Control method, device, medium, and endoscope for laser apparatus

Abstract

The application provides a control method and device of a laser equipment, a medium and an endoscope, relates to the technical field of endoscope data processing, and the method acquires corresponding laser loss data through fiber form characteristics, and determines laser equipment control parameters based on the fiber form characteristics, the laser loss data and target laser parameters, compensates for the loss of the laser in the fiber, so that the laser reaches the target laser parameters when being emitted from the fiber, the number of times of adjusting the laser parameters can be reduced, and the control method of the laser equipment is simplified.

Description

Technical Field

[0001] This application relates to the field of endoscopic data processing technology, specifically to a control method, device, medium, and endoscope for a laser device. Background Technology

[0002] Laser lithotripsy, as a minimally invasive treatment, is widely used in urology, particularly for breaking up urinary tract stones such as kidney stones and ureteral stones. This technique delivers laser energy to the stone site, using photothermal or photomechanical effects to fragment the stone, facilitating its removal or further treatment. However, in existing laser lithotripsy systems, the operation is highly dependent on the physician's clinical experience and skill level. This can lead to repeated adjustments of laser parameters, resulting in cumbersome parameter settings and complex control methods. Summary of the Invention

[0003] This application provides a control method, device, medium, and endoscope for a laser device. It can obtain corresponding laser loss data through the optical fiber morphology characteristics, and determine the control parameters of the laser device based on the optical fiber morphology characteristics, laser loss data, and target laser parameters. It compensates for the laser loss in the optical fiber so that the laser reaches the target laser parameters when it exits the optical fiber, thereby reducing the number of laser parameter adjustments and simplifying the control method of the laser device.

[0004] This application provides a control method for a laser device, comprising:

[0005] Acquire fiber morphology characteristics and target laser parameters; the fiber morphology characteristics include the curvature of all current bending segments of the fiber; the target laser parameters characterize the laser parameters of the output fiber;

[0006] Laser loss data is determined based on the morphological characteristics of the optical fiber; the laser loss data characterizes the amount of change in laser propagation in the optical fiber.

[0007] Based on the fiber morphology characteristics, laser loss data, and target laser parameters, the control parameters of the laser equipment are determined; the control parameters of the laser equipment characterize the laser parameters of the input fiber.

[0008] To achieve the above and other related objectives, this application provides a control device for a laser device, comprising:

[0009] The data acquisition module is used to acquire fiber optic morphological characteristics and target laser parameters; the fiber optic morphological characteristics include the curvature of all current bending segments of the fiber; the target laser parameters characterize the laser parameters of the output fiber.

[0010] The loss data determination module is used to determine laser loss data based on the optical fiber morphology characteristics; the laser loss data characterizes the amount of change in laser propagation in the optical fiber.

[0011] The target data determination module is used to determine the control parameters of the laser equipment based on the fiber morphology characteristics, laser loss data, and target laser parameters; the laser equipment control parameters characterize the laser parameters of the input fiber.

[0012] To achieve the above and other related objectives, this application also provides a computer storage medium having a computer program stored thereon;

[0013] When the computer program is executed by the processor, it implements one or more of the aforementioned control methods for laser devices.

[0014] To achieve the above and other related objectives, this application also provides an endoscope, including an endoscope host, the endoscope host comprising:

[0015] One or more processors;

[0016] Memory used to store the executable program code of the processor;

[0017] The processor is configured to execute the program code to implement the control method of the laser device described above.

[0018] As described above, the control method, apparatus, medium, and endoscope for a laser device provided in this application have the following beneficial effects:

[0019] This application discloses a control method for a laser device. This method obtains corresponding laser loss data through the optical fiber morphology characteristics, and determines the control parameters of the laser device based on the optical fiber morphology characteristics, laser loss data, and target laser parameters. It compensates for the laser loss in the optical fiber so that the laser reaches the target laser parameters when it exits the optical fiber, thereby reducing the number of laser parameter adjustments and simplifying the control method of the laser device.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0022] Figure 1 This is a flowchart illustrating a control method for a laser device in an exemplary embodiment of this application;

[0023] Figure 2 This is a structural block diagram of a control device for a laser device, as illustrated in an exemplary embodiment of this application. Detailed Implementation

[0024] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0025] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0026] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0027] Please see Figure 1 , Figure 1 This is a flowchart illustrating a control method for a laser device according to an exemplary embodiment of this application. (Reference) Figure 1 It can be seen that the control method of this laser device may include:

[0028] Step S110: Obtain the optical fiber morphology characteristics and target laser parameters.

