An adaptively adjustable orthopedic examination endoscope and method of use thereof

Abstract

This invention relates to the field of data processing technology, and more particularly to an adaptive orthopedic endoscope and its method of use. The endoscope includes a data acquisition unit and a processor. This invention acquires multiple parameters in real time in the anterior observation area of ​​the imaging lens within the joint cavity, and determines the observation state and abnormality type based on the changing trends and interrelationships of these parameters. It can accurately identify imaging abnormalities caused by fluid disturbance or tissue obstruction. Furthermore, based on the determination results, it generates adjustment amounts for brightness and observation angle, and adaptively adjusts the observation range radius and state threshold by the temporal distribution and concentration of the adjustment amounts within the adjustment cycle. This allows the endoscope to maintain optimal imaging performance in different joint environments, effectively solving the problem of insufficient imaging clarity and glare interference caused by tissue obstruction and fluid disturbance in rear-mounted imaging methods, thus reducing observation accuracy.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to an adaptive orthopedic examination endoscope and its method of use. Background Technology

[0002] With the widespread application of minimally invasive techniques in orthopedic diagnosis and treatment, arthroscopy has become an important means of clinical diagnosis and treatment. However, existing techniques mostly use posterior imaging, which is easily affected by tissue, synovial fluid and lighting conditions, leading to problems such as decreased clarity, glare interference and obstruction of key structures. This makes it very challenging for doctors to achieve accurate observation and operation in the narrow and complex joint cavity.

[0003] Chinese Patent Application Publication No. CN111317426A discloses an adaptive adjustment method and apparatus for endoscope parameters. The method includes: acquiring an endoscope image; extracting image feature information of a preset region in the endoscope image; the preset region includes multiple rectangular regions, each rectangular region being smaller than the endoscope image and penetrating the endoscope image; determining the endoscope category based on the image feature information of the preset region; and adjusting the endoscope parameters based on the endoscope category.

[0004] Therefore, the aforementioned adaptive adjustment method for endoscopic parameters has the following problems: the method only addresses the adaptive control of image post-processing parameters such as brightness, contrast, and saturation, without involving real-time adjustment of spatial dimensions such as lens angle, observation distance, or imaging range. In scenarios where the distance between the lens and the target changes or there is partial occlusion, the field of view may be limited or the image may degrade. Furthermore, the threshold or period used to trigger the adjustment in this method is fixed and cannot be adaptively corrected according to the actual adjustment frequency distribution or dynamic changes in the environment. Long-term use may lead to problems such as over-adjustment, response lag, or threshold failure. Summary of the Invention

[0005] Therefore, the present invention provides an adaptive orthopedic examination endoscope and its method of use, which overcomes the problems of insufficient imaging clarity and glare interference caused by tissue obstruction and fluid disturbance in the prior art due to the rear imaging method, which leads to a decrease in observation accuracy, by using a front imaging module to collect intra-articular imaging parameters in real time and dynamically adjust the brightness and observation angle.

[0006] To achieve the above objectives, in one aspect, the present invention provides an adaptively adjustable orthopedic examination endoscope, comprising:

[0007] The acquisition device is used to acquire in real time the image clarity, glare ratio, tissue surface reflectivity, joint fluid turbidity, bleeding index, and distance between the imaging lens and the target tissue at a semi-circular observation area with a preset radius in front of the imaging lens as it moves forward in the target joint cavity at a preset brightness and preset observation angle.

[0008] The processor includes a status determination module, a type determination module, an adjustment module, and an adjustment module;

[0009] The state determination module is connected to the collector and is used to determine the observation state based on the imaging clarity, glare ratio, spacing and preset state threshold to obtain an anomaly determination result.

[0010] The type determination module is connected to the state determination module and is used to determine the abnormality type based on the abnormality determination result, according to the spacing, the joint fluid turbidity, the bleeding index and the tissue surface reflectivity, to obtain the fluid disturbance type and the tissue occlusion type.

[0011] The adjustment module is connected to the type determination module and the collector respectively, and is used to generate a brightness adjustment amount and make corresponding adjustments based on the liquid disturbance type, according to the image clarity, glare ratio and the preset brightness; and to generate an angle adjustment amount and make corresponding adjustments based on the tissue occlusion type, according to the spacing, the tissue surface reflectivity and the preset observation angle.

[0012] The adjustment module is connected to both the adjustment module and the collector, and is used to adjust the preset radius or the preset state threshold according to the generation time of the brightness adjustment amount and the generation time of the angle adjustment amount within a preset adjustment period.

[0013] Furthermore, the state determination module includes:

[0014] The first difference calculation unit is used to calculate the absolute value of the difference between the image clarity at the end of the preset state determination time and the image clarity at the beginning time, to obtain a clarity difference value; and to calculate the absolute value of the difference between the glare ratio at the end of the preset state determination time and the glare ratio at the beginning time, to obtain a ratio difference value; and to calculate the difference between the spacing at the end of the preset state determination time and the spacing at the beginning time, to obtain a spacing difference value.

[0015] The first ratio calculation unit is connected to the first difference calculation unit and is used to calculate the ratio of the sharpness difference and the spacing difference to obtain the sharpness change value, and to calculate the ratio of the proportion difference and the spacing difference to obtain the proportion change value.

[0016] A state determination unit is connected to the difference calculation unit and the ratio calculation unit respectively, and is used to determine the observation state based on the clear change value, the proportion change value, the spacing difference value and the preset state threshold to obtain the anomaly determination result.

[0017] Furthermore, the state determination unit includes:

[0018] The state comparison subunit is used to compare the clarity change value with the preset clarity change threshold, compare the proportion change value with the preset proportion change threshold, and compare the spacing difference with the preset state threshold to obtain the state comparison result.

[0019] A state determination subunit, connected to the state comparison subunit, is used to determine that the observation state is abnormal when the clarity change value is greater than the preset clarity change threshold and the spacing difference is less than the preset state threshold, so as to obtain the abnormality determination result; and to determine that the observation state is abnormal when the proportion change value is greater than the preset proportion change threshold and the spacing difference is less than the preset state threshold, so as to obtain the abnormality determination result.

[0020] Furthermore, the type determination module includes:

[0021] The second difference calculation unit is used to calculate the absolute value of the difference between the turbidity of the joint fluid at the end time and the beginning time within the preset type determination time, to obtain a turbidity difference value; and to calculate the absolute value of the difference between the bleeding index at the end time and the beginning time within the preset type determination time, to obtain an index difference value; and to calculate the absolute value of the difference between the tissue surface reflectance at the end time and the beginning time within the preset type determination time, to obtain a reflectance difference value; and to calculate the difference between the spacing at the end time and the beginning time within the preset type determination time, to obtain a spacing change value.

[0022] The second ratio calculation unit, which is connected to the second difference calculation unit, is used to calculate the ratio of the turbidity difference value to the spacing change value to obtain the turbidity change value; and to calculate the ratio of the exponential difference value to the spacing change value to obtain the exponential change value; and to calculate the ratio of the reflectance difference value to the spacing change value to obtain the reflectance change value.

[0023] The type determination unit is used to determine the abnormality type based on the turbidity change value, the exponential change value, and the reflectance change value, thereby obtaining the liquid disturbance type and the tissue obstruction type.

