Endoscope control system, control method and computer device

Abstract

The embodiment of the application is suitable for the field of natural cavity operation and computer-aided medical technology, and provides a scope-entering control system, a control method and computer equipment. The scope-entering control system comprises a scope-entering motor, a driving module, a wire transmission module, a boom rotating motor and a lifting column. The driving module is installed on a positive and negative toothed lead screw with one end fixed with the scope-entering motor. The driving module clamps the gastroscope through a locking clamp mechanism. The tail of the gastroscope is connected with the wire transmission module with one end connected to the output end of the boom rotating motor. The boom rotating motor is fixed on the lifting column. The scope-entering control system can drive the gastroscope to move in the natural cavity by driving the above-mentioned related motors and modules, so as to realize the autonomous and continuous scope entering of the gastroscope.

Description

Technical Field

[0001] This application relates to the fields of natural cavity surgery and computer-aided medical technology, and in particular to an endoscope control system, control method and computer equipment. Background Technology

[0002] Gastroscopy is a medical examination method, and also refers to the instrument used in this examination or surgery. Through gastroscopy, doctors can directly observe the actual condition of the examined areas such as the esophagus, stomach, and duodenum, and further clarify the diagnosis by performing pathological biopsies and cytological examinations on suspicious lesions.

[0003] Endoscopic surgery (such as gastrointestinal endoscopic surgery) performed based on gastroscopy is an important minimally invasive treatment method, widely used in procedures such as gastrointestinal tumor resection, polyp removal, and biopsy. During the procedure, control of the endoscope primarily relies on the surgeon's manual manipulation of the endoscope handle. Since the procedure typically lasts a considerable amount of time, manually manipulating the endoscope handle places a significant burden on the surgeon, increasing fatigue. Furthermore, this manual control method demands a high level of experience and surgical skill from the surgeon, especially in areas with long endoscope insertions or complex, winding cavities, where manual manipulation can easily lead to loss of field of vision or difficulty in advancing the endoscope. Summary of the Invention

[0004] In view of this, embodiments of this application provide an endoscope insertion control system, control method, and computer equipment to achieve autonomous and continuous insertion of the endoscope, assist doctors in improving surgical efficiency, and ensure the safety of surgical procedures.

[0005] A first aspect of this application provides an endoscope insertion control system, including an insertion motor, a drive module, a wire drive module, a boom rotation motor, and a lifting column; the drive module is mounted on a positive and negative threaded screw fixed at one end to the insertion motor, the drive module clamps the endoscope through a locking mechanism, the tail end of the endoscope is connected to the wire drive module at one end connected to the output end of the boom rotation motor, and the boom rotation motor is fixed to the end of the lifting column; the endoscope insertion control system controls the movement of the endoscope within the natural cavity by executing the following endoscope insertion control method:

[0006] Upon receiving an operation signal for the gastroscopy, determine the signal type of the operation signal;

[0007] Obtain the status information of the drive module, which includes a first drive module and a second drive module with different states;

[0008] Based on the signal type and the status information, the endoscope motor and the lifting column are driven to move, thereby moving the endoscope within the natural cavity.

[0009] A second aspect of this application provides an advance control method, including:

[0010] When an operation signal for the gastroscope is received, the signal type of the operation signal is determined, and the gastroscope is clamped by the locking mechanism of the drive module. The tail of the gastroscope is connected to a wire drive module that is connected to the output end of the boom rotating motor. The boom rotating motor is fixed to the end of the lifting column, and the drive module is installed on a positive and negative thread screw that is fixed to the end of the endoscope motor.

[0011] Obtain the status information of the drive module, which includes a first drive module and a second drive module with different states;

[0012] Based on the signal type and the status information, the endoscope motor and the lifting column are driven to move, thereby moving the endoscope within the natural cavity.

[0013] A third aspect of this application provides an advance control device, comprising:

[0014] The signal type determination module is used to determine the signal type of the operation signal when an operation signal for the gastroscope is received. The gastroscope is clamped by the locking mechanism of the drive module. The tail of the gastroscope is connected to a wire drive module that is connected to the output end of the boom rotating motor. The boom rotating motor is fixed to the end of the lifting column. The drive module is installed on a positive and negative thread screw that is fixed to the end of the endoscope motor.

[0015] A status information acquisition module is used to acquire the status information of the drive module, wherein the drive module includes a first drive module and a second drive module with different states.

[0016] The endoscope motion drive module is used to drive the endoscope advance motor and the lifting column to move the endoscope within the natural cavity according to the signal type and the status information.

[0017] A fourth aspect of this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the computer device implements an advance control method as described in the first aspect above, or implements an advance control method as described in the second aspect above.

[0018] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a computer, implements the approach control method implemented by the approach control system as described in the first aspect above, or implements the approach control method as described in the second aspect above.

[0019] A sixth aspect of this application provides a computer program product, including a computer program that, when executed, causes the camera advance control method implemented by the camera advance control system described in the first aspect to be executed, or causes the camera advance control method described in the second aspect to be executed.

[0020] The endoscope advancement control system and method provided in this application embodiment enable autonomous and continuous advancement of the gastroscope. Simultaneously, the gastroscope can autonomously advance and rotate, and the autonomous advancement process can be taken over by the doctor at any time via joystick operation or voice command. This application embodiment proposes a doctor-led multimodal fusion control architecture, synchronously integrating voice control, manual operation, magnetic positioning, and visual AI into the gastroscopy procedure, enhancing the doctor's interactive capabilities and greatly facilitating the doctor's control over the movement of the gastroscope. Furthermore, this application embodiment employs innovative lesion recognition and path guidance mechanisms for intelligent gastroscopy advancement decisions, combining multiple advancement modes to improve surgical efficiency and safety, and reduce the risk of accidental contact and doctor fatigue.

[0021] The endoscope control system and method provided in this application relate to the technical fields of digestive endoscopy technology, medical robots and artificial intelligence control, covering multimodal control such as mechanical operation, voice interaction, magnetic navigation, and image guidance. They can be applied to gastrointestinal endoscopic surgeries such as gastroscopy and colonoscopy. Through intelligent assisted endoscopic navigation, they can achieve rapid intraoperative lesion screening and identification. They can also be applied to medical teaching and training platforms (combining virtual and physical methods) and can be extended to other endoscopic propulsion systems such as respiratory and urinary systems, and have wide applicability. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of an ingress control system provided in an embodiment of this application;

[0024] Figure 2This is a partial structural schematic diagram of an ingress control system provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of a driving module provided in an embodiment of this application;

[0026] Figure 4 This is a schematic diagram of a gastroscopy motion signal response process provided in an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of an operation signal generation process provided in an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of another operation signal generation process provided in an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of an automated gastroscope insertion process provided in an embodiment of this application;

[0030] Figure 8 This is a schematic diagram of an advance control method provided in an embodiment of this application;

[0031] Figure 9 This is a schematic diagram of a wire-driven traction method provided in an embodiment of this application;

[0032] Figure 10 This is a schematic diagram of another lens advance control system provided in an embodiment of this application;

[0033] Figure 11 This is a schematic diagram of an ingress control device provided in an embodiment of this application;

[0034] Figure 12 This is a schematic diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0035] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0036] The technical solution of this application will be described below through specific embodiments.

[0037] Reference Figure 1This diagram illustrates an endoscope insertion control system according to an embodiment of this application. The endoscope insertion control system 100 specifically includes an insertion motor 101, a drive module 102, and a lifting column 103. The drive module 102 is mounted on a positive and negative threaded screw 104 fixed at one end to the insertion motor 101. The drive module 102 clamps the endoscope 105 using a locking mechanism. The endoscope insertion control system 100 also includes a wire drive module 106 and a boom rotation motor 107. The tail end of the endoscope 105 is connected to the wire drive module 106, one end of which is connected to the output end of the boom rotation motor 107. The boom rotation motor 107 is fixed to the end of the lifting column 103. Based on the aforementioned hardware structure, the endoscope insertion control system 100 can control the movement of the endoscope 105 within the natural cavity by executing the following endoscope insertion control method: upon receiving an operation signal for the endoscope 105, the system determines the signal type of the operation signal; it acquires the status information of the drive module 102, which may include a first drive module 1021 and a second drive module 1022 with different states; and, based on the signal type and the acquired status information, drives multiple modules to move, thereby moving the endoscope 105. For example, by driving the endoscope insertion motor 101 and the lifting column 103, the endoscope 105 can be moved within the natural cavity, and the movement of the endoscope insertion motor 101 and the lifting column 103 can achieve the insertion or withdrawal of the endoscope 105. As another example, by driving multiple drive motors in the drive module 102 to move in the same direction and driving the boom rotation motor 107 to rotate, the system can control the rotational movement of the endoscope 105 within the natural cavity, and so on.

[0038] Before introducing the telescope advance control method provided in the embodiments of this application, the specific structure of the telescope advance control system 100 will first be described. Specifically, see [link to relevant documentation]. Figure 2 , Figure 2 This is a partial structural schematic diagram of an advance control system provided in an embodiment of this application. Figure 2 In (a) of the diagram, an example of the connection between the lens advance motor 101 and the lead screw 104 is shown, and a first drive module 1021 and a second drive module 1022 are mounted on the lead screw 104. The first drive module 1021 and the second drive module 1022 can be drive modules with the same structure. Figure 2 In (b) of the diagram, an example of the connection between the drive module 102 and the endoscope 105 is shown. Specifically, the drive module 102 can clamp the endoscope 105 using a locking mechanism. In this way, driven by the movement of each module, operations such as advancing, retracting, and rotating the endoscope 105 can be performed. For example, Figure 2In (b) of the diagram, arrow 1051 indicates the advance or retraction of the endoscope 105, and arrow 1052 indicates the rotational movement of the endoscope 105. It should be noted that initially, the drive module 102 clamps one end of the endoscope 105 via a locking mechanism. This end can be the other end, away from the tail of the endoscope 105. In some scenarios, the end initially clamped by the locking mechanism is also referred to as the head of the endoscope 105. As the surgery progresses and the endoscope 105 is inserted deeper into the body, the clamping position of the locking mechanism will change; it will no longer be at the initial head end, but may instead be located in the middle of the endoscope 105.