[0029] Among them, the optical fiber morphology features include the curvature of all current bending segments of the optical fiber; the target laser parameters characterize the laser parameters of the output optical fiber.

[0030] In one embodiment of this application, the morphological characteristics of the optical fiber and the target laser parameters can be obtained. The endoscope includes a main unit, an operating handle, and an insertion section. The user can control the forward direction of the insertion section via the operating handle, allowing the tip of the insertion section to reach the target position. The optical fiber is located in the working channel of the insertion section. Since the cavity into which the insertion section enters is not a straight tube, there are numerous complex bends and turns within the cavity. During the insertion process, the insertion section bends to follow the cavity path, or the user actively controls the tip of the insertion section to bend, causing the optical fiber to bend along with the insertion section. The current bending segment is the bending segment in the optical fiber that currently meets the screening criteria. The screening criteria can be that any currently bent portion is considered a current bending segment, or that any bending segment whose curvature meets a preset condition is considered a current bending segment. The target laser parameters can be the parameters of the laser acting on the stone or other target object after exiting the optical fiber. During laser transmission in the optical fiber, some energy is lost in the current bending segment, resulting in energy loss, frequency changes, and changes in the proportion of laser modes when the laser exits the optical fiber compared to when it entered the fiber. Therefore, the parameters of the laser exiting the optical fiber may not be sufficient to fragment stones or achieve other purposes. Therefore, when determining the control parameters of a laser device, the optical fiber morphology and target laser parameters can be obtained first to correct the control parameters of the laser device so that the laser parameters emitted from the optical fiber meet the target laser parameters.

[0031] Laser devices can employ multimode lasers, which are lasers whose output beams simultaneously contain multiple different transverse modes. Within a laser resonant cavity, only a specific light wave whose waveform and phase completely coincide with its own after one round trip within the cavity can stably exist and oscillate amplify; these stable light wave forms are called "modes." A transverse mode corresponds to the intensity distribution of the light wave on a cross-section perpendicular to the propagation direction. Multimode lasers can include a fundamental mode and higher-order modes; higher-order modes can include first-order and second-order modes. The fundamental mode, first-order mode, and second-order mode differ in their transverse distribution of the optical field, propagation constants, beam quality, and divergence angles.

[0032] The propagation constant of the fundamental mode is greater than that of the first-order mode, which is greater than that of the second-order mode. A larger propagation constant results in a slower propagation speed; therefore, the fundamental mode has the slowest propagation speed. The beam quality of the fundamental mode is superior to that of higher-order modes. The fundamental mode has the smallest divergence angle, while higher-order modes have larger divergence angles.

[0033] It should be noted that the curvature of the current bending segment affects the relevant parameters of the laser. The greater the curvature, the smaller the corresponding bending radius, and the greater the laser loss. Under the same curvature, the laser loss of higher-order modes is greater than that of lower-order modes.

[0034] A series of fiber Bragg grating (FBG) sensors can be inscribed inside the optical fiber. The reflected wavelength of each FBG is highly sensitive to the strain (tension or compression) at its location. When the endoscope bends, the inner FBGs are compressed, and the outer FBGs are stretched. The strain at each FBG point is measured using a fiber optic modulator. By analyzing the strain differences between consecutive FBG points, the three-dimensional spatial curve of the entire optical fiber can be reconstructed. From this curve, the number and location of the bent segments, the curvature of each bent segment, and the direction of bending can be directly determined.

[0035] Step S120: Determine laser loss data based on fiber optic morphology characteristics.

[0036] Among them, laser loss data characterizes the amount of change in laser transmission through optical fiber.

[0037] In one embodiment of this application, laser loss data can be determined based on the fiber optic morphology characteristics. This laser loss data can be used to correct the target laser parameters. Energy loss occurs during laser transmission, but users are unaware of or unable to quantify this energy loss, leading to a discrepancy between the energy reaching the stone and the power emitted by the laser source. This necessitates multiple adjustments of the laser parameters until the target parameters are achieved. The laser device control method provided in this application can quantify laser loss data during laser adjustment, thereby obtaining more accurate target laser parameters. This reduces the number of times users need to adjust laser parameters when using an endoscope and simplifies the control method of the laser device.