[0024] Furthermore, the type determination unit includes:

[0025] The normalization subunit is used to normalize each turbidity change value according to all the turbidity change values ​​within the preset type determination period to obtain a number of turbidity normalization values, and to normalize each exponential change value according to all the exponential change values ​​within the preset type determination period to obtain a number of exponential normalization values, and to normalize each reflectance change value according to all the reflectance change values ​​within the preset type determination period to obtain a number of reflectance normalization values.

[0026] A characterization calculation subunit, which is connected to the normalization subunit, is used to perform a weighted summation of the turbidity normalization value, the preset turbidity weight, the exponential normalization value and the preset exponential weight corresponding to each preset type determination time within the preset type determination period, to obtain several interference characterization values.

[0027] A type determination subunit, which is connected to the normalization subunit and the characterization calculation subunit respectively, is used to determine the abnormal type based on the consistency of the changes of the interference characterization value and the reflectance normalization value within the preset type determination period, thereby obtaining the liquid disturbance type and the tissue occlusion type.

[0028] Furthermore, the type determination subunit is used to calculate the Pearson correlation coefficient of all the interference characterization values ​​and the reflectance normalization value to obtain the change consistency, and, when the change consistency is greater than a preset consistency threshold, the abnormality type is determined to be the liquid disturbance type, and when the change consistency is less than or equal to the preset consistency threshold, the abnormality type is determined to be the tissue occlusion type.

[0029] Furthermore, the adjustment amount generation module includes:

[0030] A brightness adjustment unit is used to generate a brightness adjustment amount and perform corresponding adjustments when the abnormality type is determined to be the liquid disturbance type, based on a preset safe brightness value, a preset sharpness coefficient, a preset glare coefficient, the image sharpness, a preset sharpness threshold, the glare ratio, a preset ratio threshold, and a preset brightness.

[0031] An angle adjustment unit is used to generate an angle adjustment amount and perform corresponding adjustments when the abnormality type is determined to be the tissue occlusion type, based on a preset safety angle value, a preset spacing coefficient, a preset reflectivity coefficient, the spacing, a preset spacing threshold, the tissue surface reflectivity, and a preset reflectivity threshold.

[0032] Furthermore, the adjustment module includes:

[0033] The statistics unit is used to count the timestamps of the brightness adjustment amount generated within the preset adjustment period to obtain several brightness adjustment times, and to count the timestamps of the angle adjustment amount generated within the preset adjustment period to obtain several angle adjustment times.

[0034] The concentration calculation unit is used to calculate the difference between each brightness adjustment time and the initial time to obtain several brightness adjustment durations, and to calculate the reciprocal of the standard deviation of all brightness adjustment durations to obtain brightness adjustment concentration, and to calculate the difference between each angle adjustment time and the initial time to obtain several angle adjustment durations, and to calculate the reciprocal of the standard deviation of all angle adjustment durations to obtain angle adjustment concentration.

[0035] An adjustment unit, connected to the concentration calculation unit, is used to adjust the preset radius or the preset state threshold according to the brightness adjustment concentration and the angle adjustment concentration.

[0036] Furthermore, the adjustment unit includes:

[0037] The first adjustment subunit is used to adjust the preset radius according to the brightness adjustment concentration, the angle adjustment concentration, and the preset concentration threshold when both the brightness adjustment concentration and the angle adjustment concentration are greater than the preset concentration threshold.

[0038] The second adjustment subunit is used to adjust the preset state threshold according to the angle adjustment concentration and the preset concentration threshold when the brightness adjustment concentration is greater than the preset concentration threshold and the angle adjustment concentration is less than or equal to the preset concentration threshold, and to adjust the preset state threshold according to the brightness adjustment concentration and the preset concentration threshold when the angle adjustment concentration is greater than the preset concentration threshold and the brightness adjustment concentration is less than or equal to the preset concentration threshold.

[0039] On the other hand, the present invention also provides a method of using an adaptively adjustable orthopedic endoscope, comprising:

[0040] The image clarity, glare ratio, tissue surface reflectivity, synovial fluid turbidity, bleeding index, and distance between the imaging lens and the target tissue are collected in real time as the imaging lens moves forward in the target joint cavity at a preset brightness and preset observation angle.

[0041] An anomaly determination result is obtained by judging the observation state based on the imaging clarity, glare ratio, spacing and preset state threshold.

[0042] Based on the anomaly determination results, the anomaly type is determined according to the spacing, the joint fluid turbidity, the bleeding index, and the tissue surface reflectivity, resulting in fluid disturbance type and tissue occlusion type.

[0043] Based on the liquid disturbance type, a brightness adjustment amount is generated and adjusted accordingly based on the image clarity, glare ratio and preset brightness; and based on the tissue occlusion type, an angle adjustment amount is generated and adjusted accordingly based on the spacing, tissue surface reflectivity and preset observation angle.

[0044] The preset radius or the preset state threshold is adjusted according to the generation time of the brightness adjustment amount and the generation time of the angle adjustment amount within the preset adjustment period.

[0045] Compared with existing technologies, the beneficial effects of this invention are as follows: by real-time acquisition of multiple parameters such as image clarity, glare ratio, tissue surface reflectivity, synovial fluid turbidity, bleeding index, and distance between the imaging lens and tissue in the observation area in front of the joint cavity, and by judging the observation status and abnormality type based on the changing trends and interrelationships of these parameters, it can accurately identify imaging abnormalities caused by fluid disturbance or tissue obstruction; furthermore, based on the judgment results, it generates adjustment amounts for brightness and observation angle, and adaptively adjusts the observation range radius and state threshold by the time distribution and concentration of the adjustment amount within the adjustment cycle, so that the endoscope can maintain the best imaging effect in different joint environments, achieving comprehensive and coordinated control of optical, fluid, and spatial factors, improving the visualization accuracy and operational safety of orthopedic examinations, while ensuring that the adjustment process is smooth, responsive, and matches the actual tissue characteristics, effectively solving the problem of insufficient imaging clarity and glare interference caused by tissue obstruction and fluid disturbance in the rear imaging mode, thus reducing the observation accuracy.

[0046] Furthermore, by calculating the differences and ratios between real-time changes in image sharpness, glare ratio, and the distance between the lens and tissue, minute fluctuations in image quality and spatial position can be accurately captured. When sharpness or glare changes significantly while the distance remains within a safe range, abnormal observation conditions can be promptly identified, enabling rapid identification of interfering factors such as fluid disturbance or tissue obstruction. By combining image information with physical distance, the endoscope can maintain stable observation in complex joint cavity environments and provide accurate basis for subsequent brightness or angle adjustments, thereby improving the reliability of the examination and image quality.

[0047] Furthermore, by simultaneously examining the relationship between changes in sharpness, glare ratio, and lens-tissue distance, abrupt changes in optical signals are distinguished from spatial position variations: when sharpness or glare significantly deteriorates while the distance remains almost constant, it indicates that the image degradation is not caused by the operator's angle or movement, but more likely stems from intracavitary fluid turbidity, bleeding, or local reflection abrupt changes, thus classifying it as an observational anomaly. Conversely, when the distance changes accordingly and the sharpness / glare change is proportional to the distance, it can be attributed to human fine-tuning or a change in viewing angle, avoiding false alarms. This judgment strategy filters out instantaneous noise and human operational disturbances, reducing the false alarm rate and improving the accuracy of anomaly triggering. It also provides a quantitative basis for subsequent brightness or angle fine-tuning based on type, thereby achieving smoother, more timely, and targeted imaging optimization.