[0039] Combination Figure 2 As shown in (c), a schematic diagram illustrates the connection between the endoscope 105 and the lifting column 103, the wire drive module 106, and the boom rotary motor 107. Figure 2 In (c), the tail end of the endoscope 105 is connected to one end of the wire drive module 106, and the other end of the wire drive module 106 is connected to the output end of the boom rotation motor 107, which is fixed to the end of the lifting column 103. During gastroscopy or surgery, the rotation of the endoscope 105 within the body environment can be achieved by coordinating the unidirectional movement of the various drive motors in the drive module 102 and the drive of the boom rotation motor 107.

[0040] like Figure 3 The diagram shown is a schematic of a driving module provided in an embodiment of this application. Figure 3 The drive module shown can be Figure 2 The first drive module 1021 or the second drive module 1022 in the process. Figure 3 The drive module in is Figure 2 Taking the second drive module 1022 as an example, the second drive module 1022 includes three motors arranged in a triangular pattern, and Figure 3The drive module includes a left motor 1221, a middle motor 1224, and a right motor 1225. It also includes a guide post 1222, a clamping mechanism 1223, and a winding reel 1226. The lifting column 103 can be connected to the drive module via the clamping mechanism 1223. The middle motor 1224 is connected to a gastroscope clamping device; after clamping, the middle motor 1224 rotates, and the gastroscope 105 rotates accordingly. The clamping action can be accomplished by a cable with its two ends fixed to the left and right motors (i.e., the left motor 1221 and the right motor 1225), and which passes through the clamping device. When the left and right motors rotate outwards in opposite directions, the cable tightens, and the clamping device clamps the gastroscope 105. To enable this device to advance, retract, or rotate the endoscope almost continuously and simultaneously, the first drive module 1021 and the second drive module 1022 are respectively mounted on opposite sides of a forward and reverse threaded screw 104. Furthermore, the first drive module 1021 and the second drive module 1022 are in different states; that is, one drive module is in a clamped state while the other is in a released state. For example, when the first drive module 1021 is in the clamped state, the second drive module 1022 is in the released state; when the first drive module 1021 is in the released state, the second drive module 1022 is in the clamped state.

[0041] based on Figure 2 and Figure 3 As shown in the diagram, the endoscope insertion control system 100 can drive the endoscope insertion motor 101 to move and drive the lifting column 103 to move upward or downward, thereby driving the endoscope 105 to advance or retract within the body. In this embodiment, "advancing" refers to the process of moving the endoscope 105 from outside the body to inside the body under the control of the endoscope insertion control system 100, i.e., the process of the endoscope moving from the natural cavity into the body; "retracting" refers to the process of moving the endoscope 105 from inside the body to outside the body under the control of the endoscope insertion control system 100, i.e., the process of the endoscope moving outward within the natural cavity, or the process of controlling the endoscope 105 to retract.

[0042] In this embodiment, the lens advance control system 100 can realize continuous lens advance, retraction, or rotation. Because the travel of the lead screw is limited, in order to achieve continuous lens advance, retraction, or rotation, it is necessary to... Figures 1 to 3 The various parts of the endoscope 105 work together. For example, the process of advancing or retracting the endoscope 105 requires the coordinated movement of the endoscope motor 101, the lifting column 103, the first drive module 1021, and the second drive module 1022; the process of rotating the endoscope 105 requires the coordinated movement of the first drive module 1021, the second drive module 1022, and the boom rotation motor 107.

[0043] The following sections will provide a detailed explanation of the insertion, withdrawal, and rotation processes of the gastroscope.

[0044] In one possible implementation of this application, the insertion, withdrawal, and rotation of the gastroscope can be achieved based on corresponding operation signals. For example, a movement signal can be used to control the gastroscope movement operation, including insertion or withdrawal, through the aforementioned insertion control system. Insertion can be an action of moving the gastroscope forward, and withdrawal can be an action of moving the gastroscope backward. Similarly, a rotation signal can be used to control the gastroscope rotation operation through the aforementioned insertion control system.

[0045] The relevant control process can be represented as follows:

[0046] (1) The process of entering the camera:

[0047] The endoscope insertion process can be based on an insertion signal, which can be one type of movement signal. For example, the insertion signal can be a forward movement signal. Under the control of the insertion signal, the lifting column will descend, thereby moving the endoscope forward within the natural orifice. This process can be represented by pseudocode as follows:

[0048] X≤0:

[0049] If LockState=1, the motion stops; if LockState=2, the camera advance motor moves forward.

[0050] If LockState=2, the camera advance motor moves in the forward direction;

[0051] X∈(0,stroke):

[0052] If LockState=1, the camera advance motor moves in the negative direction;

[0053] If LockState=2, the camera advance motor moves in the forward direction;

[0054] X≥stroke:

[0055] If LockState=1, the camera advance motor moves in the negative direction;

[0056] If LockState=2, the motion stops; if LockState=1, the camera advance motor moves in the negative direction.

[0057] Where X represents the lead screw displacement corresponding to the current movement of the lens motor; stroke represents the maximum single stroke of the forward and reverse lead screw; LockState=1 indicates that the first drive module is in a clamped state, and correspondingly, the second drive module is in a released state; LockState=2 indicates that the second drive module is in a clamped state, and correspondingly, the first drive module is in a released state.

[0058] The statement X≤0 indicates that the distance between the first drive module and the second drive module is less than the initial distance between them. That is, in this embodiment, the initial positional distance between the first drive module and the second drive module is defined as X=0; when the two drive modules move under the influence of the positive and negative lead screws, making the distance between them closer than in the initial state, this state is defined as X≤0.

[0059] As seen in the pseudocode of the endoscope insertion process above, when X≤0, that is, when the forward and reverse screws drive the first and second drive modules to move, making the distance between them less than the initial distance, if the first drive module is in a clamped state and the second drive module is in a released state (LockState=1), the movement of all motors can be paused, waiting for the first and second drive modules to complete their state transition. The first drive module will transition from a clamped state to a released state, and the second drive module from a released state to a clamped state. After the transition, the second drive module will be in a clamped state, and the first drive module will be in a released state. At this time, the control system can drive the endoscope insertion motor to move forward and drive the lifting column to move downward. This controls the endoscope to move forward (insertion). When X≤0, if the second drive module was originally in a clamped state (LockState=2), the control system can directly drive the endoscope insertion motor to move forward and drive the lifting column to move downward, thereby controlling the endoscope to move forward (insertion).

[0060] In this embodiment of the application, the forward movement of the lens motor can refer to... Figure 2 The lens advance motor 101 shown moves counterclockwise (rotates in the forward direction). That is, in this embodiment, counterclockwise motion is considered positive motion, and clockwise motion is considered negative motion. Therefore, the negative motion of the lens advance motor refers to... Figure 2 The ingress motor 101 shown moves clockwise (rotates in the negative direction).

[0061] When X ≥ stroke (i.e., the lead screw displacement is greater than or equal to the maximum single stroke of the aforementioned forward and reverse lead screws), if the first drive module is in the clamping state and the second drive module is in the loosening state (LockState=1), the endoscope motor can move in the negative direction, while the lifting column moves downward, thus controlling the endoscope to move forward (advancement). If the first drive module is in the loosening state and the second drive module is in the clamping state (LockState=2), the movement of all motors can be paused, waiting for the first and second drive modules to complete their state transition: the first drive module changes from the loosening state to the clamping state, and the second drive module changes from the clamping state to the loosening state. After the transition is complete, the second drive module is in the loosening state, and the first drive module is in the clamping state (LockState=1). At this time, the control system can drive the endoscope motor to move in the negative direction, while simultaneously driving the lifting column to move downward. In this way, the endoscope can be controlled to move forward (advancement).

[0062] When X∈(0,stroke), that is, when the lead screw displacement is greater than 0 but less than the maximum single stroke of the aforementioned forward and reverse lead screws, if the first drive module is in the clamping state and the second drive module is in the loosening state (LockState=1), the lens advance motor can move in the negative direction and the lifting column can move downward; if the first drive module is in the loosening state and the second drive module is in the clamping state (LockState=2), the lens advance motor can move in the forward direction and the lifting column can move downward.

[0063] In this way, based on the received endoscope advance signal, the endoscope can be moved forward or backward by driving the endoscope advance motor to move forward or backward, and simultaneously driving the lifting column to move downward, according to the different states of the drive module and the actual displacement of the positive and negative screws.

[0064] (2) The process of removing the scope:

[0065] Similar to the insertion process, the withdrawal process can also be based on a withdrawal signal, which can be another type of movement signal. For example, the withdrawal signal could be a backward movement signal. Under the control of the withdrawal signal, the lifting column will move upward, thereby moving the endoscope backward within the natural orifice. This process can be represented by pseudocode as follows:

[0066] X≤0:

[0067] If LockState=1, the camera advance motor moves in the forward direction;

[0068] If LockState=2, the motion stops; if LockState=1, the camera advance motor moves forward.