[0038] When a laser propagates through a curved section, its incident angle changes as it reaches the curved section. On the outer side of the curved section, that is, the side away from the center, the angle at which the laser strikes the interface becomes smaller. If the angle at which the laser strikes the interface is less than the critical angle, the condition for total internal reflection is no longer met. A portion of the pulse energy will be refracted into the cladding of the optical fiber and eventually consumed. This consumed energy is converted into heat and accumulates in the curved section of the optical fiber. If the accumulated heat exceeds the heat tolerance threshold of the optical fiber, it will affect the service life of the optical fiber.

[0039] Furthermore, when the laser propagates through a curved section, its energy loss, frequency change, and laser mode ratio alter. The energy, frequency, and laser mode ratio of the laser in the output fiber change compared to the relevant parameters in the input fiber, making it impossible to achieve the target laser parameters. Therefore, laser loss data can be determined by executing step S120. This laser loss data, as visualized data, can be used for monitoring and troubleshooting during the training and application of laser equipment control methods.

[0040] For example, laser loss data can be obtained based on fiber optic morphology characteristics and a pre-trained loss parameter prediction model. The loss parameter prediction model may include an input layer, a first hidden layer, a second hidden layer, a third hidden layer, and an output layer.

[0041] First, a first training sample set can be obtained. This first training sample set may include multiple first training sample pairs. Each first training sample pair may include sample data and corresponding label information. The sample data may include the morphological characteristics of the sample optical fiber. The label information can be determined based on the laser input parameters and laser output parameters. The laser input parameters can be the parameters of the input laser device, and the laser output parameters can be the parameters of the output optical fiber. The label information may include the sample laser loss data corresponding to the morphological characteristics of the sample optical fiber.

[0042] Laser parameters include laser power, pulse frequency, pulse energy, pulse width, and the power distribution of each laser mode. The power distribution of each laser mode represents the proportion of each laser mode's power in the total laser power. Laser loss data can include laser power loss, laser frequency loss, pulse energy loss, pulse width loss, and the transmission efficiency of each laser mode. A mean squared error loss function can be used, and a loss parameter prediction model can be trained using a first training sample set with the goal of minimizing the loss function, resulting in a pre-trained loss parameter prediction model. The loss parameter prediction model can be a deep neural network model.

[0043] For example, laser power loss can be expressed as ; For output power, The input power is the laser frequency loss, which can be expressed as: ; For output frequency, Let be the input frequency. The pulse energy loss can be expressed as: ; In order to output energy, For input energy. The pulse width can be expressed as... ; For output width, Where is the input width. Transmission efficiency can be expressed as... ; For the first Output power of each laser mode For the first Input power of each laser mode.

[0044] Input power, input frequency, input energy, input bandwidth, and the input power of each mode can all be determined through the laser equipment settings. Output power can be obtained using a power meter at the fiber optic output. Output frequency can be obtained using a high-speed photodetector and oscilloscope at the fiber optic output. Output energy can be calculated from the average output power and frequency: Output energy = Average power / Frequency. Output bandwidth can be measured at the fiber optic output using an autocorrelation meter or a fast photodetector. Output power of each mode can be measured at the fiber optic output using a mode analyzer.

[0045] Step S130: Based on the fiber morphology characteristics, laser loss data, and target laser parameters, determine the control parameters of the laser equipment.

[0046] Among them, the laser equipment control parameters characterize the laser parameters of the input optical fiber.

[0047] In one embodiment of this application, after determining the laser loss data based on the fiber optic morphology and target laser parameters, the target laser parameters can be corrected based on the laser loss data to obtain the laser device control parameters. The laser device can be a laser generator, and the laser device control parameters are the laser parameters entering the optical fiber; the target laser parameters can also be called the laser parameters exiting the optical fiber. By compensating for the laser device control parameters, the laser parameters exiting the optical fiber can reach the target laser parameters after energy loss, frequency changes, and laser mode ratio changes during laser transmission through the optical fiber. This ensures that the laser parameters exiting the optical fiber meet the target requirements, compensates for laser loss, and further improves the accuracy of the laser parameters in the output optical fiber.

[0048] In one possible implementation, a mapping relationship between fiber morphology characteristics, laser loss data, target laser parameters, and laser equipment control parameters can be pre-defined. After determining the fiber morphology characteristics, laser loss data, and target laser parameters, the laser equipment control parameters can be determined based on the pre-defined mapping relationship. Fiber morphology characteristics may include the number of current bends and the curvature of each current bend. When determining the laser equipment control parameters based on parameters such as fiber morphology characteristics and the mapping relationship, the mean or median of the curvatures of all bends in the fiber morphology characteristics can be used as a search criterion.