[0048] Furthermore, by calculating the ratios of changes in synovial fluid turbidity, hemorrhage index, and tissue surface reflectance to changes in the distance between the imaging lens and the tissue, the actual impact of fluid disturbance and tissue occlusion on image quality was quantified. Fluid disturbance-type anomalies correspond to sensitive responses of turbidity and hemorrhage index to distance changes, primarily caused by soft tissue or structures within the joint cavity obstructing the lens's field of view. Even with minor adjustments to the lens, the change in reflected light is small because the obstructing object is essentially fixed in a local space. Reflectance is mainly affected by the properties of the tissue surface and is not sensitive to minute changes in distance, thus exhibiting relative stability to distance changes. In contrast, tissue occlusion-type anomalies correspond to relative stability of reflectance changes to distance, primarily caused by changes in scattered and absorbed light due to increased synovial fluid turbidity or hemorrhage. The optical properties of the fluid change significantly with lens distance. When the lens approaches or moves away from the tissue, changes in the path length of light in the fluid directly alter the transmission and scattering intensity, making the measurements of turbidity and hemorrhage index highly sensitive to distance, thus exhibiting a sensitive response to distance changes. Ratio analysis can distinguish between two types of anomalies. When making dynamic adjustments, both the influence of brightness changes on liquid scattered light and the adjustment effect of observation angle on reflected highlights are considered. This creates a coordinated feedback loop between image clarity, glare ratio and spacing, improving overall observation stability and accuracy.

[0049] Furthermore, through normalization and weighted characterization, the dynamic characteristics of turbidity changes, hemorrhage index, and reflectance changes within a preset period are quantified, enabling the sensitive detection of fluid disturbance anomalies, as turbidity and hemorrhage index show significant responses to changes in fluid distribution. Simultaneously, tissue occlusion anomalies exhibit relatively stable reflectance changes, distinguishing the effects of fixed occlusion from fluid disturbances. By calculating the weighted interference characterization values ​​and consistency of changes for each parameter, the system can accurately determine the anomaly type and achieve adaptive adjustment of brightness and viewing angle, thereby ensuring image clarity and the stability of the viewing field of view.

[0050] Furthermore, by calculating the correlation between the interference characterization value and the reflectance normalization value, the different effects of fluid disturbance and tissue occlusion on imaging can be quantified. Fluid disturbance-type abnormalities show a highly consistent response of turbidity and hemorrhage index with changes in distance, while tissue occlusion-type abnormalities show relatively independent changes in reflectance and low sensitivity to changes in distance. This enables accurate determination of the abnormality type and improves the visualization stability and diagnostic reliability of orthopedic endoscopy in complex joint cavity environments.

[0051] Furthermore, dynamic control of the imaging lens within the joint cavity is achieved through brightness and angle adjustment units: when fluid disturbance-type anomalies occur, the brightness adjustment is proportionally adjusted according to changes in image sharpness and glare ratio relative to the threshold, ensuring a clear and visible image even under turbidity or hemorrhage; when tissue occlusion-type anomalies occur, the angle adjustment is proportionally adjusted according to changes in the distance between the lens and the tissue and the surface reflectivity, while being limited by the maximum safe angle to ensure the observation angle remains within the effective range and avoid collisions. By linking changes in image sharpness, glare ratio, distance, and reflectivity to their respective safety thresholds and adjustment coefficients, this system can adaptively optimize imaging parameters in real time, enabling brightness and angle adjustments to respond to environmental interference while maintaining safety and stability, significantly improving observation accuracy and operational reliability.

[0052] Furthermore, by statistically analyzing the timing of brightness and angle adjustments and calculating the distribution pattern of their adjustment durations, the concentration of brightness and angle adjustments is obtained using the reciprocal of the standard deviation. This allows the system to intuitively reflect the uniformity and frequency of adjustment actions. Based on the concentration of adjustments, the preset radius or preset state threshold is dynamically adjusted, thereby achieving adaptive optimization of the observation area and state judgment. This makes brightness and angle adjustments more reasonable, avoiding over-adjustment that could cause system oscillations, while ensuring rapid response under abnormal conditions, thus improving overall imaging stability and observation accuracy.

[0053] Furthermore, by jointly analyzing the concentration of brightness adjustment and angle adjustment, dynamic adaptive adjustment of system parameters is achieved: when both are above preset thresholds, the preset radius is automatically expanded to cover a wider observation area; when one concentration is high while the other is normal, the corresponding state threshold is adjusted to optimize the sensitivity of anomaly detection. This adjustment strategy ensures that brightness and angle adjustments are coordinated in time and amplitude, avoiding system jitter caused by frequent over-response, and enabling rapid and effective adjustment in abnormal situations, thereby improving the overall imaging stability and accuracy of judgment.

[0054] Furthermore, by acquiring multidimensional images and physiological parameters within the joint cavity in real time, and combining data such as clarity, glare, reflectivity, and spacing for multi-layered judgment, accurate identification of abnormal observation states can be achieved. For different types of abnormalities, brightness and observation angle are dynamically adjusted to optimize image clarity and glare ratio under fluid disturbance abnormalities, and to reasonably correct spacing and reflectivity under tissue occlusion abnormalities, thereby maintaining a stable and clear observation effect. At the same time, by analyzing the concentration of brightness and angle adjustments, the preset radius and state threshold are automatically optimized, so that the adjustment process avoids excessive intervention while ensuring rapid system response, thereby improving the imaging quality and operational safety of endoscopy in orthopedic examinations. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the adaptively adjustable orthopedic examination endoscope in this embodiment;

[0056] Figure 2 This is a logic diagram for determining whether the observed state is abnormal in the type state determination subunit of this embodiment.

[0057] Figure 3 This is the logic diagram for determining the exception type in the type determination subunit of this embodiment;

[0058] Figure 4 This is a flowchart illustrating the method of using the adaptively adjustable orthopedic examination endoscope in this embodiment. Detailed Implementation

[0059] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0060] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0061] On the one hand, please refer to Figure 1 As shown, this is a schematic diagram of the adaptively adjustable orthopedic examination endoscope of this embodiment. This embodiment provides an adaptively adjustable orthopedic examination endoscope, including:

[0062] Data acquisition unit 1 is used to collect in real time the image clarity, glare ratio, tissue surface reflectivity, joint fluid turbidity, bleeding index, and distance between the imaging lens and the target tissue at a semi-circular observation area with a preset radius in front of the imaging lens as it moves forward in the target joint cavity at a preset brightness and preset observation angle.

[0063] The processor 2, which is connected to the collector 1, includes a status determination module, a type determination module, an adjustment module, and an adjustment module;

[0064] The state determination module is connected to the collector and is used to determine the observation state based on the imaging clarity, glare ratio, spacing and preset state threshold to obtain an anomaly determination result.

[0065] The type determination module is connected to the state determination module and is used to determine the abnormality type based on the abnormality determination result, according to the spacing, the joint fluid turbidity, the bleeding index and the tissue surface reflectivity, to obtain the fluid disturbance type and the tissue occlusion type.