[0069] X∈(0,stroke):

[0070] If LockState=1, the camera advance motor moves in the forward direction;

[0071] If LockState=2, the camera advance motor moves in the negative direction;

[0072] X≥stroke:

[0073] If LockState=1, the motion stops; if LockState=2, the camera advance motor moves in the negative direction.

[0074] If LockState=2, the camera motor moves in the negative direction.

[0075] Specifically, as seen from the pseudocode of the endoscope withdrawal process above, when X≤0, that is, when the forward and reverse screws drive the first and second drive modules to move, making the distance between them less than the initial distance, if the first drive module is in the clamped state and the second drive module is in the released state (LockState=1), the control system can directly drive the endoscope advance motor to move forward and simultaneously drive the lifting column to move upward, thereby controlling the endoscope to move backward (withdraw). If the first drive module is in the released state and the second drive module is in the clamped state (LockState=2), the movement of all motors can be paused, waiting for the first and second drive modules to complete the state transition, changing the first drive module from the released state to the clamped state and the second drive module from the clamped state to the released state. After the transition is complete, the second drive module is in the released state and the first drive module is in the clamped state (LockState=1). At this time, the control system can drive the endoscope advance motor to move forward and drive the lifting column to move upward.

[0076] When X ≥ stroke (i.e., the lead screw displacement is greater than or equal to the maximum single stroke of the aforementioned forward and reverse lead screws), if the first drive module is in the clamping state and the second drive module is in the unclamped state (LockState=1), the movement of all motors can be paused, waiting for the first and second drive modules to complete their state transition. The first drive module will transition from the clamping state to the unclamped state, and the second drive module from the unclamped state to the clamping state. After the transition is complete, the second drive module will be in the clamping state and the first drive module will be in the unclamped state (LockState=2). At this time, the control system can drive the endoscope advance motor to move in the negative direction and drive the lifting column to move upward. This allows the endoscope to move backward. If the first drive module is in the unclamped state and the second drive module is in the clamping state (LockState=2), the endoscope advance motor can move in the negative direction, the lifting column can move upward, and thus the endoscope can be moved backward (extracted).

[0077] When X∈(0,stroke), that is, when the lead screw displacement is greater than 0 but less than the maximum single stroke of the aforementioned forward and reverse lead screws, if the first drive module is in the clamping state and the second drive module is in the loosening state (LockState=1), the advance motor can move forward and the lifting column can move upward; if the first drive module is in the loosening state and the second drive module is in the clamping state (LockState=2), the advance motor can move backward and the lifting column can move upward to perform the retraction operation.

[0078] In this way, based on the received endoscope withdrawal signal, and according to the different states of the drive module and the actual displacement of the positive and negative screws, the endoscope is driven to move forward or backward by driving the endoscope advance motor, and at the same time the lifting column is driven to move upward, thereby controlling the endoscope to move backward and perform the endoscope advance operation.

[0079] (3) Rotation process:

[0080] The rotation process can be achieved based on a rotation signal. When optional, multiple motors on the clamped drive module can rotate in the same direction, coordinating with the rotation of the boom's rotation motor to achieve the rotation of the endoscope. This process can be represented by pseudocode as follows:

[0081] If LockState=1, module 1 will rotate.

[0082] If LockState=2, module 2 will rotate.

[0083] Module 1 is the first drive module, and module 2 is the second drive module.

[0084] Therefore, based on the received rotation signal, if the first drive module is in a clamped state and the second drive module is in a released state (LockState=1), module 1, i.e., the first drive module, can rotate. Multiple motors on module 1 can rotate in the same direction, cooperating with the rotation of the boom rotation motor to drive the endoscope to rotate. If the second drive module is in a clamped state and the first drive module is in a released state (LockState=2), then module 2, i.e., the second drive module, can rotate. Multiple motors on module 2 can rotate in the same direction, cooperating with the rotation of the boom rotation motor to also drive the endoscope to rotate.

[0085] Based on the foregoing descriptions of the lens insertion, withdrawal, and rotation processes, see [link to documentation]. Figure 4 The diagram illustrates a gastroscopy motion signal response flow provided in an embodiment of this application. Figure 4The process of advancing, retracting, or rotating the endoscope is fully demonstrated by identifying the received signals and then controlling the advance motor or drive module to move in the corresponding manner.

[0086] like Figure 4 As shown, after receiving the operation signal used to control the movement of the endoscope, the control system can analyze the signal to determine the specific signal type. This signal type indicates whether the currently received operation signal is an endoscope advance signal, an endoscope retraction signal, or a rotation signal. The movement response process of the endoscope advance motor or drive module differs depending on the signal type.

[0087] like Figure 4 As shown, for the endoscope insertion signal, the endoscope needs to be moved forward by controlling the descent of the lifting column to perform the insertion operation. At this time, the displacement X of the insertion motor can be obtained, which can be represented by the lead screw displacement in the aforementioned embodiments. By judging the magnitude of the displacement X, different cases can be obtained, such as X≤0, X∈(0,stroke), or X≥stroke. Here, X≤0 indicates that the distance between the first and second drive modules is less than the initial distance between them, and stroke indicates... Figure 4 The stroke in this context refers to the maximum single stroke of the forward and reverse lead screws. For different displacement amounts, the module state (LockState) can be further obtained. Based on different module states (LockState=1 or LockState=2), the endoscope advance motor is driven to move forward or backward, and the lifting column is driven to descend, thereby realizing the gastroscopy advancement operation. For details on whether the drive motor should move forward or backward to achieve gastroscopy advancement based on different displacement amounts and module states, please refer to [link to relevant documentation]. Figure 4 The description of the microscope insertion process in the aforementioned embodiments will not be repeated here.

[0088] Similar to the response process of the lens advance signal, such as Figure 4 As shown, for the withdrawal signal, the endoscope needs to be moved backward by controlling the upward movement of the lifting column to perform the withdrawal operation. At this time, the displacement X of the advance motor can be obtained. By judging the magnitude of the displacement X, different cases can be obtained, such as X≤0, X∈(0,stroke), or X≥stroke. For different displacement magnitudes, the module state LockState can be further obtained, and according to different module states (LockState=1 or LockState=2), the advance motor is driven to move positively or negatively, and the lifting column is driven to rise simultaneously, thereby realizing the withdrawal operation of the endoscope. For details on whether the drive motor should move positively or negatively to achieve endoscope withdrawal for different displacement magnitudes and module states, please refer to [link to relevant documentation]. Figure 4 The description of the lens removal process in the aforementioned embodiments will not be repeated here.

[0089] like Figure 4 As shown, for the rotation signal, the module state LockState can be obtained. Based on which drive module is currently in the clamping state, the rotation of that drive module is controlled, thereby rotating the endoscope within the body. Specifically, if the drive module in the clamping state is the first drive module (LockState=1), module 1 (the first drive module) can rotate. Multiple motors on module 1 can rotate in the same direction, coordinating with the rotation of the boom motor to rotate the endoscope. If the drive module in the clamping state is the second drive module (LockState=2), then module 2 (the second drive module) can rotate. Multiple motors on module 2 can rotate in the same direction, coordinating with the rotation of the boom motor to rotate the endoscope.

[0090] The foregoing embodiments detail the processes of advancing, retracting, or rotating the gastroscope under the control of different operating signals, through the movement of the endoscope motor, drive module, boom rotation motor, and lifting column. These different operating signals for the gastroscope can be generated using a joystick. That is, the doctor can trigger the generation of operating signals for the gastroscope by operating the joystick. For example, a movement signal or a rotation signal; or an advance signal, a retraction signal, or a rotation signal.

[0091] In this embodiment, the endoscope insertion control system can provide multiple joysticks for doctors to operate during gastroscopy or surgery. For example, the endoscope insertion control system may include a first joystick, a second joystick, etc. The doctor's operation on the first or second joystick can trigger the endoscope insertion control system to generate different operation signals for the gastroscope. In this way, the doctor can actively control the endoscope insertion control system by operating the joysticks, thereby controlling the gastroscope to perform corresponding actions.

[0092] In one possible implementation of this application, the first joystick can be a left joystick, and the second joystick can be a right joystick. The first joystick can be used to control the observation direction of the endoscope tip, and the second joystick can be used to control the forward and backward movement and rotation of the endoscope.

[0093] Specifically, in the endoscope insertion control system provided in this application embodiment, the endoscope insertion structure may include four degrees of freedom, thereby enabling the endoscope to move up and down, left and right, forward and backward, or rotate. By using a first rocker arm and a second rocker arm, the first rocker arm can control the up and down and left and right movements of the endoscope, while the second rocker arm can control the forward and backward and rotational movements of the endoscope.

[0094] like Figure 5The diagram shown is a schematic of an operation signal generation process provided in an embodiment of this application. Figure 5 This illustrates the process by which a doctor's operation on a joystick triggers a response signal for the endoscope. The process includes the following steps:

[0095] S501, Obtain joystick operation data.

[0096] In this embodiment, the joystick provided by the endoscope control system can be connected to the system's control unit. The doctor's operations on the joystick can be provided to the control unit as joystick operation data, serving as user input data.

[0097] In one possible implementation of this application, the joystick operation data may include first joystick operation data or second joystick operation data, that is, left joystick operation data or right joystick operation data. When the doctor operates on the corresponding joystick, the endoscope control system can collect the corresponding joystick operation data in real time.