[0049] In another possible implementation, the fiber optic morphology characteristics, laser loss data, and target laser parameters can be used as input data. The input data is then fed into a pre-trained laser parameter determination model to obtain the laser device control parameters output by the laser parameter determination model.

[0050] The process of training the laser parameter determination model may include: acquiring a second training sample set, which includes multiple second training sample pairs, each pair including sample input data and label information of the corresponding laser device control parameters; and training the laser parameter determination model based on the second training sample set, with the objective of minimizing the loss function, to obtain the trained laser parameter determination model, which is the pre-trained laser parameter determination model. The loss function can be the mean squared error loss function.

[0051] It should be noted that step S120 can determine the loss data related to the laser parameters, and determine the control parameters of the laser equipment based on the loss data, fiber morphology characteristics and target laser parameters.

[0052] Optionally, the process of obtaining target laser parameters in step S110 may include: obtaining stone parameters; the stone parameters include stone type, stone size and stone location; and determining target laser parameters based on the stone parameters.

[0053] In one embodiment of this application, stone parameters can be obtained, and target laser parameters can be determined based on these parameters. The location and size of the stone can be obtained through ultrasound examination, and the stone type can be determined by obtaining CT values ​​through CT scans. For example, a CT value > 1000 HU indicates a calcium oxalate stone or a calcium phosphate stone; a CT value within the range of [500, 600] indicates a cystine stone; and a CT value < 500 HU indicates a uric acid stone.

[0054] The target laser parameters can be determined based on the stone parameters and a pre-calibrated mapping relationship between stone parameters and laser parameters. Multiple stone parameters can be pre-set, and the corresponding laser parameters for each stone parameter can be calibrated to obtain the mapping relationship between stone parameters and laser parameters.

[0055] The model can also be determined based on the stone parameters and pre-trained target parameters to obtain the target laser parameters output by the target parameter determination model. A third training sample set can be obtained, which may include multiple third training sample pairs. Each third training sample pair includes a training sample and a sample label. The training sample can be the stone parameters, and the sample label can be the laser parameters corresponding to the stone parameters. The model can be determined based on the training sample set and the target parameters, with the objective of minimizing the loss function, to obtain the pre-trained target parameter determination model. The loss function can be mean squared error or mean absolute error. The target parameter determination model can be a multilayer perceptron or a Transformer model.

[0056] Alternatively, users can input target laser parameters via the endoscope host using a touchscreen, button, or knob.

[0057] Optionally, the process of obtaining the optical fiber morphological characteristics in step S110 may include: obtaining the curvature of each initial bending segment in the optical fiber; and determining the initial bending segment as the current bending segment when the curvature of the initial bending segment is greater than or equal to the target curvature.

[0058] In one embodiment of this application, the optical fiber may encounter multiple initial bending segments during its forward propagation. Each initial bending segment corresponds to a curvature. During laser transmission, the laser parameters lost by the laser in initial bending segments with different curvatures are different. When the curvature of the initial bending segment is small, the laser parameters lost in that initial bending segment can be ignored. Therefore, it is necessary to determine the curvature of each initial bending segment. When the curvature of the initial bending segment is greater than or equal to the target curvature, the initial bending segment is determined as the current bending segment. The laser parameters lost by the laser in the current bending segment with a curvature greater than or equal to the target curvature will affect the laser parameters emitted from the optical fiber. By filtering the initial bending segments based on their curvature, the amount of data processing can be reduced while ensuring data accuracy.

[0059] Optionally, the process of determining the laser device control parameters based on fiber morphology characteristics, laser loss data, and target laser parameters in step S130 may include: determining initial laser parameters based on laser loss data and target laser parameters; determining the current accumulated energy of each current bending segment based on the initial laser parameters and fiber morphology characteristics; the current accumulated energy characterizing all the energy accumulated in the current bending segment after emitting laser with the initial laser parameters; and determining the laser device control parameters based on the initial laser parameters, the current accumulated energy of each current bending segment, and a preset energy threshold.

