Lens inlet control system, control method and computer equipment

Abstract

The embodiment of the invention is suitable for the technical field of natural orifice surgery and computer-aided medical treatment, and provides a lens entering control system, a lens entering control method and computer equipment. The lens entering control system comprises a lens entering motor, a driving module, a direction control module, a rotating motor and a lifting column; the driving module is installed on a positive and negative tooth lead screw, one end of the positive and negative tooth lead screw is fixed to the endoscope feeding motor, the driving module clamps a gastrointestinal endoscope insertion tube through a locking and clamping mechanism, the tail of the gastrointestinal endoscope is connected with the direction control module, one end of the direction control module is connected to the output end of the rotating motor, and the rotating motor is fixed to the lifting column. The endoscope entering control system can drive the gastrointestinal endoscope to move in a natural cavity by driving the related motors and modules, and autonomous continuous endoscope entering of the gastrointestinal endoscope is achieved.

Description

[0001] This application is a divisional application. The original application has the application number 202511310441.6 and the original application date is September 15, 2025. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the fields of natural cavity surgery and computer-aided medical technology, and in particular to an endoscope control system, control method and computer equipment. Background Technology

[0003] Gastroscopy and colonoscopy are medical examination methods, and also refer to the instruments used in this examination or surgery. Through gastroscopy and colonoscopy, doctors can directly observe the actual condition of the examined areas such as the esophagus, stomach, and duodenum, and further clarify the diagnosis by performing pathological biopsies and cytological examinations on suspicious lesions.

[0004] Endoscopic surgery (such as gastrointestinal endoscopic surgery) performed based on gastroscopy and colonoscopy is an important minimally invasive treatment method, widely used in procedures such as gastrointestinal tumor resection, polyp removal, and biopsy. During the procedure, control of the endoscope primarily relies on the surgeon's manual manipulation of the endoscope handle. Since the procedure typically lasts a considerable amount of time, manually manipulating the endoscope handle places a significant burden on the surgeon, increasing fatigue. Furthermore, this manual control method demands a high level of experience and surgical skill from the surgeon, especially in areas with long endoscope insertions or complex, winding cavities, where manual manipulation can easily lead to loss of field of vision or difficulty in advancing the endoscope. Summary of the Invention

[0005] In view of this, embodiments of this application provide an endoscope insertion control system, control method, and computer equipment to achieve autonomous and continuous insertion of gastrointestinal endoscopes, assist doctors in improving surgical efficiency, and ensure the safety of surgical procedures.

[0006] A first aspect of this application provides an endoscope insertion control system, including an insertion motor, a drive module, a direction control module, a rotary motor, and a lifting column; the drive module is mounted on a positive and negative threaded screw fixed at one end to the insertion motor, the drive module clamps the endoscope insertion tube via a locking mechanism, the tail end of the endoscope is connected to the direction control module connected at one end to the output end of the rotary motor, and the rotary motor is fixed to the end of the lifting column; the endoscope insertion control system controls the movement of the endoscope within the natural cavity by executing the following endoscope insertion control method: When an operation signal for the gastrointestinal endoscope is received, the signal type of the operation signal is determined; Obtain the status information of the drive module, which includes a first drive module and a second drive module with different states; Based on the signal type and the status information, the endoscope motor and the lifting column are driven to move, thereby moving the gastrointestinal endoscope within the natural cavity.

[0007] A second aspect of this application provides an advance control method, including: When an operation signal for the gastrointestinal endoscope is received, the signal type of the operation signal is determined, and the gastrointestinal endoscope is clamped by the locking mechanism of the drive module. The tail of the gastrointestinal endoscope is connected to a direction control module that is connected to the output end of a rotary motor. The rotary motor is fixed to the end of the lifting column, and the drive module is mounted on a positive and negative threaded screw that is fixed to the end of the endoscope insertion motor. Obtain the status information of the drive module, which includes a first drive module and a second drive module with different states; Based on the signal type and the status information, the endoscope motor and the lifting column are driven to move, thereby moving the gastrointestinal endoscope within the natural cavity.

[0008] A third aspect of this application provides an advance control device, comprising: The signal type determination module is used to determine the signal type of the operation signal when an operation signal for the gastrointestinal endoscope is received. The gastrointestinal endoscope is clamped by the locking mechanism of the drive module. The tail of the gastrointestinal endoscope is connected to a direction control module that is connected to the output end of a rotary motor. The rotary motor is fixed to the end of the lifting column. The drive module is mounted on a positive and negative threaded screw that is fixed to the endoscope insertion motor. A status information acquisition module is used to acquire the status information of the drive module, wherein the drive module includes a first drive module and a second drive module with different states. The gastrointestinal endoscope motion drive module is used to drive the endoscope advance motor and the lifting column to move according to the signal type and the status information, so as to move the gastrointestinal endoscope within the natural cavity.

[0009] A fourth aspect of this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the computer device implements an advance control method as described in the first aspect above, or implements an advance control method as described in the second aspect above.

[0010] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a computer, implements the approach control method implemented by the approach control system as described in the first aspect above, or implements the approach control method as described in the second aspect above.

[0011] A sixth aspect of this application provides a computer program product, including a computer program that, when executed, causes the camera advance control method implemented by the camera advance control system described in the first aspect to be executed, or causes the camera advance control method described in the second aspect to be executed.

[0012] The endoscope insertion control system and method provided in this application embodiment enable autonomous and continuous insertion of gastrointestinal endoscopes. Simultaneously, the insertion process can be taken over by the doctor at any time via joystick operation or voice command. This application embodiment proposes a doctor-led multimodal fusion control architecture, synchronously integrating voice control, manual operation, magnetic positioning, and visual AI into the gastrointestinal endoscopic procedure, enhancing the doctor's interactive capabilities and greatly facilitating the doctor's control over the movement of the endoscope. Furthermore, this application embodiment employs innovative lesion recognition and path guidance mechanisms for intelligent gastrointestinal endoscopy decision-making. By combining multiple insertion modes, it improves surgical efficiency and safety, reducing the risk of gastrointestinal injury and doctor fatigue.

[0013] The endoscope control system and method provided in this application relate to the technical fields of digestive endoscopy technology, medical robots and artificial intelligence control, covering multimodal control such as mechanical operation, voice interaction, magnetic navigation, and image guidance. They can be applied to gastrointestinal endoscopic surgeries such as gastroscopy and colonoscopy. Through intelligent assisted endoscopic navigation, they can achieve rapid intraoperative lesion screening and identification. They can also be applied to medical teaching and training platforms (combining virtual and physical methods) and can be extended to other endoscopic propulsion systems such as respiratory and urinary systems, and have wide applicability. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of an ingress control system provided in an embodiment of this application; Figure 2 This is a partial structural schematic diagram of an ingress control system provided in an embodiment of this application; Figure 3 This is a schematic diagram of a driving module provided in an embodiment of this application; Figure 4 This is a schematic diagram of a gastrointestinal endoscopy motion signal response process provided in an embodiment of this application; Figure 5 This is a schematic diagram of an operation signal generation process provided in an embodiment of this application; Figure 6 This is a schematic diagram of another operation signal generation process provided in an embodiment of this application; Figure 7 This is a schematic diagram of an automated gastrointestinal endoscope insertion process provided in an embodiment of this application; Figure 8 This is a schematic diagram of an advance control method provided in an embodiment of this application; Figure 9 This is a schematic diagram of a wire-driven traction method provided in an embodiment of this application; Figure 10 This is a schematic diagram of another lens advance control system provided in an embodiment of this application; Figure 11 This is a schematic diagram of an ingress control device provided in an embodiment of this application; Figure 12 This is a schematic diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0016] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0017] The technical solution of this application will be described below through specific embodiments.

[0018] Reference Figure 1This diagram illustrates an endoscope insertion control system according to an embodiment of this application. The endoscope insertion control system 100 specifically includes an insertion motor 101, a drive module 102, and a lifting column 103. The drive module 102 is mounted on a positive and negative threaded screw 104 fixed at one end to the insertion motor 101. The drive module 102 clamps the insertion tube of the gastrointestinal endoscope 105 using a locking mechanism. The endoscope insertion control system 100 also includes a direction control module 106 and a rotary motor 107. The tail end of the insertion tube of the gastrointestinal endoscope 105 is connected to the direction control module 106, one end of which is connected to the output end of the rotary motor 107. The rotary motor 107 is fixed to the end of the lifting column 103. Based on the aforementioned hardware structure, the endoscope insertion control system 100 can control the movement of the gastrointestinal endoscope 105 within the natural cavity by executing the following endoscope insertion control method: upon receiving an operation signal for the gastrointestinal endoscope 105, the system determines the signal type of the operation signal; it acquires the status information of the drive module 102, which may include a first drive module 1021 and a second drive module 1022 with different states; and, based on the signal type and the acquired status information, drives multiple modules to move, thereby moving the gastrointestinal endoscope 105. For example, by driving the insertion motor 101 and the lifting column 103, the gastrointestinal endoscope 105 can be moved within the natural cavity, and the movement of the insertion motor 101 and the lifting column 103 can achieve the insertion or retraction of the gastrointestinal endoscope 105. As another example, by driving multiple drive motors in the drive module 102 to move in the same direction and driving the rotary motor 107 to rotate, the rotational movement of the gastrointestinal endoscope 105 within the natural cavity can be controlled, and so on.