[0098] For example, the doctor's operation on the joystick may include moving the first joystick forward or backward, rotating the first joystick clockwise or counterclockwise, or moving the second joystick, etc. This application embodiment does not limit this.

[0099] S502, Convert joystick operation data into operation signals.

[0100] In this embodiment, after receiving the joystick operation data, the control unit of the lens advance control system can convert the joystick operation data into corresponding operation signals according to the position of the joystick. The joystick position can be used to distinguish different joysticks, such as the first joystick and the second joystick, or the left joystick and the right joystick.

[0101] Specifically, the control unit can convert the joystick operation data generated by the doctor's operation on the first joystick into the direction of the endoscope's forward and backward movement or the speed of its rotational movement; and convert the joystick operation data generated on the second joystick into the direction and speed of the endoscope's up and down movement or forward and backward movement. Based on the converted direction and speed information, corresponding operation signals can be generated and sent to the embedded platform module of the endoscope insertion control system.

[0102] In one possible implementation of this application, when the doctor moves the joystick, the system can obtain the two-dimensional coordinates of the joystick's position. For example, the x-axis and y-axis coordinates of the first joystick, i.e., the left joystick, can respectively represent the speed of the endoscope's lens moving back and forth, and rotating clockwise or counterclockwise, with the positive or negative sign of the coordinates indicating the direction of movement. Similarly, the x-axis and y-axis coordinates of the second joystick, i.e., the right joystick, can respectively represent the speed of the endoscope's lens moving left and right, and up and down, with the positive or negative sign of the coordinates also indicating the direction of movement.

[0103] S503: Convert the operation signal into motor control command.

[0104] S504, the endoscope control system executes control commands to control the corresponding actions of the endoscope.

[0105] After receiving the corresponding operation signal, the embedded platform module of the endoscope control system converts the operation signal into motor control commands and sends them to different motors in the system. The motors then execute the received control commands, thereby controlling the various mechanisms of the system to perform corresponding actions, which in turn cause the endoscope to perform the corresponding actions. For example, forward movement (advancing the endoscope), backward movement (retreating the endoscope), rotation, or vertical or horizontal movement on the current operating plane.

[0106] In one possible implementation of this application embodiment, when the embedded platform module sends instructions to drive each motor to move, each motor can obtain its current state through sensors, such as the motor's speed and position, and send it back to the embedded platform module to provide feedback on the current execution status of each module and unit, thus providing operational feedback for the operator's operation on the joystick.

[0107] For example, the aforementioned operational feedback may include vibration feedback when the endoscope touches tissue or the inner wall of a natural cavity. Specifically, sensors configured on the endoscope can acquire sensor data during its movement, thereby calculating the external force exerted on the endoscope based on the acquired sensor data when it comes into contact with the inner wall of a natural cavity. If this external force is greater than or equal to a preset threshold, it may indicate a risk of puncture if the operation continues in the same direction. In this case, operational feedback can be provided to the user via a joystick, and vibration feedback can prompt the doctor to operate with caution.

[0108] In another possible implementation of this application, the different operation signals for the gastroscopy described above can also be implemented via voice commands. That is, the doctor can trigger the generation of operation signals for the gastroscopy through voice control. For example, movement signals or rotation signals; or, insertion signals, withdrawal signals, or rotation signals.

[0109] like Figure 6 The diagram shown is a schematic of another operation signal generation process provided in an embodiment of this application. Figure 6 This illustrates the process by which a doctor's voice commands trigger a response signal for the endoscope. The process includes the following steps:

[0110] S601, Collect user's voice data.

[0111] In this embodiment, the voice data of the user (doctor) during gastroscopy or surgery can be collected by a voice acquisition module. This voice data can be instructions to the endoscope control system to perform specific operations. For example, instructions such as "move forward" or "move backward" can be used to instruct the endoscope control system to perform specific operations, thereby controlling the gastroscope to move forward or backward.

[0112] S602. Extract text information from speech data.

[0113] S603. Identify the user intent contained in the text information.

[0114] In this embodiment, the collected user voice data can be processed based on a deep neural network to extract the text information; and based on natural language understanding, the extracted text information can be recognized to obtain the user's intent contained therein, such as the aforementioned intent to control the endoscope to move forward or backward.

[0115] S604. Determine the operation signal that matches the user's intent.

[0116] After determining the user's intention, a matching operation signal can be further determined. For example, for the aforementioned user intention to move forward or backward, an operation signal matching the user's intention can be determined. The endoscope control system can then respond to this operation signal to perform corresponding operations on the endoscope.

[0117] In one possible implementation of this application, operation signals for gastroscopy can be generated based on user intent and a target intent corresponding to a preset intent instruction set. The aforementioned intent instruction set may have a mapping relationship with an operation instruction set, which may include multiple instructions for generating multiple operation signals.

[0118] Specifically, the intent instruction set and the operation instruction set can be two pre-set sets based on the doctor's operational needs and the motion control of the robot. The mapping relationship between these two sets is also pre-set. For example, the intent instruction set can include instructions such as forward movement, backward movement, rotational movement, and stop movement, and the corresponding operation instruction sets are MoveForward, MoveBack, Rotate, StopMove, etc. When the user's intent is to control the endoscope to move forward 2 millimeters (mm), the MoveForward function can be matched from the operation instruction set based on this user instruction. The motion effect of this function is to control the endoscope to move forward 2mm.

[0119] S605: Convert the operation signal into motor control command, and execute the control command by the lens control system.

[0120] Similar to joystick operation, operation signals generated based on user voice can also be sent to the embedded platform module, which then converts these signals into motor control commands. The various motors in the endoscope control system execute these commands to control the endoscope to perform corresponding actions. For example, the forward movement of 2mm as described in the previous example.

[0121] In this embodiment, the control of gastroscopy-related operations based on joystick operation and the control of gastroscopy-related operations based on voice control can be performed independently or simultaneously. These two control modes can be configured in advance in the endoscope control system. For example, during a gastroscopy, the current control mode can be configured as joystick operation mode, at which point the endoscope control system can control the movement of the endoscope based on the user's operation on the joystick. Alternatively, the current control mode can be configured as voice control mode, at which point the endoscope control system can control the movement of the endoscope based on the user's voice commands. In one example, the two control modes can be switched between each other. For example, at the start of a gastroscopy, joystick operation mode can be used. As the examination progresses, to free the doctor's hands, the endoscope control system can be switched from joystick operation mode to voice control mode, thereby controlling the movement of the endoscope via voice during subsequent examinations. Of course, after using voice control mode, it is also possible to switch back to joystick operation mode; this embodiment does not limit this.

[0122] In another possible implementation of this application embodiment, the aforementioned endoscope insertion control system can also achieve automatic endoscope insertion based on visual guidance. That is, after acquiring the endoscope image, the endoscope insertion control system can process the endoscope image to automatically determine the direction and position of the next movement, thereby achieving automatic endoscope insertion.

[0123] like Figure 7 The diagram shown is a schematic flowchart of an automated gastroscope insertion process provided in an embodiment of this application. According to... Figure 7 The procedure shown can be automated by following these steps:

[0124] S701. Obtain gastroscopy images.

[0125] In this embodiment, the gastroscopy images can be obtained by the gastroscope itself using its image acquisition device, such as a camera mounted on the gastroscope, to capture images of the internal environment. During the movement of the gastroscope, multiple images can be captured at any position.

[0126] S702. Identify lesions in gastroscopy images.

[0127] In this embodiment, the endoscope control system can process the acquired gastroscopy images to determine whether there are lesion areas in the images. For example, image processing can determine whether there are areas of inflammation, erosion, polyps, or cancer in the images.

[0128] In one possible implementation of this application embodiment, lesion identification of gastroscopy images may include the following steps 1 to 5:

[0129] Step 1: Acquisition of gastroscopy images: Obtain raw gastroscopy images or video frame sequences through gastroscopy.

[0130] Step 2, Image Preprocessing: Perform image enhancement, denoising, edge smoothing, color normalization and other processing; use the preprocessing algorithm of adaptive multi-scale guided filtering and brightness normalization to suppress mucus highlights and cavity fog artifacts in real time, and dynamically adjust the color channel gain, so that the subsequent network contrast is enhanced and the edge detail retention rate is improved by about 20%.

[0131] In related technologies, image preprocessing often employs fixed-parameter histogram equalization or simple noise reduction filtering, which struggles to simultaneously address image characteristics such as slime, highlights, and haze artifacts. This application provides a preprocessing algorithm based on adaptive multi-scale guided filtering and brightness normalization, which can significantly improve the image preprocessing effect.

[0132] Step 3, Feature Extraction and Recognition: Input the preprocessed image into a deep learning model (such as ResNet, EfficientNet, U-Net, YOLO, etc.) for feature extraction; This application provides a lightweight Transformer-CNN hybrid backbone network, which integrates local convolution and global self-attention mechanisms. On the one hand, it ensures high sensitivity detection of small lesions, and on the other hand, it can reduce the model size to about 40% of the original model, enabling real-time inference capability of 25 fps (frames per second) on edge devices.

[0133] Step 4, lesion detection and classification: The lesion area can be located using an object detection (or semantic segmentation) model, and the location box and lesion type label (such as inflammation, erosion, polyp, cancer, etc.) can be output.