[0066] The adjustment module is connected to the type determination module and the collector respectively, and is used to generate a brightness adjustment amount and make corresponding adjustments based on the liquid disturbance type, according to the image clarity, glare ratio and the preset brightness; and to generate an angle adjustment amount and make corresponding adjustments based on the tissue occlusion type, according to the spacing, the tissue surface reflectivity and the preset observation angle.

[0067] The adjustment module is connected to both the adjustment module and the collector, and is used to adjust the preset radius or the preset state threshold according to the generation time of the brightness adjustment amount and the generation time of the angle adjustment amount within a preset adjustment period.

[0068] In this embodiment, the data acquisition unit utilizes a high-resolution CMOS imaging module located at the foremost edge of the imaging lens to capture images of the joint cavity within a preset radius using a miniature wide-angle lens, and transmits the images to an image processing chip. Image sharpness is determined by performing local gradient analysis and Laplacian operator calculations on the image processing chip to determine pixel contrast and edge energy, thus quantifying detail discernibility. Glare ratio is a measure of the proportion of bright or saturated pixels in the image, obtained by identifying pixel brightness peaks and saturation thresholds, reflecting the impact of strong reflections or specular flare on the field of view. Tissue surface reflectivity is measured by an embedded miniature optical reflection sensor to measure the ratio of incident to returned light intensity, used to evaluate tissue surface reflectivity. Joint fluid turbidity is measured using an optical transmission method; the CMOS module acquires transmission / scattering intensity under illumination at different wavelengths (e.g., blue light, green light), and calculates the turbidity index using a light scattering model, reflecting suspended particles or turbidity in the liquid. Turbidity; the hemorrhage index is an indicator used to quantify the degree of turbidity or blood coverage caused by bleeding in the joint cavity or surgical field. Based on color component analysis, it uses the red component in the RGB or HSV color channels and its temporal changes to quantify the presence and concentration trend of blood. Its value usually depends on the ratio of the red channel to other color channels in the image, the change trend of blood particle density per unit time, and the uniformity of brightness and saturation distribution in the local area. In terms of quantification, it can be achieved by extracting the color histogram of image pixels and calculating the proportion of red components; detecting changes in blood color concentration based on continuous frame image comparison; and classifying the degree of blood turbidity by combining preset thresholds. The hemorrhage index is usually set in the standardized range of [0, 100], with a larger value indicating more severe bleeding interference. The distance between the imaging lens and the target tissue is obtained by a miniature laser ranging module (e.g., emitting an infrared dot array and measuring based on echo time ToF) to achieve sub-millimeter distance estimation. The above parameters are collected synchronously and sent to the processor for subsequent judgment and adaptive adjustment.

[0069] In this embodiment, the imaging lens can achieve fine-tuning of its angle through a micro servo motor or micro joint structure.

[0070] The preset observation angle is the initial direction of the imaging lens within the joint cavity. It depends on the anatomical structure of the target joint cavity and the operating space, and is typically set between 10° and 45°. In this embodiment, it is set to 30° to ensure that the initial field of view covers the main tissue area. The preset radius is the measurement radius of the semi-circular observation area in front of the acquisition module. It depends on the safe distance between the lens and the tissue and the imaging resolution, and is typically set between 5mm and 15mm. In this embodiment, it is set to 10mm to balance observation details and operational safety. The preset state threshold is a reference value for determining abnormal observation states. It depends on the safe distance between the lens and the tissue and the operational precision, and is typically set between 0.5mm and 2mm. In this embodiment, it is set to 1mm to ensure that the lens maintains a safe distance from the tissue during movement and to promptly detect abnormal states. The preset adjustment cycle is the time interval for the adjustment module to perform brightness or angle adjustments. It depends on the dynamic change speed within the joint cavity, and is typically set between 0.5 and 2 seconds. In this embodiment, it is set to 1 second to respond promptly to changes in the observation state.

[0071] By real-time acquisition of multiple parameters, including image clarity, glare ratio, tissue surface reflectivity, synovial fluid turbidity, bleeding index, and distance between the imaging lens and tissue in the observation area anterior to the joint cavity, and by determining the observation status and abnormality type based on the changing trends and interrelationships of these parameters, the system can accurately identify imaging abnormalities caused by fluid disturbance or tissue obstruction. Furthermore, based on the determination results, it generates adjustments to brightness and observation angle, and adaptively adjusts the observation radius and state threshold by analyzing the temporal distribution and concentration of these adjustments within the adjustment cycle. This ensures that the endoscope maintains optimal imaging performance in various joint environments, achieving comprehensive and coordinated control of optical, fluid, and spatial factors. This improves the visualization accuracy and operational safety of orthopedic examinations, while ensuring a smooth adjustment process, rapid response, and matching with actual tissue characteristics. It effectively solves the problem of insufficient imaging clarity and glare interference caused by tissue obstruction and fluid disturbance in rear-mounted imaging methods, thus reducing observation accuracy.

[0072] Specifically, the state determination module includes:

[0073] The first difference calculation unit is used to calculate the absolute value of the difference between the image clarity at the end of the preset state determination time and the image clarity at the beginning time, to obtain a clarity difference value; and to calculate the absolute value of the difference between the glare ratio at the end of the preset state determination time and the glare ratio at the beginning time, to obtain a ratio difference value; and to calculate the difference between the spacing at the end of the preset state determination time and the spacing at the beginning time, to obtain a spacing difference value.

[0074] The first ratio calculation unit is connected to the first difference calculation unit and is used to calculate the ratio of the sharpness difference and the spacing difference to obtain the sharpness change value, and to calculate the ratio of the proportion difference and the spacing difference to obtain the proportion change value.

[0075] A state determination unit is connected to the difference calculation unit and the ratio calculation unit respectively, and is used to determine the observation state based on the clear change value, the proportion change value, the spacing difference value and the preset state threshold to obtain the anomaly determination result.

[0076] The preset state determination time is a time window used to calculate the changes in imaging clarity, glare ratio, and spacing. It depends on the speed at which the endoscope moves within the joint cavity and the image update frequency. It is usually set between 0.5 and 2 seconds. In this embodiment, it is set to 1 second, which can smooth short-term fluctuations while ensuring timely response and improving the accuracy of anomaly determination.

[0077] By calculating the differences and ratios between real-time changes in image sharpness, glare ratio, and lens-tissue distance, minute fluctuations in image quality and spatial position can be accurately captured. When sharpness or glare changes significantly while the distance remains within a safe range, abnormal observation conditions can be promptly identified, enabling rapid identification of interference factors such as fluid disturbance or tissue obstruction. By combining image information with physical distance, the endoscope can maintain stable observation in complex joint cavity environments and provide accurate basis for subsequent brightness or angle adjustments, thereby improving the reliability of the examination and image quality.

[0078] Please see Figure 2 As shown, this is a logic diagram for determining whether an observed state is abnormal in the state determination subunit of this embodiment. In this embodiment, the state determination unit includes:

[0079] The state comparison subunit is used to compare the clarity change value with the preset clarity change threshold, compare the proportion change value with the preset proportion change threshold, and compare the spacing difference with the preset state threshold to obtain the state comparison result.

[0080] A state determination subunit, connected to the state comparison subunit, is used to determine that the observation state is abnormal when the clarity change value is greater than the preset clarity change threshold and the spacing difference is less than the preset state threshold, so as to obtain the abnormality determination result; and to determine that the observation state is abnormal when the proportion change value is greater than the preset proportion change threshold and the spacing difference is less than the preset state threshold, so as to obtain the abnormality determination result.

