap rate of the undistributed fiber core areas in multiple frames of the target fault image, and / or the target pattern contained in any target fault image; A matching unit is used to match the fault feature parameters with each image feature judgment condition, obtain a target judgment condition satisfied by the fault feature parameters, and use the initial fault cause corresponding to the target judgment condition as the target fault cause.

[0035] In a preferred embodiment, the device also includes an early warning module, which is used to generate an early warning instruction if the fault feature parameters do not meet any image feature judgment condition, and identify the repeated image features of the continuous multi-frame target fault images, and match them one by one in the alternative fault library, and generate an alternative fault list based on the repeated image features.

[0036] An embodiment of the present invention also provides a confocal microendoscopy fault handling terminal, comprising a computer-readable storage medium and a processor, wherein the processor implements the steps of the above-mentioned confocal microendoscopy fault handling method when executing the computer program on the computer-readable storage medium. Figure 5 FIG. 3 is a schematic diagram of the structure of a fault handling terminal for a confocal endoscope provided in Example 3 of the present invention. Figure 5As shown, the fault handling terminal 8 of the confocal microendoscopy of this embodiment includes: a processor 80, a readable storage medium 81, and a computer program 82 stored in the readable storage medium 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned various method embodiments are implemented, for example Figure 1 Alternatively, when the processor 80 executes the computer program 82, the functions of the modules in the above-mentioned device embodiments are realized, for example Figure 4 Functionality of the modules shown.

[0037] Exemplarily, the computer program 82 may be divided into one or more modules, which are stored in the readable storage medium 81 and executed by the processor 80 to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the confocal endomicroscope fault handling terminal 8.

[0038] The fault handling terminal 8 of the confocal microendoscopy may include, but is not limited to, a processor 80 and a readable storage medium 81. It will be understood by those skilled in the art that Figure 5 The present invention is merely an example of the fault handling terminal 8 of the confocal microendoscope and does not constitute a limitation on the fault handling terminal 8 of the confocal microendoscope. The fault handling terminal 8 may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the fault handling terminal of the confocal microendoscope may also include a power management module, an operation processing module, input and output devices, a network access device, a bus, etc.

[0039] The processor 80 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0040] The readable storage medium 81 can be an internal storage unit of the confocal microendoscopic fault processing terminal 8, such as a hard drive or memory of the confocal microendoscopic fault processing terminal 8. The readable storage medium 81 can also be an external storage device of the confocal microendoscopic fault processing terminal 8, such as a plug-in hard drive, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the confocal microendoscopic fault processing terminal 8. Furthermore, the readable storage medium 81 can also include both the internal storage unit of the confocal microendoscopic fault processing terminal 8 and an external storage device. The readable storage medium 81 is used to store the computer program and other programs and data required by the confocal microendoscopic fault processing terminal. The readable storage medium 81 can also be used to temporarily store data that has been output or is about to be output.

[0041] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0042] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0043] Those skilled in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0044] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0045] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0046] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0047] The present invention is not limited to what is described in the specification and embodiments, and additional advantages and modifications will be readily apparent to those skilled in the art. Therefore, the present invention is not limited to the specific details, representative devices, and illustrative examples shown and described herein without departing from the spirit and scope of the general concept defined by the claims and their equivalents.

Claims

1. A method for troubleshooting a confocal microendoscopy, characterized in that: The following steps are involved: Step 1: query the operation log of the confocal endoscope to obtain the current operation stage and / or preceding actions that generated the target fault image; Step 2: generating the initial fault cause of the target fault image and the image feature judgment condition corresponding to each initial fault cause according to the current operation stage and / or the preceding action; Step 3: Calculate the fault characteristic parameters of the target fault image, match the fault characteristic parameters with each image feature judgment condition, and locate the target fault cause from the initial fault cause based on the matching result; Step 4: Execute the corresponding preset fault handling solution according to the target fault cause.