[0134] Step 5, Result Output and Visualization: Predicted bounding boxes, confidence scores, and labels can be overlaid on the original image for doctors' reference. The recognition results are deeply integrated with the magnetic positioning coordinate system to automatically calculate the 3D location of the lesion. An "optimal endoscopy path" guide arrow is overlaid on the AR (Augmented Reality) interface of the operating terminal, supporting doctors in real-time interactive path planning for the area where the lesion is detected. Specifically, when a lesion is identified in the gastroscopy image, it automatically switches to "lesion targeting mode" and calculates the shortest safe endoscopy trajectory by integrating the depth map; otherwise, it continues to execute "conventional exploration mode."

[0135] S703, lesion detected?

[0136] If a lesion is identified in the currently acquired gastroscopy image, the endoscope control system can execute steps S704-S705, using the lesion as the target location and driving the endoscope towards the target location. If no lesion is identified in the currently acquired gastroscopy image, the endoscope control system can execute steps S707-S709, calculating the depth information of the gastroscopy image, using the direction of the maximum depth value in the image as the target direction, and driving the endoscope towards the target direction. The direction of the maximum depth value is the direction of the anterior cavity, such as the direction of the anterior digestive tract.

[0137] S704. Use the diseased tissue as the target location.

[0138] S705, drive the endoscope to move towards the target position.

[0139] S706, Mark and indicate the lesion tissue.

[0140] In this embodiment, the endoscope control system can mark identified lesions in the gastroscopy image displayed on the display unit to prompt the doctor to take action. For example, by automatically marking lesions, the doctor can be prompted to judge the results of the system's automatic identification. If the system identification is inaccurate, or if the identified lesions do not have a substantial impact on the patient's health, the doctor can continue to control the system to perform the corresponding examination procedure without responding to the identified lesions.

[0141] S707. Calculate the depth information of the gastroscopy image.

[0142] S708. The direction of the maximum depth value in the gastroscopy image is taken as the target direction.

[0143] S709, drive the endoscope to move in the target direction.

[0144] S710: Real-time recording of the position of the gastroscope.

[0145] In this embodiment, whether the endoscope moves towards the location of the lesion or towards a target direction determined based on the maximum depth value of the image, the endoscope control system can record the endoscope position in real time and continue to acquire endoscope images at various points during the endoscope's movement. The endoscope position can be determined by a positioning module or unit configured within the endoscope.

[0146] Based on the foregoing embodiments, this application also provides an advance control method implemented using the aforementioned advance control system. For example... Figure 8 The diagram shown is a schematic representation of an advance control method provided in an embodiment of this application. The method may specifically include the following steps:

[0147] S801. When an operation signal for gastroscopy is received, determine the signal type of the operation signal.

[0148] It should be noted that this method can be applied to the endoscope control system described above. Specifically, the endoscope in this application is clamped by the locking mechanism of the drive module, and the tail end of the endoscope is connected to a wire drive module whose end is connected to the output end of the boom rotary motor. The boom rotary motor is fixed to the end of the lifting column. Furthermore, the drive module is mounted on a positive and negative threaded screw that is fixed at one end to the endoscope motor. For a detailed description of the endoscope control system, please refer to the aforementioned embodiments; further details will not be repeated here.

[0149] The entity implementing this method can be the control unit of the endoscope insertion control system, and the relevant functions of the control unit can be implemented by computer equipment. Therefore, the computer equipment can control the movement of the endoscope, such as insertion, withdrawal, and rotation, by executing the various steps of the method provided in the embodiments of this application.

[0150] In this embodiment of the application, the operation signal for the gastroscopy can be a signal used to instruct the gastroscopy to perform relevant movements or actions. For example, the operation signal may include a movement signal, a rotation signal, etc. Among them, the movement signal can be further divided into a forward movement signal (i.e., the endoscope advance signal), a backward movement signal (the endoscope retraction signal), and a signal that has already moved left and right or up and down in the current operating plane.

[0151] In one possible implementation of this application's embodiments, the endoscope control system can perform related operations based on user (doctor) initiation. In one example, doctor-initiated operations can be triggered by the doctor's operation of a joystick. Therefore, the operation signal for the gastroscopy can be generated by the user's operation of the joystick.

[0152] In this embodiment, the joystick provided by the lens advance control system may include a first joystick and a second joystick. The first joystick may be a left joystick, and the second joystick may be a right joystick.

[0153] Therefore, in response to moving the first joystick forward or backward, a movement signal for the gastroscope can be triggered. Moving the first joystick forward triggers a movement signal for moving the gastroscope forward, and moving it backward triggers a movement signal for moving the gastroscope backward. In response to rotating the first joystick clockwise or counterclockwise, a rotation signal for the gastroscope can be triggered. Rotating the first joystick clockwise triggers a rotation signal for rotating the gastroscope clockwise, and rotating it counterclockwise triggers a rotation signal for rotating the gastroscope counterclockwise. That is, by operating the first joystick, an operation signal can be generated to move the gastroscope (including moving it forward, i.e., advancing the endoscope, or moving it backward, i.e., retracting the endoscope) or to perform rotational movements (including clockwise or counterclockwise rotation).

[0154] On the other hand, in response to the operation of moving the second joystick, a movement signal can be triggered to move the gastroscope within the current operating plane. Thus, the movement control of the gastroscope on the current operating plane is achieved through the drive wire transmission module.

[0155] Specifically, moving the second joystick forward triggers a signal to move the endoscope upward in the current operating plane; moving it backward triggers a signal to move it downward in the current operating plane; moving it left triggers a signal to move it left in the current operating plane; and moving it right triggers a signal to move it right in the current operating plane. In other words, moving the second joystick generates a signal to control the up-and-down or left-and-right movement of the endoscope within the current operating plane. The current operating plane can refer to the vertical plane where the endoscope is currently positioned.

[0156] In this embodiment, the movement control of the gastroscope on the current operating plane is controlled by... Figure 2 The wire drive module 106 in (c) is used for implementation. The wire drive module consists of two (or four) drive motors, which control the up-down and left-right movement of the endoscope tip via a pull cable.

[0157] like Figure 9 The diagram shown is a schematic representation of a wire-driven traction method according to an embodiment of this application. Figure 9 As shown, the endoscope contains four traction ropes, namely... Figure 9 The endoscope consists of traction ropes a, b, c, and d. Traction ropes a and b are for vertical movement; driven by the wire drive module, pulling traction ropes a and b allows the endoscope to move vertically. Traction ropes c and d are for horizontal movement; driven by the wire drive module, pulling traction ropes c and d allows the endoscope to move horizontally.

[0158] For details on how to operate the gastroscopy using a joystick, please refer to the descriptions in the aforementioned embodiments. For example, see... Figure 5 The description of its corresponding embodiments.

[0159] In another example, doctor-led procedures can also be triggered by the doctor's voice commands. That is, the operating signals for a gastroscopy can be generated by the doctor's voice commands.

[0160] Specifically, upon receiving a voice command, the voice command can be converted into text information, and the user intent contained in the text information can be identified. Then, based on the user intent and the target intent corresponding to a preset intent instruction set, an operation signal for gastroscopy can be generated. The aforementioned intent instruction set and operation instruction set have a mapping relationship, wherein the operation instruction set includes multiple instructions for generating operation signals.

[0161] For details on how to operate a gastroscopy via voice control, please refer to the relevant descriptions in the foregoing embodiments. For example, see... Figure 6 The description of its corresponding embodiments.

[0162] The foregoing described the process of performing gastroscopy under the guidance of a physician. In another possible implementation of this application, the aforementioned endoscope insertion control system can also achieve fully autonomous related operations based on the gastroscopy images acquired by the endoscope, that is, fully automatically control the movement of the endoscope in the natural cavity environment of the body to achieve autonomous endoscope insertion.

[0163] In this embodiment of the application, the computer device can receive the gastroscopy image acquired by the gastroscopy, and determine the target direction of the gastroscopy movement by recognizing the gastroscopy image, thereby automatically generating an operation signal for the gastroscopy based on the target direction. The operation signal can be a movement signal that instructs the gastroscopy to move in the target direction.

[0164] In one possible implementation of this application, the target direction may include the direction of advance of the gastroscope within the natural cavity, which may be the direction corresponding to the maximum depth value in the gastroscopy image.

[0165] In another possible implementation of this application embodiment, the target direction may further include the direction corresponding to the location of the lesion. When the computer device determines the target direction of the gastroscope movement by recognizing the gastroscopy image, it can identify the lesion in the gastroscopy image to determine the location of the lesion, and then use the direction corresponding to the identified lesion location as the target direction to plan the movement path of the gastroscope. This path points to the location of the lesion. Therefore, the corresponding operation signal is the signal that drives the gastroscope to move towards the location of the lesion. Furthermore, when a lesion is identified, in order to prompt the doctor, the computer device can mark the location of the lesion in the gastroscopy image on the display interface showing the gastroscopy image.

[0166] As a specific example of an embodiment of this application, the endoscope insertion control system can identify lesions based on real-time acquired gastroscopy images during the autonomous endoscope insertion process. If a lesion (lesion tissue) is identified, the computer device can generate an operation signal to drive the gastroscope to move towards the location of the lesion tissue; if no lesion is identified, the computer device can calculate the image depth information, take the direction corresponding to the maximum depth value as the target direction for the next movement of the gastroscope, and generate an operation signal to drive the gastroscope to move in the target direction.

[0167] For details on how to perform gastroscopy via autonomous endoscope insertion, please refer to the relevant descriptions in the foregoing embodiments. For example, see [link to relevant documentation]. Figure 7 The description of its corresponding embodiments.

[0168] S802. Obtain the status information of the drive module.