[0019] Before introducing the telescope advance control method provided in the embodiments of this application, the specific structure of the telescope advance control system 100 will first be described. Specifically, see [link to relevant documentation]. Figure 2 , Figure 2 This is a partial structural schematic diagram of an advance control system provided in an embodiment of this application. Figure 2 In (a) of the diagram, an example of the connection between the lens advance motor 101 and the lead screw 104 is shown, and a first drive module 1021 and a second drive module 1022 are mounted on the lead screw 104. The first drive module 1021 and the second drive module 1022 can be drive modules with the same structure. Figure 2 In (b) of the diagram, an example of the connection between the drive module 102 and the gastrointestinal endoscope 105 is shown. Specifically, the drive module 102 can clamp the insertion tube of the gastrointestinal endoscope 105 via a locking mechanism. In this way, driven by the movement of each module, operations such as insertion, retraction, rotation, and tip bending direction control of the gastrointestinal endoscope 105 can be performed. For example, Figure 2In (b) of the diagram, arrow 1051 indicates the insertion or withdrawal of the endoscope 105, and arrow 1052 indicates the rotational movement of the endoscope 105. It should be noted that initially, the drive module 102 clamps one end of the insertion tube of the endoscope 105 via a locking mechanism. This end can be the other end, away from the tail end of the insertion tube. In some scenarios, the end initially clamped by the locking mechanism is also referred to as the head of the endoscope 105. As the procedure progresses and the endoscope 105 penetrates deeper into the body, the clamping position of the locking mechanism will change; it will no longer be at the initial head end, but may instead be located in the middle of the endoscope 105.

[0020] Combination Figure 2 As shown in (c), a schematic diagram illustrates the connection between the gastrointestinal endoscope 105 and the lifting column 103, the direction control module 106, and the rotary motor 107. Figure 2 In (c), the tail end of the gastrointestinal endoscope 105 is connected to one end of the direction control module 106, and the other end of the direction control module 106 is connected to the output end of the rotary motor 107, which is fixed to the end of the lifting column 103. During gastrointestinal endoscopy or surgery, the rotation of the gastrointestinal endoscope 105 within the body environment can be achieved by coordinating the unidirectional movement of the various drive motors in the drive module 102 and the drive of the rotary motor 107.

[0021] like Figure 3 The diagram shown is a schematic of a driving module provided in an embodiment of this application. Figure 3 The drive module shown can be Figure 2 The first drive module 1021 or the second drive module 1022 in the process. Figure 3 The drive module in is Figure 2 Taking the second drive module 1022 as an example, the second drive module 1022 includes three motors arranged in a triangular pattern, and Figure 3The drive module includes a left motor 1221, a middle motor 1224, and a right motor 1225. It also includes a guide post 1222, a clamping mechanism 1223, and a winding reel 1226. The lifting column 103 can be connected to the drive module via the clamping mechanism 1223. The middle motor 1224 is connected to a gastrointestinal endoscope clamping device. After clamping, the middle motor 1224 rotates, and the gastrointestinal endoscope 105 rotates accordingly. The clamping action can be accomplished by a rope with both ends fixed to the left and right motors (i.e., the left motor 1221 and the right motor 1225), passing through the clamping device in the middle. When the left and right motors rotate outwards in opposite directions, the rope tightens, and the clamping device clamps the insertion tube of the gastrointestinal endoscope 105. To enable this device to advance, retract, or rotate the gastrointestinal endoscope almost continuously and simultaneously, the first drive module 1021 and the second drive module 1022 are respectively mounted on both sides of a forward and reverse threaded screw 104, and the first drive module 1021 and the second drive module 1022 are in different states, that is, one drive module is in a clamped state and the other is in a released state. For example, when the first drive module 1021 is in the clamped state, the second drive module 1022 is in the released state; when the first drive module 1021 is in the released state, the second drive module 1022 is in the clamped state.

[0022] based on Figure 2 and Figure 3 As shown in the diagram, the endoscope insertion control system 100 can drive the endoscope insertion motor 101 to move and drive the lifting column 103 to move upward or downward, thereby driving the gastrointestinal endoscope 105 to advance or retract within the body. In this embodiment, "advancing" refers to the process of moving the gastrointestinal endoscope 105 from outside the body to inside the body under the control of the endoscope insertion control system 100, i.e., the process of the endoscope moving from the natural cavity into the body. Similarly, "retracting" refers to the process of moving the gastrointestinal endoscope 105 from inside the body to outside the body under the control of the endoscope insertion control system 100, i.e., the process of the endoscope moving outward within the natural cavity, or the process of controlling the gastrointestinal endoscope 105 to retract.

[0023] In this embodiment, the lens advance control system 100 can realize continuous lens advance, retraction, or rotation. Because the travel of the lead screw is limited, in order to achieve continuous lens advance, retraction, or rotation, it is necessary to... Figures 1 to 3 The various parts of the endoscope work together. For example, the insertion or withdrawal of the endoscope 105 requires the coordinated movement of the insertion motor 101, the lifting column 103, the first drive module 1021, and the second drive module 1022; the rotation of the endoscope 105 requires the coordinated operation of the first drive module 1021, the second drive module 1022, and the rotation motor 107.

[0024] The following sections will provide a detailed introduction to the insertion, withdrawal, and rotation processes of gastrointestinal endoscopes.

[0025] In one possible implementation of this application, the insertion, withdrawal, and rotation of the gastrointestinal endoscope can be achieved based on corresponding operation signals. For example, a movement signal can be used to control the movement of the gastrointestinal endoscope through the aforementioned endoscope insertion control system, including insertion or withdrawal. Insertion can be the action of moving the gastrointestinal endoscope forward, and withdrawal can be the action of moving the gastrointestinal endoscope backward. Similarly, a rotation signal can be used to control the rotation of the gastrointestinal endoscope through the aforementioned endoscope insertion control system.

[0026] The relevant control process can be represented as follows: (1) The process of entering the camera: The endoscope insertion process can be based on an insertion signal, which can be one type of movement signal. For example, the insertion signal can be a forward movement signal. Under the control of the insertion signal, the lifting column will descend, thereby moving the endoscope forward within the natural orifice. This process can be represented by pseudocode as follows: X≤0: If LockState=1, the motion stops; if LockState=2, the camera advance motor moves forward. If LockState=2, the camera advance motor moves in the forward direction; X∈(0,stroke): If LockState=1, the camera advance motor moves in the negative direction; If LockState=2, the camera advance motor moves in the forward direction; X≥stroke: If LockState=1, the camera advance motor moves in the negative direction; If LockState=2, the motion stops; if LockState=1, the camera advance motor moves in the negative direction.

[0027] Where X represents the lead screw displacement corresponding to the current movement of the lens motor; stroke represents the maximum single stroke of the forward and reverse lead screw; LockState=1 indicates that the first drive module is in a clamped state, and correspondingly, the second drive module is in a released state; LockState=2 indicates that the second drive module is in a clamped state, and correspondingly, the first drive module is in a released state.

[0028] The statement X≤0 indicates that the distance between the first drive module and the second drive module is less than the initial distance between them. That is, in this embodiment, the initial positional distance between the first drive module and the second drive module is defined as X=0; when the two drive modules move under the influence of the positive and negative lead screws, making the distance between them closer than in the initial state, this state is defined as X≤0.

[0029] As seen in the pseudocode of the endoscope insertion process above, when X≤0, that is, when the forward and reverse screws drive the first and second drive modules to move, making the distance between them less than the initial distance, if the first drive module is in a clamped state and the second drive module is in a released state (LockState=1), the movement of all motors can be paused, waiting for the first and second drive modules to complete their state transition. The first drive module will transition from a clamped state to a released state, and the second drive module from a released state to a clamped state. After the transition, the second drive module will be in a clamped state, and the first drive module will be in a released state. At this time, the control system can drive the endoscope insertion motor to move forward and drive the lifting column to move downward. This allows the endoscope to move forward (insertion). When X≤0, if the second drive module was already in a clamped state (LockState=2), the control system can directly drive the endoscope insertion motor to move forward and drive the lifting column to move downward, thereby controlling the endoscope to move forward (insertion).

[0030] In this embodiment of the application, the forward movement of the lens motor can refer to... Figure 2 The lens advance motor 101 shown moves counterclockwise (rotates in the forward direction). That is, in this embodiment, counterclockwise motion is considered positive motion, and clockwise motion is considered negative motion. Therefore, the negative motion of the lens advance motor refers to... Figure 2 The ingress motor 101 shown moves clockwise (rotates in the negative direction).

[0031] When X ≥ stroke (i.e., the lead screw displacement is greater than or equal to the maximum single stroke of the aforementioned forward and reverse lead screws), if the first drive module is in the clamping state and the second drive module is in the loosening state (LockState=1), the endoscope motor can move in the negative direction, while the lifting column moves downward, thus controlling the forward movement of the endoscope (advancement). If the first drive module is in the loosening state and the second drive module is in the clamping state (LockState=2), the movement of all motors can be paused, waiting for the first and second drive modules to complete their state transition: the first drive module changes from the loosening state to the clamping state, and the second drive module changes from the clamping state to the loosening state. After the transition is complete, the second drive module is in the loosening state, and the first drive module is in the clamping state (LockState=1). At this time, the control system can drive the endoscope motor to move in the negative direction, while simultaneously driving the lifting column to move downward. In this way, the forward movement of the endoscope (advancement) can be controlled.