[0081] The preset sharpness change threshold is 0.05 gray value / mm to 0.2 gray value / mm, depending on the imaging resolution and the contrast change of tissue details. It is usually set between 0.05 gray value / mm and 0.15 gray value / mm. In this embodiment, it is set to 0.1 gray value / mm, which can promptly identify abnormal changes in image sharpness caused by liquid disturbance or tissue occlusion. The preset proportion change threshold is 1% / mm to 5% / mm, depending on the distribution of the bright area in the joint cavity and the glare sensitivity. It is usually set between 2% / mm and 4% / mm. In this embodiment, it is set to 3% / mm, which can effectively determine abnormal glare proportion and trigger the adjustment mechanism.

[0082] By simultaneously examining the relationship between changes in sharpness, glare ratio, and lens-tissue distance, abrupt changes in optical signals are distinguished from spatial position variations. When sharpness or glare significantly deteriorates while the distance remains almost constant, the image degradation is not caused by the operator's angle or movement, but more likely by intracavitary fluid turbidity, bleeding, or localized reflective abrupt changes, thus indicating an observational anomaly. Conversely, when the distance changes and the sharpness / glare change is proportional to the distance, it can be attributed to manual fine-tuning or a change in viewing angle, avoiding false alarms. This judgment strategy filters out instantaneous noise and human operational disturbances, reducing the false alarm rate and improving the accuracy of anomaly triggering. It also provides a quantitative basis for subsequent brightness or angle fine-tuning based on type, thereby achieving smoother, more timely, and targeted imaging optimization.

[0083] Specifically, the type determination module includes:

[0084] The second difference calculation unit is used to calculate the absolute value of the difference between the turbidity of the joint fluid at the end time and the beginning time within the preset type determination time, to obtain a turbidity difference value; and to calculate the absolute value of the difference between the bleeding index at the end time and the beginning time within the preset type determination time, to obtain an index difference value; and to calculate the absolute value of the difference between the tissue surface reflectance at the end time and the beginning time within the preset type determination time, to obtain a reflectance difference value; and to calculate the difference between the spacing at the end time and the beginning time within the preset type determination time, to obtain a spacing change value.

[0085] The second ratio calculation unit, which is connected to the second difference calculation unit, is used to calculate the ratio of the turbidity difference value to the spacing change value to obtain the turbidity change value; and to calculate the ratio of the exponential difference value to the spacing change value to obtain the exponential change value; and to calculate the ratio of the reflectance difference value to the spacing change value to obtain the reflectance change value.

[0086] The type determination unit is used to determine the abnormality type based on the turbidity change value, the exponential change value, and the reflectance change value, thereby obtaining the liquid disturbance type and the tissue obstruction type.

[0087] The preset type determination time is the time interval used to calculate parameter changes under the preset observation state. It depends on the joint fluid flow rate, bleeding rate and tissue surface reflection change amplitude. It is usually set between 0.5 seconds and 2 seconds. In this embodiment, it is set to 1 second, which can stably capture the dynamic changes of fluid disturbance and tissue occlusion while ensuring timely response.

[0088] By calculating the ratios of changes in synovial fluid turbidity, hemorrhage index, and tissue surface reflectance to changes in the distance between the imaging lens and the tissue, the actual impact of fluid disturbance and tissue occlusion on image quality is quantified. Fluid disturbance-type anomalies correspond to sensitive responses of turbidity and hemorrhage index to distance changes, primarily caused by soft tissue or structures within the joint cavity obstructing the lens's field of view. Even with minor adjustments to the lens, the change in reflected light is small because the obstructing object is essentially fixed in a local space. Reflectance is mainly affected by tissue surface properties and is not sensitive to minute distance changes, thus exhibiting relative stability with distance changes. In contrast, tissue occlusion-type anomalies correspond to relative stability of reflectance changes with distance, primarily caused by changes in scattered and absorbed light due to increased synovial fluid turbidity or hemorrhage. The optical properties of the fluid change significantly with lens distance. When the lens moves closer to or further away from the tissue, changes in the path length of light in the fluid directly alter the transmission and scattering intensity, making the measurements of turbidity and hemorrhage index highly sensitive to distance, thus exhibiting a sensitive response to distance changes. Ratio analysis can distinguish between two types of anomalies. When making dynamic adjustments, both the influence of brightness changes on liquid scattered light and the adjustment effect of observation angle on reflected highlights are considered. This creates a coordinated feedback loop between image clarity, glare ratio and spacing, improving overall observation stability and accuracy.

[0089] Specifically, the type determination unit includes:

[0090] The normalization subunit is used to normalize each turbidity change value according to all the turbidity change values ​​within the preset type determination period to obtain a number of turbidity normalization values, and to normalize each exponential change value according to all the exponential change values ​​within the preset type determination period to obtain a number of exponential normalization values, and to normalize each reflectance change value according to all the reflectance change values ​​within the preset type determination period to obtain a number of reflectance normalization values.

[0091] A characterization calculation subunit, which is connected to the normalization subunit, is used to perform a weighted summation of the turbidity normalization value, the preset turbidity weight, the exponential normalization value and the preset exponential weight corresponding to each preset type determination time within the preset type determination period, to obtain several interference characterization values.

[0092] A type determination subunit, which is connected to the normalization subunit and the characterization calculation subunit respectively, is used to determine the abnormal type based on the consistency of the changes of the interference characterization value and the reflectance normalization value within the preset type determination period, thereby obtaining the liquid disturbance type and the tissue occlusion type.

[0093] The preset type determination period is a time window used to collect and analyze fluid disturbance and tissue occlusion features. It depends on the flow velocity of the joint cavity fluid and the lens movement speed, and is usually set between 3 and 10 seconds. In this embodiment, it is set to 5 seconds, which can fully reflect the abnormal change trend and avoid instantaneous interference. The preset turbidity weight is a parameter used to weight the impact of turbidity changes on anomaly determination. It depends on the sensitivity of fluid disturbance to image clarity, and is usually set between 0.3 and 0.7. In this embodiment, it is set to 0.5, which can balance the role of turbidity changes and other parameters in anomaly determination. The preset index weight is a parameter used to weight the impact of bleeding index changes on anomaly determination. It depends on the significance of bleeding volume on image interference, and is usually set between 0.3 and 0.7. In this embodiment, it is set to 0.5, which can ensure that bleeding changes are reasonably included in the anomaly type determination.

[0094] By normalizing and weighting the data, the dynamic characteristics of turbidity, hemorrhage index, and reflectance changes within a preset period are quantified. This allows for the sensitive detection of fluid disturbance anomalies, as turbidity and hemorrhage index show significant responses to changes in fluid distribution. Meanwhile, tissue occlusion anomalies exhibit relatively stable reflectance changes, distinguishing them from the effects of fixed occlusion and fluid disturbance. By calculating the weighted interference characteristics and consistency of change for each parameter, the system can accurately determine the anomaly type and adaptively adjust brightness and viewing angle, thereby ensuring image clarity and the stability of the field of view.