[0060] In one embodiment of this application, initial laser parameters can be determined first based on laser loss data and target laser parameters. These initial laser parameters characterize the theoretically calculated laser parameters incident on the optical fiber. The first accumulated energy of each current bend segment of the optical fiber during a single use, from the start of use until the application of the initial laser parameters, can be determined. Based on the fiber morphology characteristics, the second accumulated energy of each current bend segment after the application of the initial laser parameters is predicted. The sum of the first and second accumulated energies for each current bend segment is then determined as the current accumulated energy. The fiber morphology can be simulated using three-dimensional software, and the accumulated energy of each bend segment can be determined based on the laser equipment control parameters for each use.

[0061] For example, the preset energy threshold can be set by the operator according to the actual situation.

[0062] In one possible implementation, the process of determining the laser device control parameters based on the initial laser parameters, the current accumulated energy of each current bending segment, and a preset energy threshold may include: if any current accumulated energy is greater than or equal to the preset energy threshold, then the laser device control parameters are obtained by reducing the initial laser parameters; if all current accumulated energies are less than the preset energy threshold, then the initial laser parameters are determined as the laser device control parameters.

[0063] In another possible implementation, the process of determining the laser device control parameters based on the initial laser parameters, the current cumulative energy of each current bending segment, and a preset energy threshold may include: if the current cumulative energy of the target bending segment is greater than or equal to the preset energy threshold, then the laser device control parameters are obtained by reducing the initial laser parameters; the target bending segment is the current bending segment with the largest curvature among all current bending segments; if the current cumulative energy of the target bending segment is less than the preset energy threshold, then the initial laser parameters are determined as the laser device control parameters.

[0064] The current bending segment with the largest curvature among all current bending segments can be identified as the target bending segment, and its current accumulated energy can be determined. The target bending segment with the largest curvature will accumulate the most energy. That is, when the current accumulated energy of the target bending segment is greater than or equal to a preset energy threshold, it can be determined that the optical fiber is overloaded. At this time, the initial laser parameters can be reduced to avoid optical fiber overload and improve the safety of the laser equipment.

[0065] The control parameters for the laser equipment can be obtained by reducing preset values ​​from the initial laser parameters. These preset values ​​can be set by the operator according to the actual situation.

[0066] Figure 2 This is a block diagram illustrating a control device for a laser apparatus, as shown in an exemplary embodiment of this application. Figure 2 As shown, the control device 200 of this exemplary laser device includes:

[0067] The data acquisition module 210 is used to acquire fiber optic morphological characteristics and target laser parameters; the fiber optic morphological characteristics include the curvature of all current bending segments of the fiber; the target laser parameters characterize the laser parameters of the output fiber.

[0068] The loss data determination module 220 is used to determine laser loss data based on the optical fiber morphology characteristics; the laser loss data characterizes the amount of change in laser transmission in the optical fiber.

[0069] The target data determination module 230 is used to determine the control parameters of the laser equipment based on the optical fiber morphology characteristics, laser loss data and target laser parameters; the laser equipment control parameters characterize the laser parameters of the input optical fiber.

[0070] In one embodiment of this application, the data acquisition module includes:

[0071] The stone parameter acquisition unit is used to acquire stone parameters, including stone type, stone size, and stone location.

[0072] The laser parameter determination unit is used to determine the target laser parameters based on the stone parameters.

[0073] In one embodiment of this application, the data acquisition module includes:

[0074] The curvature acquisition unit is used to acquire the curvature of each initial bending segment in the optical fiber;

[0075] The bending segment determination unit is used to determine the initial bending segment as the current bending segment when the curvature of the initial bending segment is greater than or equal to the target curvature.

[0076] In one embodiment of this application, the target data determination module includes:

[0077] The initial parameter determination unit is used to determine the initial laser parameters based on laser loss data and target laser parameters;

[0078] The energy determination unit is used to determine the current accumulated energy of each current bend segment based on the initial laser parameters and fiber morphology characteristics; the current accumulated energy represents all the energy accumulated in the current bend segment after the laser is emitted with the initial laser parameters;

[0079] The control parameter determination unit is used to determine the control parameters of the laser device based on the initial laser parameters, the current cumulative energy of each current bending segment, and the preset energy threshold.

[0080] In one embodiment of this application, the control parameter determination unit is further configured to:

[0081] If any current accumulated energy is greater than or equal to a preset energy threshold, the laser device control parameters are obtained by reducing the initial laser parameters.

[0082] If all current accumulated energy is less than the preset energy threshold, then the initial laser parameters will be determined as the control parameters of the laser device.