[0032] When X∈(0,stroke), that is, when the lead screw displacement is greater than 0 but less than the maximum single stroke of the aforementioned forward and reverse lead screws, if the first drive module is in the clamping state and the second drive module is in the loosening state (LockState=1), the lens advance motor can move in the negative direction and the lifting column can move downward; if the first drive module is in the loosening state and the second drive module is in the clamping state (LockState=2), the lens advance motor can move in the forward direction and the lifting column can move downward.

[0033] In this way, based on the received endoscope advance signal, the endoscope can be moved forward or backward by driving the endoscope advance motor to move forward or backward, and simultaneously driving the lifting column to move downward, according to the different states of the drive module and the actual displacement of the positive and negative screws.

[0034] (2) The process of removing the scope: Similar to the insertion process, the withdrawal process can also be based on a withdrawal signal, which can be another type of movement signal. For example, the withdrawal signal could be a backward movement signal. Under the control of the withdrawal signal, the lifting column will move upward, thereby moving the endoscope backward within the natural orifice. This process can be represented by pseudocode as follows: X≤0: If LockState=1, the camera advance motor moves in the forward direction; If LockState=2, the motion stops; if LockState=1, the camera advance motor moves forward. X∈(0,stroke): If LockState=1, the camera advance motor moves in the forward direction; If LockState=2, the camera advance motor moves in the negative direction; X≥stroke: If LockState=1, the motion stops; if LockState=2, the camera advance motor moves in the negative direction. If LockState=2, the camera motor moves in the negative direction.

[0035] Specifically, as seen from the pseudocode of the endoscope withdrawal process above, when X≤0, that is, when the forward and reverse screws drive the first and second drive modules to move, making the distance between them less than the initial distance, if the first drive module is in the clamped state and the second drive module is in the released state (LockState=1), the control system can directly drive the endoscope advance motor to move forward and simultaneously drive the lifting column to move upward, thereby controlling the endoscope to move backward (withdraw). If the first drive module is in the released state and the second drive module is in the clamped state (LockState=2), the movement of all motors can be paused, waiting for the first and second drive modules to complete the state transition, changing the first drive module from the released state to the clamped state and the second drive module from the clamped state to the released state. After the transition is complete, the second drive module is in the released state and the first drive module is in the clamped state (LockState=1). At this time, the control system can drive the endoscope advance motor to move forward and drive the lifting column to move upward.

[0036] When X ≥ stroke (i.e., the lead screw displacement is greater than or equal to the maximum single stroke of the aforementioned forward and reverse lead screws), if the first drive module is in the clamping state and the second drive module is in the unclamped state (LockState=1), the movement of all motors can be paused, waiting for the first and second drive modules to complete their state transition. The first drive module will transition from the clamping state to the unclamped state, and the second drive module from the unclamped state to the clamping state. After the transition is complete, the second drive module will be in the clamping state and the first drive module will be in the unclamped state (LockState=2). At this time, the control system can drive the endoscope advancement motor to move in the negative direction and drive the lifting column to move upward. This allows the endoscope to be moved backward. If the first drive module is in the unclamped state and the second drive module is in the clamping state (LockState=2), the endoscope advancement motor can move in the negative direction, the lifting column can move upward, and thus the endoscope can be moved backward (external retraction).

[0037] When X∈(0,stroke), that is, when the lead screw displacement is greater than 0 but less than the maximum single stroke of the aforementioned forward and reverse lead screws, if the first drive module is in the clamping state and the second drive module is in the loosening state (LockState=1), the advance motor can move forward and the lifting column can move upward; if the first drive module is in the loosening state and the second drive module is in the clamping state (LockState=2), the advance motor can move backward and the lifting column can move upward to perform the retraction operation.

[0038] In this way, based on the received retraction signal, and according to the different states of the drive module and the actual displacement of the positive and negative screws, the endoscope is driven to move forward or backward by driving the infeed motor, and at the same time the lifting column is driven to move upward, thereby controlling the endoscope to move backward and perform the infeed operation.

[0039] As can be seen from the above description, the operating signals in the embodiments of this application may include a gastroscope movement signal, which can be an advance signal or a withdrawal signal. Specifically, the advance signal drives the lifting column to descend, and the withdrawal signal drives the lifting column to ascend. That is, for the advance signal, the lifting column should be driven to descend, and for the withdrawal signal, the lifting column should be driven to ascend.

[0040] Therefore, in response to the received movement signal of the gastrointestinal endoscope, the lead screw displacement corresponding to the current movement of the endoscope advance motor can be determined. Based on the lead screw displacement and the current clamping state of the drive module, the driving mode of the endoscope advance motor in response to the endoscope advance signal or retraction signal can be determined. In this way, driving the endoscope advance motor according to the determined driving mode can drive the gastrointestinal endoscope to advance or retract.

[0041] Specifically, the drive module in the clamped state can be either a first drive module or a second drive module. Since the first drive module and the second drive module are in different states, when the first drive module is in the clamped state, the second drive module is in the unclamped state; conversely, when the second drive module is in the clamped state, the first drive module is in the unclamped state.

[0042] Based on the pseudocode above representing the advance and retraction processes, when the first drive module is in the clamping state, the advance motor responds to the advance signal by moving in the negative direction when the lead screw displacement is greater than 0; the advance motor responds to the retraction signal by moving in the positive direction when the lead screw displacement is less than the maximum single stroke of the forward and reverse lead screws.

[0043] When the second drive module is in the clamping state, the drive mode of the lens advance motor in response to the lens advance signal is to move in the forward direction when the displacement of the lead screw is less than the maximum stroke of the forward and reverse lead screws in one stroke; the drive mode of the lens advance motor in response to the lens retraction signal is to move in the negative direction when the displacement of the lead screw is greater than 0.

[0044] (3) Rotation process: The rotation process can be achieved based on a rotation signal. When optional, multiple motors on the clamped drive module can rotate in the same direction, coordinating with the rotation of the rotary motor to achieve the rotation of the gastroscope. This process can be represented by pseudocode as follows: If LockState=1, module 1 will rotate. If LockState=2, module 2 will rotate.

[0045] Module 1 is the first drive module, and module 2 is the second drive module.

[0046] Therefore, based on the received rotation signal, if the first drive module is in a clamped state and the second drive module is in a released state (LockState=1), module 1, i.e., the first drive module, can rotate. The multiple motors on module 1 can rotate in the same direction, coordinating with the rotation of the rotary motor to drive the endoscope to rotate. If the second drive module is in a clamped state and the first drive module is in a released state (LockState=2), then module 2, i.e., the second drive module, can rotate. The multiple motors on module 2 can rotate in the same direction, coordinating with the rotation of the rotary motor to drive the endoscope to rotate as well.

[0047] Therefore, in response to the received rotation signal of the gastrointestinal endoscope, multiple drive motors in the clamped drive module can be driven to move in the same direction, and the rotary motor can be driven to rotate. In this way, rotational control of the gastrointestinal endoscope can be achieved.

[0048] Based on the foregoing descriptions of the lens insertion, withdrawal, and rotation processes, see [link to documentation]. Figure 4 The diagram shows a schematic of a gastrointestinal endoscopy motion signal response process provided in an embodiment of this application. Figure 4 The process of advancing, retracting, or rotating a gastrointestinal endoscope is fully demonstrated by identifying the received signals and then controlling the advance motor or drive module to move in the corresponding manner.

[0049] like Figure 4As shown, after receiving the operation signal used to control the movement of the gastrointestinal endoscope, the control system can analyze the signal to determine the specific signal type. This signal type indicates whether the currently received operation signal is an endoscope advance signal, an endoscope retraction signal, or a rotation signal. The motion response process of the endoscope advance motor or drive module differs depending on the signal type.

[0050] like Figure 4 As shown, for the endoscope insertion signal, the endoscope needs to be moved forward by controlling the descent of the lifting column to perform the insertion operation. At this time, the displacement X of the insertion motor can be obtained, which can be represented by the lead screw displacement in the aforementioned embodiments. By judging the magnitude of the displacement X, different cases can be obtained, such as X≤0, X∈(0,stroke), or X≥stroke. Here, X≤0 indicates that the distance between the first and second drive modules is less than the initial distance between them, and stroke indicates... Figure 4 The stroke in this context refers to the maximum single stroke of the forward and reverse lead screws. For different displacement amounts, the module state (LockState) can be further obtained. Based on different module states (LockState=1 or LockState=2), the endoscope advance motor is driven to move forward or backward, and the lifting column is driven to descend, thereby realizing the advancement of the gastroscope / colonoscope. For details on whether the drive motor should move forward or backward to achieve endoscope advancement for different displacement amounts and module states, please refer to [link to relevant documentation]. Figure 4 The description of the microscope insertion process in the aforementioned embodiments will not be repeated here.

[0051] Similar to the response process of the lens advance signal, such as Figure 4 As shown, for the withdrawal signal, the gastroscope needs to be moved backward by controlling the upward movement of the lifting column to perform the withdrawal operation. At this time, the displacement X of the advance motor can be obtained. By judging the magnitude of the displacement X, different cases can be obtained, such as X≤0, X∈(0,stroke), or X≥stroke. For different displacement magnitudes, the module state LockState can be further obtained, and according to different module states (LockState=1 or LockState=2), the advance motor is driven to move forward or backward, and the lifting column is driven upward simultaneously, thereby realizing the withdrawal operation of the gastroscope. For details on whether the drive motor should move forward or backward to achieve the withdrawal of the gastroscope for different displacement magnitudes and module states, please refer to [link to relevant documentation]. Figure 4 The description of the lens removal process in the aforementioned embodiments will not be repeated here.