[0095] Please see Figure 3 As shown, this is a logic diagram for determining the abnormal type by the type determination subunit in this embodiment. In this embodiment, the type determination subunit is used to calculate the Pearson correlation coefficient of all the interference characterization values ​​and the reflectance normalization value to obtain the change consistency. When the change consistency is greater than a preset consistency threshold, the abnormal type is determined to be the liquid disturbance type. When the change consistency is less than or equal to the preset consistency threshold, the abnormal type is determined to be the tissue occlusion type.

[0096] A preset consistency threshold is used to determine the consistency between the changes in the interference characterization value and the reflectance normalization value. It depends on the typical difference in imaging response between intra-articular fluid disturbance and tissue occlusion. It is usually set between 0.6 and 0.9. In this embodiment, it is set to 0.75, which can effectively distinguish between fluid disturbance type and tissue occlusion type abnormalities and improve the accuracy of abnormality type determination.

[0097] By calculating the correlation between the interference characterization value and the reflectance normalization value, the different effects of fluid disturbance and tissue occlusion on imaging can be quantified. Fluid disturbance type abnormalities are characterized by a highly consistent response of turbidity and hemorrhage index with changes in distance, while tissue occlusion type abnormalities show relatively independent changes in reflectance and are less sensitive to changes in distance. This enables accurate determination of the abnormality type and improves the visualization stability and diagnostic reliability of orthopedic endoscopy in complex joint cavity environments.

[0098] Specifically, the adjustment module includes:

[0099] A brightness adjustment unit is used to generate a brightness adjustment amount and perform corresponding adjustments when the abnormality type is determined to be the liquid disturbance type, based on a preset safe brightness value, a preset sharpness coefficient, a preset glare coefficient, the image sharpness, a preset sharpness threshold, the glare ratio, a preset ratio threshold, and a preset brightness. Here, ΔL = max{L0, L × [kc × (C'-C) / C' + kg × (G'-G) / G']}, where ΔL is the brightness adjustment amount, L is the preset brightness, L0 is the preset safe brightness value, kc is the preset sharpness coefficient, C is the image sharpness, C' is the sharpness threshold, kg is the preset glare coefficient, G is the glare ratio, and G' is the preset ratio threshold.

[0100] An angle adjustment unit is used to generate an angle adjustment amount and perform corresponding adjustments when the abnormality type is determined to be the tissue occlusion type, based on a preset safety angle value, a preset spacing coefficient, a preset reflectivity coefficient, the spacing, a preset spacing threshold, the tissue surface reflectivity, and a preset reflectivity threshold. Here, ΔY = min{Y0, Y × [kd × (D' - D) / D' + kf × (F' - F) / F']}, where ΔY is the angle adjustment amount, Y is the preset angle, Y0 is the preset safety angle value, kd is the preset spacing coefficient, D is the spacing, D' is the preset spacing threshold, kf is the preset reflectivity coefficient, F is the tissue surface reflectivity, and F' is the preset reflectivity threshold.

[0101] The preset safe brightness value is the minimum brightness level that ensures the image remains clearly discernible even under liquid disturbance conditions. It depends on the lighting environment within the joint cavity and the sensitivity of the CMOS module, and is typically set between 50 lx and 200 lx. In this embodiment, it is set to 100 lx to prevent excessively low brightness from causing observation difficulties. The preset sharpness coefficient is a proportional coefficient used to adjust the brightness response amplitude. It depends on the pixel resolution and response sensitivity of the imaging system, and is typically set between 0.5 and 2. In this embodiment, it is set to 1.2 to reasonably adjust the brightness according to changes in sharpness. The preset glare coefficient is a proportional coefficient used to adjust the sensitivity of brightness to changes in glare. It depends on the reflection characteristics of the optical lens and the intensity of the light source, and is typically set between 0.1 and 1. In this embodiment, it is set to 0.3 to balance the increase in brightness with glare suppression. The preset sharpness threshold is a reference value for determining whether an image is sharp. It depends on the observation requirements and the resolution of the imaging module, and is typically set between 0.6 and 0.9. In this embodiment, it is set to 0.8 to trigger brightness adjustment to maintain sufficient sharpness. The preset safety angle value is the minimum observation angle that ensures the safe movement of the imaging lens when obstructed by tissue. It depends on the joint cavity space and the physical size of the lens, and is usually set between 10° and 30°. In this embodiment, it is set to 15° to prevent lens collision or misoperation. The preset spacing coefficient is a proportional coefficient used to adjust the angle response amplitude. It depends on the movement sensitivity of the lens and the tissue, and is usually set between 0.5 and 2. In this embodiment, it is set to 1.0 to reasonably adjust the observation angle according to the spacing change. The preset reflectivity coefficient is a proportional coefficient used to adjust the sensitivity of the angle response to the change in the reflectivity of the tissue surface. It depends on the optical characteristics and the light reflection characteristics of the tissue surface, and is usually set between 0.1 and 1. In this embodiment, it is set to 0.3 to effectively reduce the observation blind spot caused by the change in reflection. The preset spacing threshold is the reference spacing for determining the trigger of angle adjustment. It depends on the joint cavity space and the operation safety requirements, and is usually set between 2mm and 10mm. In this embodiment, it is set to 5mm to ensure that the lens automatically adjusts the angle within a safe range.

[0102] The system achieves dynamic control of the imaging lens within the joint cavity through brightness and angle adjustment units: when fluid disturbance-type anomalies occur, the brightness adjustment is proportionally adjusted according to changes in image sharpness and glare ratio relative to the threshold, ensuring a clear and visible image even under turbidity or hemorrhage. When tissue occlusion-type anomalies occur, the angle adjustment is proportionally adjusted according to changes in the distance between the lens and the tissue and the surface reflectivity, while being limited by the maximum safe angle to ensure the observation angle remains within the effective range and avoid collisions. By linking changes in image sharpness, glare ratio, distance, and reflectivity to their respective safety thresholds and adjustment coefficients, this system can adaptively optimize imaging parameters in real time, enabling brightness and angle adjustments to respond to environmental interference while maintaining safety and stability, significantly improving observation accuracy and operational reliability.

[0103] Specifically, the adjustment module includes:

[0104] The statistics unit is used to count the timestamps of the brightness adjustment amount generated within the preset adjustment period to obtain several brightness adjustment times, and to count the timestamps of the angle adjustment amount generated within the preset adjustment period to obtain several angle adjustment times.

[0105] The concentration calculation unit is used to calculate the difference between each brightness adjustment time and the initial time to obtain several brightness adjustment durations, and to calculate the reciprocal of the standard deviation of all brightness adjustment durations to obtain brightness adjustment concentration, and to calculate the difference between each angle adjustment time and the initial time to obtain several angle adjustment durations, and to calculate the reciprocal of the standard deviation of all angle adjustment durations to obtain angle adjustment concentration.

[0106] An adjustment unit, connected to the concentration calculation unit, is used to adjust the preset radius or the preset state threshold according to the brightness adjustment concentration and the angle adjustment concentration.

[0107] By statistically analyzing the timing of brightness and angle adjustments and calculating the distribution patterns of their adjustment durations, the concentration of brightness and angle adjustments is obtained using the reciprocal of the standard deviation. This allows the system to intuitively reflect the uniformity and frequency of adjustment actions. Based on the concentration of adjustments, the preset radius or preset state threshold is dynamically adjusted, thereby achieving adaptive optimization of the observation area and state judgment. This makes brightness and angle adjustments more reasonable, avoiding over-adjustment that could cause system oscillations, while ensuring rapid response under abnormal conditions, thus improving overall imaging stability and observation accuracy.