[0169] In this embodiment, the drive module includes a first drive module and a second drive module with different states. The drive module can be in a clamped state or a released state. Therefore, the two drive modules with different states can mean that when the first drive module is in a clamped state, the second drive module is in a released state; or when the second drive module is in a clamped state, the first drive module is in a released state. The first drive module being in a clamped state and the second drive module being in a released state can be represented by LockState=1; the second drive module being in a clamped state and the first drive module being in a released state can be represented by LockState=2.

[0170] S803. Based on the signal type and the status information, drive the endoscope motor and the lifting column to move the endoscope within the natural cavity.

[0171] In this embodiment, the relevant motors and modules can be driven to move according to the signal type of the described operation signal and the determined state information of each drive module, thereby driving the movement of the endoscope. For example, driving the advance motor and the lifting column to move the endoscope can advance or retract it within the body or natural cavities.

[0172] In one possible implementation of this application, the type of operation signal can be a movement signal, which is a signal that drives the endoscope to move within the body or natural cavities, such as moving forward or backward.

[0173] In this embodiment of the application, the displacement of the lead screw corresponding to the current movement of the endoscope motor can be determined based on the movement signal. Then, based on the displacement of the lead screw and the status information of the first drive module and the second drive module, the endoscope motor is driven to move and the lifting column is driven to move upward or downward, thereby realizing the control of the movement of the endoscope in the natural cavity.

[0174] The process involves moving the endoscope forward within the natural cavity (advancing) and moving it backward within the natural cavity (retreating).

[0175] Specifically, when the displacement of the lead screw is less than or equal to 0 and the second drive module is in a clamped state, the lens advance motor can be driven to move in the forward direction in the counterclockwise direction, and the lifting column can be driven to descend.

[0176] Alternatively, when the displacement of the lead screw is greater than or equal to the maximum single stroke of the forward and reverse lead screws and the first drive module is in a clamping state, the lens advance motor can be driven to move in the negative direction, and the lifting column can be driven to move downward.

[0177] Alternatively, if the lead screw displacement is greater than 0 and less than the maximum single stroke, and the first drive module is in a clamping state, the advance motor can be driven to move in the negative direction; or, if the second drive module is in a clamping state, the advance motor can be driven to move in the positive direction. In both of these different cases, the lifting column needs to be driven to descend while the advance motor is moving in the negative or positive direction.

[0178] When the displacement of the lead screw is less than or equal to 0 and the first drive module is in a clamped state, the lens advance motor can be driven to move forward and the lifting column can be driven to move upward.

[0179] Alternatively, when the lead screw displacement is greater than or equal to the maximum single stroke and the second drive module is in a clamping state, the lens advance motor can be driven to move in the negative direction, and the lifting column can be driven to move upward.

[0180] Alternatively, if the lead screw displacement is greater than 0 and less than the maximum single stroke, and the first drive module is in a clamping state, the advance motor can be driven to move forward; or, if the second drive module is in a clamping state, the advance motor can be driven to move backward. In both of these different cases, the lifting column needs to be driven to move upward while the advance motor is moving forward or backward.

[0181] In the above example, a lead screw displacement of less than or equal to 0 indicates that the distance between the first drive module and the second drive module is less than the initial distance between the first drive module and the second drive module. Specifically, the driving of the endoscope motor when the lead screw displacement is less than or equal to 0 can be referred to the relevant descriptions in the aforementioned embodiments when X≤0; the driving of the endoscope motor when the lead screw displacement is greater than 0 and less than the maximum stroke in a single operation can be referred to the relevant descriptions in the aforementioned embodiments when X∈(0,stroke); the driving of the endoscope motor when the lead screw displacement is greater than or equal to the maximum stroke in a single operation of the forward and reverse lead screw can be referred to the relevant descriptions in the aforementioned embodiments when X≥stroke, and will not be repeated here.

[0182] In this embodiment, the operation signal for the gastroscope may further include a rotation signal. The endoscope insertion control system can drive the gastroscope to rotate within the natural cavity in response to the rotation signal.

[0183] Specifically, a boom rotation motor can be installed on the lifting column. The endoscope insertion control system can, in response to a rotation signal, drive multiple drive motors in the clamped drive module to move in the same direction, and simultaneously drive the boom rotation motor to rotate, thereby controlling the rotational movement of the endoscope within the body or natural cavities. In one example, each drive module should include at least three drive motors.

[0184] For example, if the first drive module is in a clamped state, the three motors on the first drive module can be controlled to rotate in the same direction, and the boom rotation motor can also be driven to rotate in the same direction, thereby driving the endoscope to rotate inside the body.

[0185] In one possible implementation of this application, sensors may also be installed on various units or modules of the endoscope advancement control system. For example, sensors may be installed on the endoscope, the endoscope motor, and the drive module. Based on the data collected by these sensors, operational feedback can be provided for the endoscopy operation process.

[0186] For example, sensor data of the endoscope during its movement can be acquired using sensors configured on the endoscope. Thus, when the endoscope contacts the inner wall of a natural cavity, the external force acting on the endoscope can be calculated based on the sensor data. If this external force is greater than or equal to a preset threshold, operational feedback can be provided to the user via a joystick. For example, operational feedback may include vibration feedback.

[0187] The above describes an example of providing operational feedback during the gastroscopy movement process in joystick-based control mode. In voice control mode, this operational feedback can also be provided to the user via voice. For example, in voice control mode, the external force acting on the gastroscopy can also be calculated based on sensor data. If this external force is greater than or equal to a preset threshold, the voice control module of the endoscope insertion control system can provide the user with feedback on the magnitude of the external force acting on the gastroscopy through voice broadcast, prompting the user to operate with caution.

[0188] The endoscope advancement control method provided in this application embodiment enables autonomous and continuous advancement of the gastroscope. Simultaneously, the gastroscope can autonomously advance and rotate, and the autonomous advancement process can be taken over by the doctor at any time via joystick operation or voice command. This application embodiment proposes a doctor-led multimodal fusion control architecture, synchronously integrating voice control, manual operation, magnetic positioning, and visual AI into the gastroscopy procedure, enhancing the doctor's interactive capabilities and greatly facilitating the doctor's control over the movement of the gastroscope. Furthermore, this application embodiment employs innovative lesion recognition and path guidance mechanisms for intelligent gastroscopy advancement decisions, combining multiple advancement modes to improve surgical efficiency and safety, and reduce the risk of accidental contact and doctor fatigue.

[0189] The endoscope control method provided in this application relates to the technical fields of digestive endoscopy, medical robots and artificial intelligence control, covering multimodal control such as mechanical operation, voice interaction, magnetic navigation and image guidance. It can be applied to gastrointestinal endoscopic surgeries such as gastroscopy and colonoscopy. Through intelligent assisted endoscopic navigation, it can achieve rapid intraoperative lesion screening and identification. It can also be applied to medical teaching and training platforms (combining virtual and physical), and can be extended to other endoscopic propulsion systems such as respiratory and urinary systems, and has wide applicability.

[0190] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order 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 this application.

[0191] For ease of understanding, the following description, with examples, introduces the telescope advance control system provided in the embodiments of this application and the telescope advance control method implemented by applying the system.

[0192] like Figure 10 The diagram shown is a schematic of another lens advance control system provided in an embodiment of this application. By applying this system, the relevant functions of each step in the foregoing method embodiments can be realized. For example, to achieve... Figure 8 The steps of the advance control method are shown.

[0193] Specifically, in Figure 10 The endoscope advancement control system shown includes a computer device, which serves as the execution entity for the endoscope advancement control method, realizing related functions. The system also includes an embedded development platform for processing relevant operating signals to obtain corresponding operating instructions. For example, the operating signals are processed into motor operating instructions that can instruct various motors to perform actions. These operating instructions can be applied to the active endoscope advancement mechanism, and executed by relevant units or modules of the active endoscope advancement mechanism, thereby driving the movement of the endoscope.

[0194] The active endoscope insertion mechanism consists of a lead screw with alternating positive and negative threads, an insertion motor, a drive module, and a lifting column. The lead screw is driven by the insertion motor. Modules 1 and 2 are fixed to the alternating threaded sections, and are in an alternating locking state (clamping state). Initially, modules 1 and 2 are pressed together, with module 1 locked and module 2 released. One end of the endoscope passes through modules 1 and 2, and the other end is fixed to the boom. The boom's rotation is driven by a rotary motor at the top, and its lifting is controlled by a lifting column parallel to one side. Insertion of the endoscope is achieved by the cooperation of modules 1 and 2, the insertion motor, and the lifting column; rotation of the endoscope is achieved by the cooperation of modules 1 and 2, and the boom rotary motor. For a more detailed introduction to the active endoscope insertion mechanism, please refer to [link to relevant documentation]. Figure 2 , Figure 3 The description of its corresponding embodiments.

[0195] In this embodiment, the camera advance control system further includes a magnetic positioning and navigation module, a joystick control module, and a voice control module. The magnetic positioning module provides positioning and navigation functions for the computer device during operation; the joystick control module implements the joystick operation described in the preceding embodiments; and the voice control module implements the voice control function described in the preceding embodiments.

[0196] like Figure 10 As shown, based on the aforementioned active endoscope insertion mechanism and related magnetic positioning and navigation modules, joystick control modules, and voice control modules, a doctor-led endoscope insertion process can be realized, including various movement modes involved in the gastroscopy process such as insertion, withdrawal, and rotation. The doctor-led endoscope insertion process can be as follows: Figure 10 As shown in the dashed box 1001.