[0052] like Figure 4As shown, for the rotation signal, the module state LockState can be obtained. Based on which drive module is currently in the clamping state, the rotation of that drive module is controlled, thereby causing the gastroscope to rotate within the body. Specifically, if the drive module in the clamping state is the first drive module (LockState=1), module 1 (the first drive module) can rotate. Multiple motors on module 1 can rotate in the same direction, coordinating with the rotation of the rotary motor to rotate the gastroscope. If the drive module in the clamping state is the second drive module (LockState=2), then module 2 (the second drive module) can rotate. Multiple motors on module 2 can rotate in the same direction, coordinating with the rotation of the rotary motor to rotate the gastroscope.

[0053] The foregoing embodiments detail the processes of advancing, retracting, or rotating the gastrointestinal endoscope through the movement of the endoscope motor, drive module, rotary motor, and lifting column under the control of different operating signals. These different operating signals for the gastrointestinal endoscope can be generated using a joystick. That is, the physician can trigger the generation of operating signals for the gastrointestinal endoscope by operating the joystick. For example, a movement signal or a rotation signal; or an advance signal, a retraction signal, or a rotation signal.

[0054] In this embodiment, the endoscope insertion control system can provide multiple joysticks for doctors to operate during gastroscopy or colonoscopy. For example, the endoscope insertion control system may include a first joystick, a second joystick, etc. The doctor's operation on the first or second joystick can trigger the endoscope insertion control system to generate different operation signals for the gastroscopy or colonoscopy. In this way, the doctor can actively control the endoscope insertion control system by operating the joysticks, thereby controlling the gastroscopy or colonoscopy to perform corresponding actions.

[0055] In one possible implementation of this application, the first joystick can be a left joystick, and the second joystick can be a right joystick. The first joystick can be used to control the observation direction of the endoscope tip, and the second joystick can be used to control the forward and backward movement and rotation of the endoscope.

[0056] Specifically, in the endoscope insertion control system provided in this application embodiment, the endoscope insertion structure may include four degrees of freedom, thereby enabling the up-and-down, left-and-right, forward-and-backward, or rotational movements of the gastrointestinal endoscope. By using a first rocker arm and a second rocker arm, the first rocker arm can control the up-and-down and left-and-right movements of the gastrointestinal endoscope, while the second rocker arm can control the forward-and-backward and rotational movements of the gastrointestinal endoscope.

[0057] That is, moving the first joystick forward triggers an endoscope advance signal; moving the first joystick backward triggers an endoscope withdrawal signal. Rotating the first joystick clockwise triggers a gastrointestinal endoscope rotation signal, controlling the endoscope to rotate clockwise; rotating the first joystick counterclockwise triggers a gastrointestinal endoscope rotation signal, controlling the endoscope to rotate counterclockwise.

[0058] Moving the second joystick forward triggers a signal to control the gastrointestinal endoscope to move upward within the current operating plane; moving the second joystick backward triggers a signal to control the gastrointestinal endoscope to move downward within the current operating plane; moving the second joystick to the left triggers a signal to control the gastrointestinal endoscope to move to the left within the current operating plane; and moving the second joystick to the right triggers a signal to control the gastrointestinal endoscope to move to the right within the current operating plane. The movement of the gastrointestinal endoscope within the current operating plane can be controlled by the drive direction control module.

[0059] like Figure 5 The diagram shown is a schematic of an operation signal generation process provided in an embodiment of this application. Figure 5 This illustrates the process by which a doctor's operation on a joystick triggers a response signal for the gastroscopy / colonoscopy. The process includes the following steps: S501, Obtain joystick operation data.

[0060] In this embodiment, the joystick provided by the endoscope control system can be connected to the system's control unit. The doctor's operations on the joystick can be provided to the control unit as joystick operation data, serving as user input data.

[0061] In one possible implementation of this application, the joystick operation data may include first joystick operation data or second joystick operation data, that is, left joystick operation data or right joystick operation data. When the doctor operates on the corresponding joystick, the endoscope control system can collect the corresponding joystick operation data in real time.

[0062] For example, the doctor's operation on the joystick may include moving the first joystick forward or backward, rotating the first joystick clockwise or counterclockwise, or moving the second joystick, etc. This application embodiment does not limit this.

[0063] S502, Convert joystick operation data into operation signals.

[0064] In this embodiment, after receiving the joystick operation data, the control unit of the lens advance control system can convert the joystick operation data into corresponding operation signals according to the position of the joystick. The joystick position can be used to distinguish different joysticks, such as the first joystick and the second joystick, or the left joystick and the right joystick.

[0065] Specifically, the control unit can convert the joystick operation data generated by the doctor's operation on the first joystick into the direction of the gastrointestinal endoscope's forward and backward movement or the speed of its rotational movement; and convert the joystick operation data generated on the second joystick into the direction and speed of the gastrointestinal endoscope's up and down movement or forward and backward movement. Based on the converted direction and speed information, corresponding operation signals can be generated and sent to the embedded platform module of the endoscope insertion control system.

[0066] In one possible implementation of this application, when the doctor moves the joystick, the system can obtain the two-dimensional coordinates of the joystick's position. For example, the x-axis and y-axis coordinates of the first joystick, i.e., the left joystick, can respectively represent the speed of the gastrointestinal endoscope's front end moving back and forth, and rotating clockwise or counterclockwise, with the positive or negative sign of the coordinates indicating the direction of movement. Similarly, the x-axis and y-axis coordinates of the second joystick, i.e., the right joystick, can respectively represent the speed of the gastrointestinal endoscope's front end moving left and right, and up and down, with the positive or negative sign of the coordinates also indicating the direction of movement.

[0067] S503: Convert the operation signal into motor control command.

[0068] S504, the endoscope control system executes control commands to control the corresponding actions of the gastrointestinal endoscope.

[0069] After receiving the corresponding operation signal, the embedded platform module of the endoscope control system converts the operation signal into motor control commands and sends them to different motors in the system. The motors then execute the received control commands, thereby controlling the various mechanisms of the system to perform corresponding actions, which in turn cause the endoscope to perform the corresponding actions. For example, forward movement (advancing the endoscope), backward movement (retreating the endoscope), rotation, or vertical or horizontal movement on the current operating plane.

[0070] In one possible implementation of this application embodiment, when the embedded platform module sends instructions to drive each motor to move, each motor can obtain its current state through sensors, such as the motor's speed and position, and send it back to the embedded platform module to provide feedback on the current execution status of each module and unit, thus providing operational feedback for the operator's operation on the joystick.

[0071] For example, the aforementioned operational feedback may include vibration feedback when the endoscope touches tissue or the inner wall of a natural cavity. Specifically, sensors configured on the endoscope can acquire sensor data during its movement, thereby calculating the external force exerted on the endoscope based on the acquired sensor data when it comes into contact with the inner wall of a natural cavity. If this external force is greater than or equal to a preset threshold, it may indicate a risk of puncture if the operation continues in the same direction. In this case, operational feedback can be provided to the user via a joystick, and vibration feedback can prompt the doctor to operate with caution.

[0072] In another possible implementation of this application, the different operation signals for the gastrointestinal endoscope described above can also be implemented via voice commands. That is, the doctor can trigger the generation of operation signals for the gastrointestinal endoscope via voice control. For example, movement signals or rotation signals; or, advance signals, retraction signals, or rotation signals.

[0073] like Figure 6 The diagram shown is a schematic of another operation signal generation process provided in an embodiment of this application. Figure 6 This illustrates the process by which a doctor's voice commands trigger a response signal for the gastroscopy / colonoscopy. The process includes the following steps: S601, Collect user's voice data.

[0074] In this embodiment, the voice data of the user (doctor) during gastroscopy or colonoscopy can be collected by a voice acquisition module. This voice data can be instructions to the endoscope control system to perform specific operations. For example, instructions such as "move forward" or "move backward" can be used to instruct the endoscope control system to perform specific operations, thereby controlling the gastroscopy or colonoscopy to move forward or backward.

[0075] S602. Extract text information from speech data.

[0076] S603. Identify the user intent contained in the text information.

[0077] In this embodiment, the collected user voice data can be processed based on a deep neural network to extract the text information; and based on natural language understanding, the extracted text information can be recognized to obtain the user's intent contained therein. For example, the intent to control the gastrointestinal endoscope to move forward or backward, as mentioned above.

[0078] S604. Determine the operation signal that matches the user's intent.

[0079] After determining the user's intention, an operation signal matching that intention can be further determined. For example, for the aforementioned user intention to move forward or backward, an operation signal matching that intention can be determined. The endoscope control system can then respond to this operation signal to perform the corresponding operation on the gastrointestinal endoscope.

[0080] In one possible implementation of this application, operation signals for gastroscopy and colonoscopy can be generated based on user intent and a target intent corresponding to a preset intent instruction set. The aforementioned intent instruction set can have a mapping relationship with an operation instruction set, which can include multiple instructions for generating multiple operation signals.