[0083] In one embodiment of this application, the control parameter determination unit is further configured to:

[0084] If the current accumulated energy of the target curved segment is greater than or equal to the preset energy threshold, the laser equipment control parameters are obtained after reducing the initial laser parameters; the target curved segment is the current curved segment with the largest curvature among all current curved segments.

[0085] If the current accumulated energy of the target curved section is less than the preset energy threshold, the initial laser parameters will be determined as the control parameters of the laser equipment.

[0086] In one embodiment of this application, the laser device control parameters include laser power, pulse frequency, pulse energy, pulse width, and power distribution of each laser mode.

[0087] It should be noted that the control device for the laser equipment provided in the above embodiments and the control method for the laser equipment provided in the above embodiments belong to the same concept. The specific ways in which each module and unit performs operations have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the control device for the laser equipment provided in the above embodiments can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not a limitation here.

[0088] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the laser device control method provided in the above embodiments.

[0089] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the control method for the laser device provided in the various embodiments described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0090] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the laser device control method provided in the various embodiments described above.

[0091] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "comprising" and "including" as used throughout the specification and claims are open-ended terms and should therefore be interpreted as "comprising but not limited to".

[0092] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A control method of a laser apparatus, characterized by, The method comprises the following steps: obtaining fiber morphology features and target laser parameters; the fiber morphology features include curvatures of all current bending sections of the fiber; the target laser parameters represent laser parameters of an output fiber; determining laser loss data based on the fiber morphology features; the laser loss data represents a variation amount of laser transmission in the fiber; determining initial laser parameters based on the laser loss data and the target laser parameters; determining current cumulative energies of the current bending sections based on the initial laser parameters and the fiber morphology features; the current cumulative energies represent all energies accumulated in the current bending sections after laser emission at the initial laser parameters; determining laser device control parameters based on the initial laser parameters, the current cumulative energies of the current bending sections, and a preset energy threshold.

2. The control method of a laser apparatus according to claim 1, characterized by, The method comprises the following steps: obtaining stone parameters; the stone parameters include stone types, stone sizes, and stone positions; determining target laser parameters based on the stone parameters.

3. The control method of a laser apparatus according to claim 1, wherein The method comprises the following steps: obtaining curvatures of initial bending sections in the fiber; when the curvature of an initial bending section is greater than or equal to a target curvature, determining the initial bending section as a current bending section.

4. The control method of a laser apparatus according to claim 1, wherein The method comprises the following steps: if any current cumulative energy is greater than or equal to the preset energy threshold, reducing the initial laser parameters to obtain laser device control parameters; if all current cumulative energies are less than the preset energy threshold, determining the initial laser parameters as the laser device control parameters.

5. The control method of a laser apparatus according to claim 1, wherein The method comprises the following steps: if the current cumulative energy of a target bending section is greater than or equal to the preset energy threshold, reducing the initial laser parameters to obtain laser device control parameters; the target bending section is a current bending section with the maximum curvature among all current bending sections; if the current cumulative energy of the target bending section is less than the preset energy threshold, determining the initial laser parameters as the laser device control parameters.

6. The control method of a laser apparatus according to any one of claims 1 to 5, characterized by, The laser device control parameters include laser power, pulse frequency, pulse energy, pulse width, and power distribution of each laser mode.

7. A control device of a laser apparatus, characterized by comprising: The method comprises the following steps: a data acquisition module is configured to obtain fiber morphology features and target laser parameters; the fiber morphology features include curvatures of all current bending sections of the fiber; the target laser parameters represent laser parameters of an output fiber; a loss data determination module is configured to determine laser loss data based on the fiber morphology features; the laser loss data represents a variation amount of laser transmission in the fiber; a target data determination module is configured to determine initial laser parameters based on the laser loss data and the target laser parameters; determining current cumulative energies of the current bending sections based on the initial laser parameters and the fiber morphology features; the current cumulative energies represent all energies accumulated in the current bending sections after laser emission at the initial laser parameters; determining laser device control parameters based on the initial laser parameters, the current cumulative energies of the current bending sections, and a preset energy threshold.

8. A computer storage medium, characterized in that, The computer program is stored on the computer readable medium. The computer program, when executed by a processor, implements the control method of the laser apparatus according to any one of claims 1 to 6.

9. An endoscope characterized by comprising: An endoscope system includes an endoscope main unit including: one or more processors; a memory for storing program codes executable by the processors; wherein the processors are configured to execute the program codes to implement the control method of the laser apparatus according to any one of claims 1 to 6.

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