[0197] In addition, utilizing Figure 10The endoscope insertion control system shown can also achieve autonomous endoscope insertion through visual guidance. During autonomous insertion, lesion recognition allows the endoscope to be automatically driven towards the location of the lesion. If the image acquired by the endoscope does not contain lesions, the autonomous insertion process can automatically drive the endoscope towards the direction corresponding to the maximum depth value in the image. The autonomous insertion process can be as follows: Figure 10 As shown in the dashed box 1002.

[0198] based on Figure 10 The endoscope insertion control system shown can realize the following control processes: endoscope insertion control process, doctor-led joystick control process, doctor-led voice control process, visually guided automatic endoscope insertion process, and lesion recognition and visualization process. Each process is described in detail below.

[0199] 10.1 Camera Advance Control Procedure

[0200] Initial locking: Set LockState=1, module 1 clamps the endoscope, module 2 releases it;

[0201] When the camera advance signal arrives:

[0202] The bollard begins to descend;

[0203] Based on the comparison between the advance motor displacement X (current leadscrew displacement) and the stroke Stroke, and in conjunction with the locking state reversal judgment, the following actions are executed:

[0204] Scope signal:

[0205] The rising column descends;

[0206] X≤0:

[0207] If LockState=1, the motion stops; if LockState=2, the camera advance motor moves forward.

[0208] If LockState=2, the camera advance motor moves in the forward direction;

[0209] X∈(0,stroke):

[0210] If LockState=1, the camera advance motor moves in the negative direction;

[0211] If LockState=2, the camera advance motor moves in the forward direction;

[0212] X≥stroke:

[0213] If LockState=1, the camera advance motor moves in the negative direction;

[0214] If LockState=2, the motion stops; if LockState=1, the camera advance motor moves in the negative direction.

[0215] Signals for withdrawal:

[0216] The rising motion of the lifting column;

[0217] X≤0:

[0218] If LockState=1, the camera advance motor moves in the forward direction;

[0219] If LockState=2, the motion stops; if LockState=1, the camera advance motor moves forward.

[0220] X∈(0,stroke):

[0221] If LockState=1, the camera advance motor moves in the forward direction;

[0222] If LockState=2, the camera advance motor moves in the negative direction;

[0223] X≥stroke:

[0224] If LockState=1, the motion stops; if LockState=2, the camera advance motor moves in the negative direction.

[0225] If LockState=2, the camera advance motor moves in the negative direction;

[0226] Endoscope rotation:

[0227] If LockState=1, module 1 will rotate.

[0228] If LockState=2, module 2 will rotate.

[0229] 10.2 Doctor-led joystick control process

[0230] The joystick control process in this embodiment is as follows:

[0231] First, select the joystick control mode in the system.

[0232] Joystick data acquisition: The status of the left and right joysticks (first joystick / second joystick) is transmitted to the computer device (PC) via USB or wirelessly;

[0233] Command conversion: The PC software maps the left joystick to the pitch / yaw direction and speed of the endoscope tip, and the right joystick to the forward / backward movement and rotation speed;

[0234] Control commands are issued: The PC sends the converted motion commands to the embedded platform via Ethernet or CAN bus;

[0235] Motor drive and feedback: The embedded platform drives the camera motor, the drive motor on the drive module, the lifting column, the boom rotation motor, etc. according to the instructions; at the same time, the encoders, torque sensors and position sensors of each motor feed back the real-time status to the embedded platform and upload it to the PC for interface display and closed-loop control.

[0236] 10.3 Doctor-led voice control process

[0237] In this embodiment of the application, the voice control module includes:

[0238] Voice acquisition unit—built-in directional microphone array;

[0239] Speech recognition and natural language understanding (NLU) module—allows for the deployment of relevant artificial intelligence models;

[0240] Instruction mapping unit—predefined user intentions such as "forward", "backward", "stop", "rotate";

[0241] The execution feedback module integrates information from magnetic positioning, vision modules, and motor encoders.

[0242] The main processes of voice control include:

[0243] The process involves pre-collecting the voice commands of attending physicians and training a deep learning network model. This process is part of the physician registration process. When a new attending physician is to be added to the control database, voice registration can be performed in advance to improve the accuracy of voice recognition during subsequent control processes.

[0244] First, select the voice control mode in the system;

[0245] The voice acquisition unit captures the surgeon's voice.

[0246] The recognition module converts audio into text and parses out the intent and slots;

[0247] The mapping module generates specific motion commands and sends them to the embedded platform;

[0248] The execution unit drives the endoscope mechanism and informs the surgeon of the execution result through the feedback module. If there is any ambiguity, the surgeon will be prompted to make an intervention choice through voice prompts.

[0249] 10.4 Visually Guided Automated On-Camera Flow

[0250] The depth recognition network can be trained in advance to improve the accuracy of depth information calculation, thereby improving the accuracy of the target direction of the next movement of the gastroscope determined based on the depth information.

[0251] This application embodiment can combine magnetic navigation and visual AI to achieve automatic pathfinding and camera entry. The specific process includes:

[0252] Image acquisition: The endoscope's front-end camera continuously acquires images from the endoscope.

[0253] Image Depth and Lesion Detection: A deep learning network is run on a PC to generate depth maps and detect lesions simultaneously;

[0254] Path decision: If a lesion area is detected, the coordinates of that area are marked as the target location using the magnetic navigation module; otherwise, the direction of the deepest point in the depth map is selected as the target direction for the stomach.

[0255] The camera advance mechanism automatically triggers the camera advance motor to move forward and corrects the trajectory in real time until the target position is reached or a user takeover command is received.

[0256] Track recording: The magnetic navigation module continuously records the coordinates of the gastroscopy, generates a 3D path, and displays it on the AR interface.

[0257] 10.5 Lesion Identification and Visualization Process

[0258] The lesion recognition network can be trained in advance to improve the accuracy of lesion recognition.

[0259] The lesion identification and visualization process mainly includes:

[0260] Preprocessing: Denoising and histogram equalization are performed on the acquired gastroscopy images;

[0261] Model inference: Using deep learning networks to detect and classify targets such as polyps, erosions, and cancerous lesions;

[0262] Results overlay: The detection box, type label, and confidence score are overlaid and displayed through the AR interface;

[0263] Location marking: The three-dimensional coordinates of the lesion are transmitted back to the PC via the magnetic navigation module and marked in the AR interface to prompt the surgeon for further operations.

[0264] Reference Figure 11 The diagram illustrates an endoscope insertion control device according to an embodiment of this application, which may specifically include a signal type determination module 1101, a status information acquisition module 1102, and an endoscope motion drive module 1103, wherein:

[0265] The signal type determination module 1101 is used to determine the signal type of the operation signal when an operation signal for the gastroscope is received. The gastroscope is clamped by the locking mechanism of the drive module. The tail of the gastroscope is connected to a wire drive module that is connected to the output end of the boom rotating motor. The boom rotating motor is fixed to the end of the lifting column. The drive module is installed on a positive and negative thread screw that is fixed to the end of the endoscope motor.

[0266] The status information acquisition module 1102 is used to acquire the status information of the drive module, wherein the drive module includes a first drive module and a second drive module with different statuses.

[0267] The endoscope motion drive module 1103 is used to drive the endoscope motor to move according to the signal type and the status information so as to move the endoscope within the natural cavity.

[0268] This application provides an in-scope control device, which can be used to implement the steps in the aforementioned method embodiments.

[0269] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0270] Reference Figure 12 The diagram illustrates a computer device provided in an embodiment of this application. Figure 12 As shown, the computer device 1200 in this embodiment includes: a processor 1210, a memory 1220, and a computer program 12201 stored in the memory 1220 and executable on the processor 1210. When the processor 1210 executes the computer program 12201, it implements the steps in the various embodiments of the above-described camera advance control method, for example... Figure 8 The steps S801 to S803 are shown. Alternatively, when the processor 1210 executes the computer program 12201, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 11 The functions of modules 1101 to 1103 are shown.

[0271] For example, the computer program 12201 can be divided into one or more modules / units, which are stored in the memory 1220 and executed by the processor 1210 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 12201 in the computer device 1200. For example, the computer program 12201 can be divided into a signal type determination module, a status information acquisition module, and a gastroscopy motion driving module, with the specific functions of each module as follows:

[0272] The signal type determination module is used to determine the signal type of the operation signal when an operation signal for the gastroscope is received. The gastroscope is installed at the end of the lifting column. The lifting column is connected to the drive module through the locking mechanism of the drive module. The drive module is installed on a positive and negative threaded screw fixed at one end to the endoscope motor.

[0273] A status information acquisition module is used to acquire the status information of the drive module, wherein the drive module includes a first drive module and a second drive module with different states.

[0274] The endoscope motion drive module is used to drive the endoscope motor to move according to the signal type and the status information, so as to move the endoscope within the natural cavity.

[0275] The computer device 1200 can implement the scope control method implemented by the scope control system in the aforementioned system embodiments. The computer device 1200 can be a desktop computer, a cloud server, or other similar devices. For example, the computer device 1200 can be... Figure 10 The computer equipment in the telescope control system shown, 1200, may include, but is not limited to, a processor 1210 and a memory 1220. Those skilled in the art will understand that... Figure 12 This is merely one example of computer device 1200 and does not constitute a limitation on computer device 1200. It may include more or fewer components than shown, or combine certain components, or different components. For example, computer device 1200 may also include input / output devices, network access devices, buses, etc.