[0081] Specifically, the intent instruction set and the operation instruction set can be two pre-set sets based on the doctor's operational needs and the motion control of the robot. The mapping relationship between these two sets is also pre-set. For example, the intent instruction set can include instructions such as forward movement, backward movement, rotational movement, and stop movement, and the corresponding operation instruction sets are MoveForward, MoveBack, Rotate, StopMove, etc. When the user's intent is to control the gastrointestinal endoscope to move forward 2 millimeters (mm), the MoveForward function can be matched from the operation instruction set based on this user instruction. The motion effect of this function is to control the gastrointestinal endoscope to move forward 2mm.

[0082] S605: Convert the operation signal into motor control command, and execute the control command by the lens control system.

[0083] Similar to joystick operation, operation signals generated based on user voice can also be sent to the embedded platform module, which then converts these signals into motor control commands. The various motors in the endoscope control system execute these commands to control the endoscope to perform corresponding actions. For example, the forward movement of 2mm as described in the previous example.

[0084] In this embodiment, the control of gastrointestinal endoscopy-related operations based on joystick operation and the control of gastrointestinal endoscopy-related operations based on voice control can be performed independently or simultaneously. These two control modes can be configured in advance in the endoscope control system. For example, during a gastrointestinal endoscopy, the current control mode can be configured as joystick operation mode, at which point the endoscope control system can control the movement of the endoscope based on the user's operation on the joystick. Alternatively, the current control mode can be configured as voice control mode, at which point the endoscope control system can control the movement of the endoscope based on the user's voice commands. In one example, the two control modes can be switched between each other. For example, at the start of a gastrointestinal endoscopy, joystick operation mode can be used. As the examination progresses, to free the doctor's hands, the endoscope control system can be switched from joystick operation mode to voice control mode, thereby controlling the movement of the endoscope via voice during subsequent examinations. Of course, after using voice control mode, it is also possible to switch back to joystick operation mode; this embodiment does not limit this.

[0085] In another possible implementation of this application, the aforementioned endoscope insertion control system can also achieve automatic insertion of the gastrointestinal endoscope based on visual guidance. That is, after acquiring gastrointestinal endoscope images, the endoscope insertion control system can process the images to automatically determine the direction and position of the next movement, thereby achieving automatic insertion of the endoscope.

[0086] like Figure 7 The diagram shown is a schematic flowchart of an automated gastrointestinal endoscope insertion process provided in an embodiment of this application. According to... Figure 7 The process shown can be automated by following these steps: S701. Obtain gastrointestinal endoscopy images.

[0087] In this embodiment, the gastrointestinal images can be obtained by the gastrointestinal endoscope using its own image acquisition device, such as a camera mounted on the endoscope, to capture images of the internal environment of the human body. During the movement of the endoscope, multiple images can be acquired at any position.

[0088] S702. Identify lesions in gastrointestinal endoscopic images.

[0089] In this embodiment, the endoscope control system can process the acquired gastrointestinal endoscopic images to determine whether there are lesion areas in the images. For example, image processing can determine whether there are areas of inflammation, erosion, polyps, or cancer in the images.

[0090] In one possible implementation of this application embodiment, lesion identification of gastrointestinal endoscopy images may include the following steps 1 to 5: Step 1: Acquisition of gastrointestinal endoscopy images: Obtain raw gastrointestinal endoscopy images or video frame sequences through gastroscopy and colonoscopy.

[0091] Step 2, Image Preprocessing: Perform image enhancement, denoising, edge smoothing, color normalization and other processing; use the preprocessing algorithm of adaptive multi-scale guided filtering and brightness normalization to suppress mucus highlights and cavity fog artifacts in real time, and dynamically adjust the color channel gain, so that the subsequent network contrast is enhanced and the edge detail retention rate is improved by about 20%.

[0092] In related technologies, image preprocessing often employs fixed-parameter histogram equalization or simple noise reduction filtering, which struggles to simultaneously address image characteristics such as slime, highlights, and haze artifacts. This application provides a preprocessing algorithm based on adaptive multi-scale guided filtering and brightness normalization, which can significantly improve the image preprocessing effect.

[0093] Step 3, Feature Extraction and Recognition: Input the preprocessed image into a deep learning model (such as ResNet, EfficientNet, U-Net, YOLO, etc.) for feature extraction; This application provides a lightweight Transformer-CNN hybrid backbone network, which integrates local convolution and global self-attention mechanisms. On the one hand, it ensures high sensitivity detection of small lesions, and on the other hand, it can reduce the model size to about 40% of the original model, enabling real-time inference capability of 25 fps (frames per second) on edge devices.

[0094] Step 4, lesion detection and classification: The lesion area can be located using an object detection (or semantic segmentation) model, and the location box and lesion type label (such as inflammation, erosion, polyp, cancer, etc.) can be output.

[0095] Step 5, Result Output and Visualization: Predicted bounding boxes, confidence scores, and labels can be overlaid on the original image for doctors' reference. The recognition results are deeply integrated with the magnetic positioning coordinate system to automatically calculate the 3D location of the lesion. An "optimal endoscopy path" guide arrow is overlaid on the AR (Augmented Reality) interface of the operating terminal, supporting doctors in real-time interactive path planning for the area where the lesion is detected. Specifically, when a lesion is identified in the gastrointestinal endoscopy image, it automatically switches to "lesion targeting mode" and calculates the shortest safe endoscopy trajectory by integrating the depth map; otherwise, it continues to execute the "conventional exploration mode."

[0096] S703, lesion detected? If a lesion is identified in the currently acquired gastrointestinal endoscopic images, the endoscope control system can execute steps S704-S705, using the lesion tissue as the target location and driving the endoscope towards the target location. If no lesion is identified in the currently acquired gastrointestinal endoscopic images, the endoscope control system can execute steps S707-S709, calculating the depth information of the gastrointestinal endoscopic images, using the direction of the maximum depth value in the image as the target direction, and driving the endoscope towards the target direction. The direction of the maximum depth value is the direction of the anterior cavity, such as the direction of the anterior digestive tract.

[0097] S704. Use the diseased tissue as the target location.

[0098] S705, drive the gastrointestinal endoscope to the target position.

[0099] S706, Mark and indicate the lesion tissue.

[0100] In this embodiment, the endoscope control system can mark identified lesions in the gastrointestinal endoscopic images displayed on the display unit to prompt the doctor to take action. For example, by automatically marking lesions, the doctor can be prompted to judge the results of the system's automatic identification. If the system identification is inaccurate, or if the identified lesions do not have a substantial impact on the patient's health, the doctor can continue to control the system to perform the corresponding examination procedure without responding to the identified lesions.

[0101] S707. Calculate the depth information of the gastrointestinal endoscopy images.

[0102] S708. The direction of the maximum depth value in the gastrointestinal endoscopy image is taken as the target direction.

[0103] S709, drive the gastrointestinal endoscope to move in the target direction.

[0104] S710: Real-time recording of the position of the gastrointestinal endoscope.

[0105] In this embodiment, whether the endoscope moves towards the location of the lesion or towards a target direction determined based on the maximum depth value of the image, the endoscope control system can record the endoscope's position in real time and continue to acquire endoscope images at various points during the endoscope's movement. The aforementioned endoscope position can be determined by a positioning module or unit configured within the endoscope.

[0106] Based on the foregoing embodiments, this application also provides an advance control method implemented using the aforementioned advance control system. For example... Figure 8 The diagram shown is a schematic representation of an advance control method provided in an embodiment of this application. The method may specifically include the following steps: S801. When an operation signal for gastroscopy or colonoscopy is received, the signal type of the operation signal is determined.

[0107] It should be noted that this method can be applied to the aforementioned endoscope control system. Specifically, the gastrointestinal endoscope in this application is clamped by the locking mechanism of the drive module, and the tail end of the endoscope is connected to a direction control module whose end is connected to the output of a rotary motor. The rotary motor is fixed to the end of the lifting column. Furthermore, the drive module is mounted on a positive and negative threaded screw that is fixed at one end to the endoscope motor. For a detailed description of the endoscope control system, please refer to the aforementioned embodiments; further details will not be repeated here.

[0108] The entity implementing this method can be the control unit of the endoscope insertion control system, and the relevant functions of the control unit can be implemented by computer equipment. Therefore, the computer equipment can control the movement of the gastrointestinal endoscope, such as insertion, withdrawal, and rotation, by executing the various steps of the method provided in the embodiments of this application.

[0109] In this embodiment of the application, the operation signal for the gastrointestinal endoscope can be a signal used to instruct the endoscope to perform relevant movements or actions. For example, the operation signal may include a movement signal, a rotation signal, etc. The movement signal can be further divided into forward movement signals (i.e., endoscope advance signal), backward movement signals (endoscope withdrawal signal), and signals that have already moved left and right or up and down in the current operating plane.

[0110] In one possible implementation of this application, the endoscope control system can perform related operations based on user (doctor) initiation. In one example, doctor-initiated operations may be triggered by the doctor's operation of a joystick. Therefore, the operation signal for the gastrointestinal endoscope can be generated by the user's operation of the joystick.

[0111] In this embodiment, the joystick provided by the lens advance control system may include a first joystick and a second joystick. The first joystick may be a left joystick, and the second joystick may be a right joystick.