[0108] Specifically, the adjustment unit includes:

[0109] The first adjustment subunit is used to adjust the preset radius according to the brightness adjustment concentration, the angle adjustment concentration, and the preset concentration threshold when both the brightness adjustment concentration and the angle adjustment concentration are greater than the preset concentration threshold. Here, R'=R×[1+kr×(U-P0) / P0+kl×(L-P0) / P0], R' is the preset radius after adjustment, R is the preset radius before adjustment, kr is the preset first radius adjustment coefficient, U is the brightness adjustment concentration, kl is the preset second radius adjustment coefficient, L is the angle adjustment concentration, and P0 is the preset concentration threshold.

[0110] The second adjustment subunit is used to adjust the preset state threshold according to the angle adjustment concentration and the preset concentration threshold when the brightness adjustment concentration is greater than the preset concentration threshold and the angle adjustment concentration is less than or equal to the preset concentration threshold, wherein Z'=Z×[1+kz×(P0-L) / L], Z' is the adjusted preset state threshold, Z is the original preset state threshold, and kz is the preset threshold adjustment coefficient; and when the angle adjustment concentration is greater than the preset concentration threshold and the brightness adjustment concentration is less than or equal to the preset concentration threshold, the preset state threshold is adjusted according to the brightness adjustment concentration and the preset concentration threshold, wherein Z'=Z×[1+kz×(P0-U) / U].

[0111] The preset concentration threshold is used to determine whether the concentration of brightness and angle adjustment has reached a high-frequency adjustment state. It depends on the actual system's tolerance requirements for adjustment frequency and is usually set between 0.5 and 0.9. In this embodiment, it is set to 0.7, which can effectively distinguish between high and low concentration adjustment situations. The preset first radius adjustment coefficient is used to weight the brightness adjustment concentration on the preset radius adjustment. It depends on the degree of influence of brightness adjustment on the overall observation range and is usually set between 0.01 and 0.2. In this embodiment, it is set to 0.05, which can moderately increase the radius to reduce frequent adjustments. The preset second radius adjustment coefficient is used to weight the angle adjustment concentration on the preset radius adjustment. It depends on the influence of angle adjustment on the observation coverage range and is usually set between 0.01 and 0.2. In this embodiment, it is set to 0.05, which can balance the influence of angle adjustment on the radius. The preset threshold adjustment coefficient is used to adjust the preset state threshold according to low concentration. It depends on the system's requirements for state threshold sensitivity and is usually set between 0.01 and 0.2. In this embodiment, it is set to 0.05, which can reasonably relax the state threshold and reduce the probability of false triggering.

[0112] By jointly analyzing the concentration of brightness and angle adjustments, dynamic adaptive adjustment of system parameters is achieved: when both are above preset thresholds, the preset radius is automatically expanded to cover a wider observation area; when one concentration is high while the other is normal, the corresponding state threshold is adjusted to optimize anomaly detection sensitivity. This adjustment strategy ensures that brightness and angle adjustments are coordinated in time and amplitude, avoiding system jitter caused by frequent over-response and enabling rapid and effective adjustments in abnormal situations, thereby improving the overall imaging stability and judgment accuracy.

[0113] On the other hand, please see Figure 4 The diagram shows a flowchart of the method for using the adaptively adjustable orthopedic endoscope in this embodiment. This embodiment also provides a method for using the adaptively adjustable orthopedic endoscope, including:

[0114] The image clarity, glare ratio, tissue surface reflectivity, synovial fluid turbidity, bleeding index, and distance between the imaging lens and the target tissue are collected in real time as the imaging lens moves forward in the target joint cavity at a preset brightness and preset observation angle.

[0115] An anomaly determination result is obtained by judging the observation state based on the imaging clarity, glare ratio, spacing and preset state threshold.

[0116] Based on the anomaly determination results, the anomaly type is determined according to the spacing, the joint fluid turbidity, the bleeding index, and the tissue surface reflectivity, resulting in fluid disturbance type and tissue occlusion type.

[0117] Based on the liquid disturbance type, a brightness adjustment amount is generated and adjusted accordingly based on the image clarity, glare ratio and preset brightness; and based on the tissue occlusion type, an angle adjustment amount is generated and adjusted accordingly based on the spacing, tissue surface reflectivity and preset observation angle.

[0118] The preset radius or the preset state threshold is adjusted according to the generation time of the brightness adjustment amount and the generation time of the angle adjustment amount within the preset adjustment period.

[0119] By acquiring multidimensional images and physiological parameters within the joint cavity in real time, and combining data such as clarity, glare, reflectivity, and spacing for multi-layered judgment, the system achieves accurate identification of abnormal observation states. For different abnormality types, brightness and observation angle are dynamically adjusted to optimize image clarity and glare ratio under fluid disturbance-type abnormalities, and to reasonably correct spacing and reflectivity under tissue occlusion-type abnormalities, thereby maintaining a stable and clear observation effect. Simultaneously, by analyzing the concentration of brightness and angle adjustments, the system automatically optimizes preset radii and state thresholds, ensuring that the adjustment process avoids excessive intervention while guaranteeing rapid system response, thus improving the imaging quality and operational safety of endoscopy in orthopedic examinations.

[0120] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptively adjustable orthopedic examination endoscope, comprising: include: The acquisition device is used to acquire in real time the image clarity, glare ratio, tissue surface reflectivity, joint fluid turbidity, bleeding index, and distance between the imaging lens and the target tissue at a semi-circular observation area with a preset radius in front of the imaging lens as it moves forward in the target joint cavity at a preset brightness and preset observation angle. The processor includes a status determination module, a type determination module, an adjustment module, and an adjustment module; The state determination module is connected to the collector and is used to determine the observation state based on the image clarity, glare ratio, spacing and preset state threshold to obtain an anomaly determination result. The type determination module is connected to the state determination module and is used to determine the abnormality type based on the abnormality determination result, according to the spacing, the joint fluid turbidity, the bleeding index and the tissue surface reflectivity, to obtain the fluid disturbance type and the tissue occlusion type. The adjustment module is connected to the type determination module and the collector respectively, and is used to generate a brightness adjustment amount and make corresponding adjustments based on the liquid disturbance type, according to the image clarity, glare ratio and the preset brightness; and to generate an angle adjustment amount and make corresponding adjustments based on the tissue occlusion type, according to the spacing, the tissue surface reflectivity and the preset observation angle. The adjustment module is connected to both the adjustment module and the collector, and is used to adjust the preset radius or the preset state threshold according to the generation time of the brightness adjustment amount and the generation time of the angle adjustment amount within a preset adjustment period.

2. The self-adjusting orthopedic exam endoscope of claim 1, wherein, The status determination module includes: The first difference calculation unit is used to calculate the absolute value of the difference between the image clarity at the end of the preset state determination time and the image clarity at the beginning time, to obtain a clarity difference value; and to calculate the absolute value of the difference between the glare ratio at the end of the preset state determination time and the glare ratio at the beginning time, to obtain a ratio difference value; and to calculate the difference between the spacing at the end of the preset state determination time and the spacing at the beginning time, to obtain a spacing difference value. The first ratio calculation unit is connected to the first difference calculation unit and is used to calculate the ratio of the sharpness difference and the spacing difference to obtain the sharpness change value, and to calculate the ratio of the proportion difference and the spacing difference to obtain the proportion change value. A state determination unit is connected to the difference calculation unit and the ratio calculation unit respectively, and is used to determine the observation state based on the clear change value, the proportion change value, the spacing difference value and the preset state threshold to obtain the anomaly determination result.