[0276] The processor 1210 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0277] The memory 1220 can be an internal storage unit of the computer device 1200, such as a hard disk or RAM of the computer device 1200. The memory 1220 can also be an external storage device of the computer device 1200, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the computer device 1200. Furthermore, the memory 1220 can include both internal storage units and external storage devices of the computer device 1200. The memory 1220 is used to store the computer program 12201 and other programs and data required by the computer device 1200. The memory 1220 can also be used to temporarily store data that has been output or will be output.

[0278] This application also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the methods described in the foregoing embodiments.

[0279] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a computer, implements the methods described in the foregoing embodiments.

[0280] This application also discloses a computer program product, including a computer program that, when run on a computer, causes the computer to perform the methods described in the foregoing embodiments.

[0281] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An endoscopy control system, characterized in that The device comprises a mirror entering motor, a driving module, a wire transmission module, an arm rotating motor and a lifting column; the driving module is installed on a positive and negative toothed screw fixed with the mirror entering motor at one end, the driving module clamps the gastroscope through a locking clamp mechanism, the tail of the gastroscope is connected with the wire transmission module connected with the output end of the arm rotating motor, and the arm rotating motor is fixed at the end of the lifting column; the mirror entering control system realizes the control of the movement of the gastroscope in the natural cavity by executing the following mirror entering control method: When receiving an operation signal for the gastroscope, determining the signal type of the operation signal; Obtaining the state information of the driving module, the driving module comprising first and second driving modules with different states; According to the signal type and the state information, driving the mirror entering motor and the lifting column to move to drive the gastroscope to move in the natural cavity; The signal type comprises a moving signal, and according to the signal type and the state information, driving the mirror entering motor and the lifting column to move to drive the gastroscope to move in the natural cavity, comprising: For the moving signal, determining the screw displacement corresponding to the current movement of the mirror entering motor; According to the screw displacement and the state information of the first and second driving modules, driving the mirror entering motor to move and driving the lifting column to move upward or downward to realize the control of the moving movement of the gastroscope in the natural cavity; Wherein, in the case that the mirror entering motor moves and the lifting column moves downward, the gastroscope moves forward in the natural cavity; in the case that the mirror entering motor moves and the lifting column moves upward, the gastroscope moves backward in the natural cavity; According to the screw displacement and the state information of the first and second driving modules, driving the mirror entering motor to move and driving the lifting column to move upward or downward, comprising: In the case that the screw displacement is less than or equal to 0 and the second driving module is in the clamping state, driving the mirror entering motor to move forward in the counterclockwise direction and driving the lifting column to move downward; or, in the case that the screw displacement is greater than or equal to the single maximum stroke of the positive and negative toothed screw and the first driving module is in the clamping state, driving the mirror entering motor to move negatively and driving the lifting column to move downward; or, in the case that the screw displacement is greater than 0 and less than the single maximum stroke, if the first driving module is in the clamping state, driving the mirror entering motor to move negatively and driving the lifting column to move downward, or, if the second driving module is in the clamping state, driving the mirror entering motor to move positively and driving the lifting column to move downward; In a case that the screw displacement is less than or equal to 0 and the first driving module is in the clamping state, the forward movement of the mirror-advancing motor and the upward movement of the lifting column are driven; or in a case that the screw displacement is greater than or equal to the single maximum stroke and the second driving module is in the clamping state, the negative movement of the mirror-advancing motor and the upward movement of the lifting column are driven; or in a case that the screw displacement is greater than 0 and less than the single maximum stroke, if the first driving module is in the clamping state, the forward movement of the mirror-advancing motor and the upward movement of the lifting column are driven, or if the second driving module is in the clamping state, the negative movement of the mirror-advancing motor and the upward movement of the lifting column are driven. The screw displacement less than or equal to 0 indicates that the distance between the first driving module and the second driving module is less than the distance between the first driving module and the second driving module in the initial state.

2. The enteroscopy control system of claim 1, wherein, The signal type includes a rotation signal, and the mirror-advancing control system further realizes the control of the movement of the gastroscope in the natural cavity by performing the following mirror-advancing control method: For the rotation signal, the multiple driving motors in the driving module in the clamping state are driven to move in the same direction, and the boom rotating motor is driven to rotate, so as to realize the control of the rotation movement of the gastroscope in the natural cavity.

3. The enteroscopy control system of claim 2, wherein, The operation signal is triggered by the operation of a joystick by a user, the joystick includes a first joystick, and the mirror-advancing control system further realizes the control of the movement of the gastroscope in the natural cavity by performing the following mirror-advancing control method: In response to the operation of moving the first joystick forward or backward, a movement signal for the gastroscope is triggered; In response to the operation of rotating the first joystick clockwise or counterclockwise, a rotation signal for the gastroscope is triggered; Wherein, moving the first joystick forward is used to trigger the movement signal for moving the gastroscope forward, moving the first joystick backward is used to trigger the movement signal for moving the gastroscope backward, rotating the first joystick clockwise is used to trigger the rotation signal for rotating the gastroscope clockwise, and rotating the first joystick counterclockwise is used to trigger the rotation signal for rotating the gastroscope counterclockwise.

4. The enteroscopy control system of claim 3, wherein, The joystick further includes a second joystick, and the mirror-advancing control system further realizes the control of the movement of the gastroscope in the natural cavity by performing the following mirror-advancing control method: In response to the operation of moving the second joystick, a movement signal for moving the gastroscope in a current operation plane is triggered; The movement control of the gastroscope in the current operation plane is realized by driving the wire transmission module; Wherein, moving the second joystick forward is used to trigger generation of a moving signal for moving the gastroscope upward in the current operation plane, moving the second joystick backward is used to trigger generation of a moving signal for moving the gastroscope downward in the current operation plane, moving the second joystick leftward is used to trigger generation of a moving signal for moving the gastroscope leftward in the current operation plane, and moving the second joystick rightward is used to trigger generation of a moving signal for moving the gastroscope rightward in the current operation plane.

5. The enteroscopy control system of claim 3 or 4, wherein, The endoscope insertion control system also implements control of the movement of the gastroscope in the natural cavity by executing an endoscope insertion control method as follows: The sensor data of the gastroscope during movement is acquired by a sensor arranged on the gastroscope; In the case that the gastroscope is in contact with the inner wall of the natural cavity, the external force received by the gastroscope is calculated based on the sensor data; When the external force is greater than or equal to a preset threshold, operation feedback is provided to the user by the joystick; wherein the operation feedback includes vibration feedback.

6. The enteroscopy control system of claim 2, wherein, The operation signal is triggered by a voice instruction, and the endoscope insertion control system also implements control of the movement of the gastroscope in the natural cavity by executing an endoscope insertion control method as follows: When a voice instruction is received, the voice instruction is converted into text information, and the user intent contained in the text information is identified; According to the user intent and the target intent corresponding in the preset intent instruction set, the operation signal for the gastroscope is generated, the intent instruction set and the operation instruction set have a mapping relationship, and the operation instruction set includes a plurality of instructions for generating the operation signal.

7. The scope advancement control system of any of claims 1 to 4 or 6, wherein, The endoscope insertion control system also implements control of the movement of the gastroscope in the natural cavity by executing an endoscope insertion control method as follows: The gastroscope image collected by the gastroscope is received; By identifying the gastroscope image, the target direction of the gastroscope movement is determined, the target direction includes the advancing direction of the gastroscope in the natural cavity, and the advancing direction is the direction corresponding to the maximum depth value in the gastroscope image; Based on the target direction, the operation signal for the gastroscope is automatically generated, and the operation signal is a moving signal for instructing the gastroscope to move in the target direction.

8. The enteroscopy control system of claim 7, wherein, The target direction also includes the direction corresponding to the location of the lesion tissue, and the determination of the target direction of the gastroscope movement by identifying the gastroscope image includes: The location of the lesion tissue is determined by lesion identification on the gastroscope image; The location of the lesion tissue in the gastroscope image is marked in the display interface displaying the gastroscope image, and the movement path of the gastroscope is planned with the direction corresponding to the location of the lesion tissue as the target direction.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the computer device implements an endoscope insertion control method implemented by the endoscope insertion control system as claimed in any one of claims 1 to 8 as follows: When receiving an operation signal for a gastroscope, determining a signal type of the operation signal, the gastroscope being clamped by a locking and clamping mechanism of a driving module, a tail of the gastroscope being connected to a wire transmission module connected to an output end of a boom rotating motor, the boom rotating motor being fixed to an end of a lifting column, the driving module being installed on a positive and negative toothed lead screw fixed to an end of a mirror entering motor; Obtaining state information of the driving module, the driving module including first and second driving modules having different states; According to the signal type and the state information, driving the mirror entering motor and the lifting column to move to drive the gastroscope to move in the natural cavity.

10. A computer program product comprising a computer program, characterized in that, When the computer program is running, the mirror entering control system as claimed in any one of claims 1 to 8 is caused to perform the following mirror entering control method: When receiving an operation signal for a gastroscope, determining a signal type of the operation signal, the gastroscope being clamped by a locking and clamping mechanism of a driving module, a tail of the gastroscope being connected to a wire transmission module connected to an output end of a boom rotating motor, the boom rotating motor being fixed to an end of a lifting column, the driving module being installed on a positive and negative toothed lead screw fixed to an end of a mirror entering motor; Obtaining state information of the driving module, the driving module including first and second driving modules having different states; According to the signal type and the state information, driving the mirror entering motor and the lifting column to move to drive the gastroscope to move in the natural cavity.

Images