[0112] Therefore, in response to moving the first joystick forward or backward, a movement signal for the gastrointestinal endoscope can be triggered. Moving the first joystick forward triggers a movement signal for forward movement of the endoscope, and moving it backward triggers a movement signal for backward movement. In response to rotating the first joystick clockwise or counterclockwise, a rotation signal for the gastrointestinal endoscope can be triggered. Clockwise rotation triggers a clockwise rotation signal for clockwise rotation of the endoscope, and counterclockwise rotation triggers a counterclockwise rotation signal. That is, by operating the first joystick, an operation signal can be generated to move the gastrointestinal endoscope (including forward movement, i.e., advancing the endoscope, or backward movement, i.e., retracting the endoscope) or to perform rotational movements (including clockwise or counterclockwise rotation).

[0113] On the other hand, in response to the operation of moving the second joystick, a movement signal can be triggered to move the gastrointestinal endoscope within the current operating plane. Thus, movement control of the gastrointestinal endoscope within the current operating plane is achieved through the drive direction control module.

[0114] Specifically, moving the second joystick forward triggers a signal to move the endoscope upward in the current operating plane; moving it backward triggers a signal to move it downward in the current operating plane; moving it left triggers a signal to move it to the left in the current operating plane; and moving it right triggers a signal to move it to the right in the current operating plane. In other words, moving the second joystick generates a signal to control the up-and-down or left-and-right movement of the endoscope within the current operating plane. The current operating plane can refer to the vertical plane at the current position of the endoscope.

[0115] In this embodiment, the movement control of the gastroscope on the current operating plane is controlled by... Figure 2 The direction control module 106 in (c) is implemented. The direction control module consists of two (or four) drive motors, which control the up-down and left-right movement of the end of the endoscope via a pull cable.

[0116] like Figure 9 The diagram shown is a schematic representation of a wire-driven traction method according to an embodiment of this application. Figure 9 As shown, four traction ropes are installed in the gastrointestinal endoscope, namely... Figure 9 The endoscope consists of traction ropes a, b, c, and d. Traction ropes a and b are for vertical movement; driven by the direction control module, pulling traction ropes a and b allows the endoscope to move vertically. Traction ropes c and d are for horizontal movement; driven by the direction control module, pulling traction ropes c and d allows the endoscope to move horizontally.

[0117] For details on how to operate the gastroscopy and colonoscopy using a joystick, please refer to the relevant descriptions in the foregoing embodiments. For example, see... Figure 5 The description of its corresponding embodiments.

[0118] In another example, doctor-led procedures can also be triggered by the doctor's voice commands. That is, the operation signals for gastroscopy and colonoscopy can be generated by the doctor's voice commands.

[0119] Specifically, upon receiving a voice command, the command can be converted into text information, and the user intent contained within the text information can be identified. Then, based on the user intent and the target intent corresponding to a preset intent instruction set, an operation signal for gastroscopy and colonoscopy can be generated. The aforementioned intent instruction set and operation instruction set have a mapping relationship, wherein the operation instruction set includes multiple instructions for generating operation signals.

[0120] For details on how to operate gastrointestinal endoscopes via voice control, please refer to the relevant descriptions in the foregoing embodiments. For example, see... Figure 6 The description of its corresponding embodiments.

[0121] The foregoing described the process of performing gastroscopy and colonoscopy under the guidance of a physician. In another possible implementation of this application, the aforementioned endoscope insertion control system can also achieve fully autonomous related operations based on the gastroscopy and colonoscopy images acquired by the endoscope, that is, fully automatically control the movement of the endoscope in the natural cavity environment of the body to achieve autonomous endoscope insertion.

[0122] In this embodiment of the application, the computer device can receive gastrointestinal images acquired by the gastrointestinal endoscope and determine the target direction of the gastrointestinal endoscope movement by recognizing the gastrointestinal endoscope images, thereby automatically generating an operation signal for the gastrointestinal endoscope based on the target direction. The operation signal can be a movement signal that instructs the gastrointestinal endoscope to move in the target direction.

[0123] In one possible implementation of this application, the target direction may include the forward direction of the gastrointestinal endoscope within the natural cavity, and the forward direction may be the direction corresponding to the maximum depth value in the gastrointestinal endoscope image.

[0124] In another possible implementation of this application embodiment, the target direction may further include the direction corresponding to the location of the lesion. When the computer device determines the target direction of the gastrointestinal endoscope movement by recognizing the gastrointestinal images, it can identify the lesion in the images to determine the location of the lesion, and then use the direction corresponding to the identified lesion location as the target direction to plan the movement path of the endoscope. This path points to the location of the lesion. Therefore, the corresponding operation signal is the signal that drives the endoscope to move towards the location of the lesion. Furthermore, when lesion is identified, in order to prompt the doctor, the computer device can mark the location of the lesion in the gastrointestinal images on the display interface showing the images.

[0125] As a specific example of an embodiment of this application, the endoscope insertion control system can identify lesions based on real-time acquired gastrointestinal endoscopic images during the autonomous insertion process. If a lesion (lesion tissue) is identified, the computer device can generate an operation signal to drive the gastrointestinal endoscope to move towards the location of the lesion tissue; if no lesion is identified, the computer device can calculate the image depth information, use the direction corresponding to the maximum depth value as the target direction for the next movement of the gastrointestinal endoscope, and generate an operation signal to drive the gastrointestinal endoscope to move in the target direction.

[0126] For details on how to perform gastrointestinal endoscopy via autonomous insertion, please refer to the relevant descriptions in the foregoing embodiments. For example, see [link to relevant documentation]. Figure 7 The description of its corresponding embodiments.

[0127] S802. Obtain the status information of the drive module.

[0128] In this embodiment, the drive module includes a first drive module and a second drive module with different states. The drive module can be in a clamped state or a released state. Therefore, the two drive modules with different states can mean that when the first drive module is in a clamped state, the second drive module is in a released state; or when the second drive module is in a clamped state, the first drive module is in a released state. The first drive module being in a clamped state and the second drive module being in a released state can be represented by LockState=1; the second drive module being in a clamped state and the first drive module being in a released state can be represented by LockState=2.

[0129] S803. Based on the signal type and the status information, drive the endoscope motor and the lifting column to move the endoscope within the natural cavity.

[0130] In this embodiment, the relevant motors and modules can be driven to move according to the signal type of the described operation signal and the determined state information of each drive module, thereby driving the movement of the gastroscope. For example, driving the advance motor and the lifting column to move the gastroscope can advance or retract it within the body or natural cavities.

[0131] In one possible implementation of this application, the type of operation signal can be a movement signal, which is a signal that drives the gastrointestinal endoscope to move within the body or natural cavities, such as moving forward or backward.

[0132] In this embodiment, the displacement of the lead screw corresponding to the current movement of the endoscope motor can be determined based on the movement signal. Then, based on the displacement of the lead screw and the status information of the first drive module and the second drive module, the endoscope motor is driven to move and the lifting column is driven to move upward or downward, thereby controlling the movement of the gastrointestinal endoscope within the natural cavity.

[0133] In this process, the endoscope is moved forward within the natural cavity (advancing); it is moved backward within the natural cavity (retreating).

[0134] Specifically, when the displacement of the lead screw is less than or equal to 0 and the second drive module is in a clamped state, the lens advance motor can be driven to move in the forward direction in the counterclockwise direction, and the lifting column can be driven to descend.

[0135] Alternatively, when the displacement of the lead screw is greater than or equal to the maximum single stroke of the forward and reverse lead screws and the first drive module is in a clamping state, the lens advance motor can be driven to move in the negative direction, and the lifting column can be driven to move downward.

[0136] Alternatively, if the lead screw displacement is greater than 0 and less than the maximum single stroke, and the first drive module is in a clamping state, the advance motor can be driven to move in the negative direction; or, if the second drive module is in a clamping state, the advance motor can be driven to move in the positive direction. In both of these different cases, the lifting column needs to be driven to descend while the advance motor is moving in the negative or positive direction.

[0137] When the displacement of the lead screw is less than or equal to 0 and the first drive module is in a clamped state, the lens advance motor can be driven to move forward and the lifting column can be driven to move upward.

[0138] Alternatively, when the lead screw displacement is greater than or equal to the maximum single stroke and the second drive module is in a clamping state, the lens advance motor can be driven to move in the negative direction, and the lifting column can be driven to move upward.

[0139] Alternatively, if the lead screw displacement is greater than 0 and less than the maximum single stroke, and the first drive module is in a clamping state, the advance motor can be driven to move forward; or, if the second drive module is in a clamping state, the advance motor can be driven to move backward. In both of these different cases, the lifting column needs to be driven to move upward while the advance motor is moving forward or backward.

[0140] In the above example, a lead screw displacement of less than or equal to 0 indicates that the distance between the first drive module and the second drive module is less than the initial distance between the first drive module and the second drive module. Specifically, the driving of the endoscope motor when the lead screw displacement is less than or equal to 0 can be referred to the relevant descriptions in the aforementioned embodiments when X≤0; the driving of the endoscope motor when the lead screw displacement is greater than 0 and less than the maximum stroke in a single operation can be referred to the relevant descriptions in the aforementioned embodiments when X∈(0,stroke); the driving of the endoscope motor when the lead screw displacement is greater than or equal to the maximum stroke in a single operation of the forward and reverse lead screw can be referred to the relevant descriptions in the aforementioned embodiments when X≥stroke, and will not be repeated here.

[0141] In this embodiment, the operation signal for the gastrointestinal endoscope may further include a rotation signal. The endoscope insertion control system can drive the gastrointestinal endoscope to rotate within the natural orifice in response to the rotation signal.