2. The method for troubleshooting a confocal microendoscopy according to claim 1, characterized in that: The operation process of the confocal microendoscopy is divided into three stages, including a startup stage, a scanning stage, and a maintenance stage. The causes of image failure in the startup stage include probe coupling focus failure, the causes of image failure in the scanning stage include probe collision and changes in the connection status between the probe and the host caused by equipment movement, and the causes of image failure in the maintenance stage include adjustments to the debugging parameters corresponding to the preset processing module.

3. The troubleshooting method for confocal microendoscopy according to claim 1, characterized in that: It also includes an operation log establishment step, specifically: obtaining the operation start instruction of the confocal endoscope, and continuously recording user operation actions, system automatic actions and / or environmental actions at a preset frequency, and establishing an operation log with a unified timestamp.

4. The method for troubleshooting a confocal microendoscopy according to claim 3, characterized in that: The user operation actions include probe insertion / extraction actions, device movement actions, control parameter adjustment actions, and control instruction input / call actions; the system automatic actions include executing the autofocus actions and / or automatic gain adjustment actions generated by the control instructions; the environmental actions include environmental vibration and / or environmental temperature.

5. The method for troubleshooting a confocal microendoscopy according to any one of claims 1 to 4, characterized in that: The cause of the target fault is located in step 3, specifically: Acquire a continuous multi-frame target fault image, wherein the target fault image is an optical fiber end face image; Detecting the optical fiber cores and / or preset patterns of each frame of the target fault image, and calculating fault characteristic parameters based on the detection results, wherein the fault characteristic parameters include the average number of fiber cores, the number of fiber cores in each preset end face area, the overlap rate of the undistributed fiber core areas in multiple frames of the target fault image, and / or the target pattern contained in any target fault image; The fault feature parameter is matched with each image feature judgment condition to obtain a target judgment condition satisfied by the fault feature parameter, and the initial fault cause corresponding to the target judgment condition is used as the target fault cause.

6. The method for troubleshooting a confocal microendoscopy according to claim 5, characterized in that: The image feature judgment conditions include: If the fault is probe coupling focus failure, the image feature judgment condition is: the average number of fiber cores is less than a first preset value and the difference in the number of fiber cores in each preset end face area is less than a second preset value; If the change in the connection state between the probe and the host is caused by a probe collision or device movement, the image feature judgment condition is: the average number of fiber cores is greater than a third preset value and the overlap rate of the fiber core undistributed area in the multi-frame target fault image is greater than a fourth preset value, and the third preset value is greater than the first preset value; If the debugging parameter corresponding to the preset processing module is adjusted, the image feature judgment condition is: the target pattern included in any target fault image is consistent with the preset pattern.

7. The troubleshooting method for confocal endoscope according to claim 5, characterized in that: It also includes an early warning step, specifically: if the fault feature parameters do not meet any image feature judgment condition, a warning instruction is generated, and repeated image features of the continuous multi-frame target fault image are identified, and matched one by one in the alternative fault library, and an alternative fault list is generated based on the repeated image features.

8. A confocal microendoscopic fault handling device, characterized in that: It includes a first acquisition module, a second acquisition module, a matching module and an execution module. The first acquisition module is used to query the operation log of the confocal endoscope to obtain the current operation stage and / or preceding action that generated the target fault image; The second acquisition module is used to generate the initial fault cause of the target fault image and the image feature judgment condition corresponding to each initial fault cause according to the current operation stage and / or the previous action; The matching module is used to calculate the fault characteristic parameters of the target fault image, match the fault characteristic parameters with each image feature judgment condition, and locate the target fault cause from the initial fault cause based on the matching result; The execution module is used to execute a corresponding preset fault handling solution according to the target fault cause.

9. A computer-readable storage medium, characterized in that A computer program is stored, and when the computer program is executed by a processor, the steps of the troubleshooting method of the confocal microendoscopy according to any one of claims 1 to 7 are implemented.

10. A confocal microendoscopic fault handling terminal, characterized in that: The invention comprises a computer-readable storage medium and a processor, wherein when the processor executes the computer program on the computer-readable storage medium, the processor implements the steps of the confocal microendoscopy fault handling method according to any one of claims 1 to 7.

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