3. The adaptively adjustable orthopedic endoscope according to claim 2, characterized in that, The state determination unit includes: The state comparison subunit is used to compare the clarity change value with the preset clarity change threshold, compare the proportion change value with the preset proportion change threshold, and compare the spacing difference with the preset state threshold to obtain the state comparison result. A state determination subunit, connected to the state comparison subunit, is used to determine that the observation state is abnormal when the clarity change value is greater than the preset clarity change threshold and the spacing difference is less than the preset state threshold, so as to obtain the abnormality determination result; and to determine that the observation state is abnormal when the proportion change value is greater than the preset proportion change threshold and the spacing difference is less than the preset state threshold, so as to obtain the abnormality determination result.

4. The adaptively adjustable orthopedic endoscope according to claim 3, characterized in that, The type determination module includes: The second difference calculation unit is used to calculate the absolute value of the difference between the turbidity of the joint fluid at the end time and the beginning time within the preset type determination time, to obtain a turbidity difference value; and to calculate the absolute value of the difference between the bleeding index at the end time and the beginning time within the preset type determination time, to obtain an index difference value; and to calculate the absolute value of the difference between the tissue surface reflectance at the end time and the beginning time within the preset type determination time, to obtain a reflectance difference value; and to calculate the difference between the spacing at the end time and the beginning time within the preset type determination time, to obtain a spacing change value. The second ratio calculation unit, which is connected to the second difference calculation unit, is used to calculate the ratio of the turbidity difference value to the spacing change value to obtain the turbidity change value; and to calculate the ratio of the exponential difference value to the spacing change value to obtain the exponential change value; and to calculate the ratio of the reflectance difference value to the spacing change value to obtain the reflectance change value. The type determination unit is used to determine the abnormality type based on the turbidity change value, the exponential change value, and the reflectance change value, thereby obtaining the liquid disturbance type and the tissue obstruction type.

5. The adaptively adjustable orthopedic examination endoscope according to claim 4, characterized in that, The type determination unit includes: The normalization subunit is used to normalize each turbidity change value according to all the turbidity change values ​​within the preset type determination period to obtain a number of turbidity normalization values, and to normalize each exponential change value according to all the exponential change values ​​within the preset type determination period to obtain a number of exponential normalization values, and to normalize each reflectance change value according to all the reflectance change values ​​within the preset type determination period to obtain a number of reflectance normalization values. A characterization calculation subunit, which is connected to the normalization subunit, is used to perform a weighted summation of the turbidity normalization value, the preset turbidity weight, the exponential normalization value and the preset exponential weight corresponding to each preset type determination time within the preset type determination period, to obtain several interference characterization values. A type determination subunit, which is connected to the normalization subunit and the characterization calculation subunit respectively, is used to determine the abnormal type based on the consistency of the changes of the interference characterization value and the reflectance normalization value within the preset type determination period, thereby obtaining the liquid disturbance type and the tissue occlusion type.

6. The adaptively adjustable orthopedic endoscope according to claim 5, characterized in that, The type determination subunit is used to calculate the Pearson correlation coefficient of all the interference characterization values ​​and the reflectance normalization value to obtain the change consistency, and, when the change consistency is greater than a preset consistency threshold, to determine that the abnormality type is the liquid disturbance type, and when the change consistency is less than or equal to the preset consistency threshold, to determine that the abnormality type is the tissue occlusion type.

7. The adaptively adjustable orthopedic endoscope according to claim 6, characterized in that, The adjustment module includes: A brightness adjustment unit is used to generate a brightness adjustment amount and perform corresponding adjustments when the abnormality type is determined to be the liquid disturbance type, based on a preset safe brightness value, a preset sharpness coefficient, a preset glare coefficient, the image sharpness, a preset sharpness threshold, the glare ratio, a preset ratio threshold, and a preset brightness. An angle adjustment unit is used to generate an angle adjustment amount and perform corresponding adjustments when the abnormality type is determined to be the tissue occlusion type, based on a preset safety angle value, a preset spacing coefficient, a preset reflectivity coefficient, the spacing, a preset spacing threshold, the tissue surface reflectivity, and a preset reflectivity threshold.

8. The adaptively adjustable orthopedic endoscope according to claim 7, characterized in that, The adjustment module includes: The statistics unit is used to count the timestamps of the brightness adjustment amount generated within the preset adjustment period to obtain several brightness adjustment times, and to count the timestamps of the angle adjustment amount generated within the preset adjustment period to obtain several angle adjustment times. The concentration calculation unit is used to calculate the difference between each brightness adjustment time and the initial time to obtain several brightness adjustment durations, and to calculate the reciprocal of the standard deviation of all brightness adjustment durations to obtain brightness adjustment concentration, and to calculate the difference between each angle adjustment time and the initial time to obtain several angle adjustment durations, and to calculate the reciprocal of the standard deviation of all angle adjustment durations to obtain angle adjustment concentration. An adjustment unit, connected to the concentration calculation unit, is used to adjust the preset radius or the preset state threshold according to the brightness adjustment concentration and the angle adjustment concentration.

9. The adaptively adjustable orthopedic examination endoscope according to claim 8, characterized in that, The adjustment unit includes: The first adjustment subunit is used to adjust the preset radius according to the brightness adjustment concentration, the angle adjustment concentration, and the preset concentration threshold when both the brightness adjustment concentration and the angle adjustment concentration are greater than the preset concentration threshold. The second adjustment subunit is used to adjust the preset state threshold according to the angle adjustment concentration and the preset concentration threshold when the brightness adjustment concentration is greater than the preset concentration threshold and the angle adjustment concentration is less than or equal to the preset concentration threshold, and to adjust the preset state threshold according to the brightness adjustment concentration and the preset concentration threshold when the angle adjustment concentration is greater than the preset concentration threshold and the brightness adjustment concentration is less than or equal to the preset concentration threshold.

10. A method of using an adaptively adjustable orthopedic endoscope, applied to the adaptively adjustable orthopedic endoscope according to any one of claims 1-9, characterized in that, include: The image clarity, glare ratio, tissue surface reflectivity, synovial fluid turbidity, bleeding index, and distance between the imaging lens and the target tissue are collected in real time as the imaging lens moves forward in the target joint cavity at a preset brightness and preset observation angle. An anomaly determination result is obtained by judging the observation state based on the image clarity, glare ratio, spacing and preset state threshold. Based on the anomaly determination results, the anomaly type is determined according to the spacing, the turbidity of the joint fluid, the bleeding index, and the reflectivity of the tissue surface, resulting in fluid disturbance type and tissue occlusion type. Based on the liquid disturbance type, a brightness adjustment amount is generated and adjusted accordingly based on the image clarity, glare ratio and preset brightness; and based on the tissue occlusion type, an angle adjustment amount is generated and adjusted accordingly based on the spacing, tissue surface reflectivity and preset observation angle. The preset radius or the preset state threshold is adjusted according to the generation time of the brightness adjustment amount and the generation time of the angle adjustment amount within the preset adjustment period.

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