[0142] Specifically, a rotary motor can be installed on the lifting column. The endoscope insertion control system can, in response to a rotation signal, drive multiple drive motors in the clamped drive module to move in the same direction, and simultaneously drive the rotary motor to rotate, thereby controlling the rotational movement of the gastroscope within the body or natural cavities. In one example, each drive module should include at least three drive motors.

[0143] For example, if the first drive module is in a clamped state, the three motors on the first drive module can be controlled to rotate in the same direction, and the rotary motor can also be driven to rotate in the same direction, thereby driving the gastroscope to rotate inside the body.

[0144] In one possible implementation of this application, sensors may also be installed on various units or modules of the endoscope insertion control system. For example, sensors may be installed on the endoscope, the endoscope motor, and the drive module. Based on the data collected by these sensors, operational feedback can be provided for the endoscope operation process.

[0145] For example, sensor data of the endoscope during its movement can be acquired using sensors configured on it. Thus, when the endoscope contacts the inner wall of a natural cavity, the external force acting on it can be calculated based on the sensor data. If this external force is greater than or equal to a preset threshold, operational feedback can be provided to the user via a joystick. For example, operational feedback may include vibration feedback.

[0146] The above describes an example of providing operational feedback during the movement of the gastroscopy and colonoscopy in joystick-based control mode. In voice control mode, this operational feedback can also be provided to the user via voice. For example, in voice control mode, the external force acting on the gastroscopy and colonoscopy can be calculated based on sensor data. If this external force is greater than or equal to a preset threshold, the voice control module of the endoscope insertion control system can provide the user with feedback on the magnitude of the external force acting on the endoscope via voice broadcast, prompting the user to operate with caution.

[0147] The endoscope advancement control method provided in this application embodiment enables autonomous and continuous advancement of gastrointestinal endoscopes. Simultaneously, the endoscope can autonomously advance and rotate, and the autonomous advancement process can be taken over by the doctor at any time via joystick operation or voice command. This application embodiment proposes a doctor-led multimodal fusion control architecture, synchronously integrating voice control, manual operation, magnetic positioning, and visual AI into the gastrointestinal endoscopic procedure, enhancing the doctor's interactive capabilities and greatly facilitating the doctor's control over the movement of the endoscope. Furthermore, this application embodiment employs innovative lesion recognition and path guidance mechanisms for intelligent gastrointestinal endoscope advancement decisions. By combining multiple advancement modes, it improves surgical efficiency and safety, reduces the risk of accidental contact, and decreases doctor fatigue.

[0148] The endoscope control method provided in this application relates to the technical fields of digestive endoscopy, medical robots and artificial intelligence control, covering multimodal control such as mechanical operation, voice interaction, magnetic navigation and image guidance. It can be applied to gastrointestinal endoscopic surgeries such as gastroscopy and colonoscopy. Through intelligent assisted endoscopic navigation, it can achieve rapid intraoperative lesion screening and identification. It can also be applied to medical teaching and training platforms (combining virtual and physical), and can be extended to other endoscopic propulsion systems such as respiratory and urinary systems, and has wide applicability.

[0149] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0150] For ease of understanding, the following description, with examples, introduces the telescope advance control system provided in the embodiments of this application and the telescope advance control method implemented by applying the system.

[0151] like Figure 10 The diagram shown is a schematic of another lens advance control system provided in an embodiment of this application. By applying this system, the relevant functions of each step in the foregoing method embodiments can be realized. For example, to achieve... Figure 8 The steps of the advance control method are shown.

[0152] Specifically, in Figure 10 The illustrated endoscope advancement control system includes a computer device that serves as the execution entity for the endoscope advancement control method, realizing related functions. The system also includes an embedded development platform for processing relevant operating signals to obtain corresponding operating instructions. For example, the operating signals are processed into motor operating instructions that can instruct various motors to perform actions. These operating instructions can be applied to the active endoscope advancement mechanism, and executed by relevant units or modules of the active endoscope advancement mechanism, thereby driving the movement of the gastrointestinal endoscope.

[0153] The active endoscope insertion mechanism consists of a lead screw with alternating positive and negative threads, an insertion motor, a drive module, and a lifting column. The lead screw is driven by the insertion motor. Modules 1 and 2 are fixed to the alternating threaded sections, and are in an alternating locking state (clamping state). Initially, modules 1 and 2 are close together, with module 1 locked and module 2 released. One end of the endoscope passes through modules 1 and 2, and the other end is fixed to the boom. The boom's rotation is driven by a rotary motor at the top, and its lifting is controlled by a lifting column parallel to one side. Insertion of the endoscope is achieved by the cooperation of modules 1 and 2, the insertion motor, and the lifting column; rotation of the endoscope is achieved by the cooperation of modules 1 and 2 and the rotary motor. For a more detailed introduction to the active endoscope insertion mechanism, please refer to [link to relevant documentation]. Figure 2 , Figure 3 The description of its corresponding embodiments.

[0154] In this embodiment, the camera advance control system further includes a magnetic positioning and navigation module, a joystick control module, and a voice control module. The magnetic positioning module provides positioning and navigation functions for the computer device during operation; the joystick control module implements the joystick operation described in the preceding embodiments; and the voice control module implements the voice control function described in the preceding embodiments.

[0155] like Figure 10 As shown, based on the aforementioned active endoscope insertion mechanism and related magnetic positioning and navigation modules, joystick control modules, and voice control modules, a doctor-led endoscope insertion process can be realized, including various movement modes involved in the gastrointestinal endoscope movement, such as insertion, withdrawal, and rotation. The doctor-led endoscope insertion process can be as follows: Figure 10 As shown in the dashed box 1001.

[0156] In addition, utilizing Figure 10 The endoscope insertion control system shown can also achieve autonomous insertion through visual guidance. During autonomous insertion, lesion recognition allows the endoscope to be automatically driven towards the location of the lesion. If the images acquired by the endoscope do not contain lesions, the autonomous insertion process can automatically drive the endoscope towards the direction corresponding to the maximum depth value in the image. The autonomous insertion process can be as follows: Figure 10 As shown in the dashed box 1002.

[0157] based on Figure 10 The endoscope insertion control system shown can realize the following control processes: endoscope insertion control process, doctor-led joystick control process, doctor-led voice control process, visually guided automatic endoscope insertion process, and lesion recognition and visualization process. Each process is described in detail below.

[0158] 10.1 Camera Advance Control Procedure Initial locking: Set LockState=1, module 1 clamps the gastrointestinal endoscope insertion tube, and module 2 releases it; When the camera advance signal arrives: The bollard begins to descend; Based on the comparison between the advance motor displacement X (current leadscrew displacement) and the stroke Stroke, and in conjunction with the locking state reversal judgment, the following actions are executed: Scope signal: The rising column descends; X≤0: If LockState=1, the motion stops; if LockState=2, the camera advance motor moves forward. If LockState=2, the camera advance motor moves in the forward direction; X∈(0,stroke): If LockState=1, the camera advance motor moves in the negative direction; If LockState=2, the camera advance motor moves in the forward direction; X≥stroke: If LockState=1, the camera advance motor moves in the negative direction; If LockState=2, the motion stops; if LockState=1, the camera advance motor moves in the negative direction. Signals for withdrawal: The rising motion of the lifting column; X≤0: If LockState=1, the camera advance motor moves in the forward direction; If LockState=2, the motion stops; if LockState=1, the camera advance motor moves forward. X∈(0,stroke): If LockState=1, the camera advance motor moves in the forward direction; If LockState=2, the camera advance motor moves in the negative direction; X≥stroke: If LockState=1, the motion stops; if LockState=2, the camera advance motor moves in the negative direction. If LockState=2, the camera advance motor moves in the negative direction; Gastrointestinal endoscope rotation: If LockState=1, module 1 will rotate. If LockState=2, module 2 will rotate.

[0159] 10.2 Doctor-led joystick control process The joystick control process in this embodiment is as follows: First, select the joystick control mode in the system.

[0160] Joystick data acquisition: The status of the left and right joysticks (first joystick / second joystick) is transmitted to the computer device (PC) via USB or wirelessly; Command conversion: The PC software maps the left joystick to the pitch / yaw direction and speed of the endoscope tip, and the right joystick to the forward / backward movement and rotation speed; Control commands are issued: The PC sends the converted motion commands to the embedded platform via Ethernet or CAN bus; Motor drive and feedback: The embedded platform drives the camera motor, drive motor on the drive module, lifting column, rotary motor, etc. according to the instructions; at the same time, the encoders, torque sensors and position sensors of each motor feed back the real-time status to the embedded platform and upload it to the PC for interface display and closed-loop control.

[0161] 10.3 Doctor-led voice control process In this embodiment of the application, the voice control module includes: Voice acquisition unit—built-in directional microphone array; Speech recognition and natural language understanding (NLU) module—allows for the deployment of relevant artificial intelligence models; Instruction mapping unit—predefined user intentions such as "forward", "backward", "stop", "rotate"; The execution feedback module integrates information from magnetic positioning, vision modules, and motor encoders.

[0162] The main processes of voice control include: The process involves pre-collecting the voice commands of attending physicians and training a deep learning network model. This process is part of the physician registration process. When a new attending physician is to be added to the control database, voice registration can be performed in advance to improve the accuracy of voice recognition during subsequent control processes.

[0163] First, select the voice control mode in the system; The voice acquisition unit captures the surgeon's voice. The recognition module converts audio into text and parses out the intent and slots; The mapping module generates specific motion commands and sends them to the embedded platform; The execution unit drives the endoscope mechanism and informs the surgeon of the execution result through the feedback module. If there is any ambiguity, the surgeon will be prompted to make an intervention choice through voice prompts.

[0164] 10.4 Visually Guided Automated On-Camera Flow The depth recognition network can be trained in advance to improve the accuracy of depth information calculation, thereby improving the accuracy of the target direction of the next movement of the gastrointestinal endoscope determined based on the depth information.

[0165] This application embodiment can combine magnetic navigation and visual AI to achieve automatic pathfinding and camera entry. The specific process includes: Image acquisition: The front-end camera of the gastrointestinal endoscope continuously acquires images of the gastrointestinal endoscope; Image Depth and Lesion Detection: A deep learning network is run on a PC to generate depth maps and detect lesions simultaneously; Path decision: If a lesion area is detected, the coordinates of that area are marked as the target location using the magnetic navigation module; otherwise, the direction of the deepest point in the depth map is selected as the target direction for the stomach. The camera advance mechanism automatically triggers the camera advance motor to move forward and corrects the trajectory in real time until the target position is reached or a user takeover command is received. Track recording: The magnetic navigation module continuously records the coordinates of the gastrointestinal endoscope, generates a 3D path, and displays it on the AR interface.

[0166] 10.5 Lesion Identification and Visualization Process The lesion recognition network can be trained in advance to improve the accuracy of lesion recognition.

[0167] The lesion identification and visualization process mainly includes: Preprocessing: The acquired gastrointestinal endoscopy images are denoised and histogram equalized; Model inference: Using deep learning networks to detect and classify targets such as polyps, erosions, and cancerous lesions; Results overlay: The detection box, type label, and confidence score are overlaid and displayed through the AR interface; Location marking: The three-dimensional coordinates of the lesion are transmitted back to the PC via the magnetic navigation module and marked in the AR interface to prompt the surgeon for further operations.

[0168] Reference Figure 11 The diagram illustrates a schematic of an endoscope insertion control device provided in an embodiment of this application. Specifically, it may include a signal type determination module 1101, a status information acquisition module 1102, and a gastrointestinal endoscope motion drive module 1103, wherein: The signal type determination module 1101 is used to determine the signal type of the operation signal when an operation signal for the gastrointestinal endoscope is received. The gastrointestinal endoscope is clamped by the locking mechanism of the drive module. The tail of the gastrointestinal endoscope is connected to a direction control module that is connected to the output end of a rotary motor. The rotary motor is fixed to the end of the lifting column. The drive module is installed on a positive and negative threaded screw that is fixed to the end of the endoscope motor. The status information acquisition module 1102 is used to acquire the status information of the drive module, wherein the drive module includes a first drive module and a second drive module with different statuses. The gastrointestinal endoscope motion drive module 1103 is used to drive the endoscope motor to move according to the signal type and the status information so as to move the gastrointestinal endoscope within the natural cavity.

[0169] This application provides an in-scope control device, which can be used to implement the steps in the aforementioned method embodiments.

[0170] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0171] Reference Figure 12 The diagram illustrates a computer device provided in an embodiment of this application. Figure 12 As shown, the computer device 1200 in this embodiment includes: a processor 1210, a memory 1220, and a computer program 12201 stored in the memory 1220 and executable on the processor 1210. When the processor 1210 executes the computer program 12201, it implements the steps in the various embodiments of the above-described camera advance control method, for example... Figure 8 The steps S801 to S803 are shown. Alternatively, when the processor 1210 executes the computer program 12201, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 11 The functions of modules 1101 to 1103 are shown.

[0172] For example, the computer program 12201 can be divided into one or more modules / units, which are stored in the memory 1220 and executed by the processor 1210 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 12201 in the computer device 1200. For example, the computer program 12201 can be divided into a signal type determination module, a status information acquisition module, and a gastrointestinal endoscope motion driving module, with the specific functions of each module as follows: The signal type determination module is used to determine the signal type of the operation signal when an operation signal for the gastrointestinal endoscope is received. The gastrointestinal endoscope is installed at the end of the lifting column. The lifting column is connected to the drive module through the locking mechanism of the drive module. The drive module is installed on a positive and negative threaded screw fixed at one end to the endoscope motor. A status information acquisition module is used to acquire the status information of the drive module, wherein the drive module includes a first drive module and a second drive module with different states. The gastrointestinal endoscope motion drive module is used to drive the endoscope motor to move according to the signal type and the status information, so as to move the gastrointestinal endoscope within the natural cavity.

[0173] The computer device 1200 can implement the scope control method implemented by the scope control system in the aforementioned system embodiments. The computer device 1200 can be a desktop computer, a cloud server, or other similar devices. For example, the computer device 1200 can be... Figure 10 The computer equipment in the telescope control system shown, 1200, may include, but is not limited to, a processor 1210 and a memory 1220. Those skilled in the art will understand that... Figure 12 This is merely one example of computer device 1200 and does not constitute a limitation on computer device 1200. It may include more or fewer components than shown, or combine certain components, or different components. For example, computer device 1200 may also include input / output devices, network access devices, buses, etc.

[0174] The processor 1210 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0175] The memory 1220 can be an internal storage unit of the computer device 1200, such as a hard disk or RAM of the computer device 1200. The memory 1220 can also be an external storage device of the computer device 1200, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the computer device 1200. Furthermore, the memory 1220 can include both internal storage units and external storage devices of the computer device 1200. The memory 1220 is used to store the computer program 12201 and other programs and data required by the computer device 1200. The memory 1220 can also be used to temporarily store data that has been output or will be output.

[0176] This application also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the methods described in the foregoing embodiments.

[0177] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a computer, implements the methods described in the foregoing embodiments.

[0178] This application also discloses a computer program product, including a computer program that, when run on a computer, causes the computer to perform the methods described in the foregoing embodiments.

[0179] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A lens advance control system, characterized in that, The system includes an inlet motor, a drive module, a direction control module, a rotary motor, and a lifting column. The drive module is mounted on a positive and negative threaded screw fixed at one end to the inlet motor. The drive module includes a first drive module and a second drive module. The first drive module and the second drive module clamp the endpiece of the gastrointestinal endoscope through a locking mechanism. The tail end of the gastrointestinal endoscope is connected to the direction control module, one end of which is connected to the output end of the rotary motor. The rotary motor is fixed to the end of the lifting column. The inlet control system controls the movement of the gastrointestinal endoscope within the natural orifice by executing the following inlet control method: In response to the received endoscope movement signal, the screw displacement corresponding to the current movement of the endoscope advance motor is determined. The endoscope movement signal includes an advance signal or an exit signal. The advance signal is used to drive the lifting column to descend, and the exit signal is used to drive the lifting column to ascend. Based on the lead screw displacement and the drive module currently in a clamping state, determine the driving mode of the lens advance motor in response to the lens advance signal or the lens retraction signal; The endoscope motor is driven according to the described driving method to move, thereby advancing or retracting the endoscope.

2. The lens advance control system according to claim 1, characterized in that, When the first drive module is in the clamping state, the drive mode of the lens advance motor in response to the lens advance signal is negative movement when the lead screw displacement is greater than 0; the drive mode of the lens advance motor in response to the lens retraction signal is positive movement when the lead screw displacement is less than the maximum single stroke of the positive and negative thread lead screw. When the second drive module is in the clamping state, the drive mode of the lens advance motor in response to the lens advance signal is to move in the forward direction when the displacement of the lead screw is less than the maximum stroke of the forward and reverse lead screws in a single operation; the drive mode of the lens advance motor in response to the lens retraction signal is to move in the negative direction when the displacement of the lead screw is greater than 0.

3. The telescope advance control system according to claim 1, characterized in that, The endoscope advancement control system also controls the movement of the gastrointestinal endoscope within the natural orifice by executing the following endoscope advancement control method: In response to the received rotation signal of the gastrointestinal endoscope, multiple drive motors in the drive module in the clamped state are driven to move in the same direction, and the rotary motor is driven to rotate.

4. The telescope advance control system according to any one of claims 1 to 3, characterized in that, The endoscope insertion control system further includes a rocker arm, which includes a first rocker arm. The endoscope insertion control system also controls the movement of the gastrointestinal endoscope within the natural orifice by executing the following endoscope insertion control method: In response to moving the first joystick forward, an in-camera signal is triggered; in response to moving the first joystick backward, an out-of-camera signal is triggered. In response to the clockwise rotation of the first joystick, a gastrointestinal endoscope rotation signal is triggered to control the gastrointestinal endoscope to rotate in a clockwise direction; in response to the counterclockwise rotation of the first joystick, a gastrointestinal endoscope rotation signal is triggered to control the gastrointestinal endoscope to rotate in a counterclockwise direction.

5. The lens advance control system according to claim 4, characterized in that, The joystick also includes a second joystick, and the endoscope insertion control system further controls the movement of the gastrointestinal endoscope within the natural orifice by executing the following endoscope insertion control method: In response to the operation of moving the second joystick forward, a signal is triggered to control the gastrointestinal endoscope to move upward in the current operating plane; In response to the operation of moving the second joystick backward, a signal is triggered to control the gastrointestinal endoscope to move downward in the current operating plane; In response to the operation of moving the second joystick to the left, a signal is triggered to control the gastrointestinal endoscope to move to the left in the current operating plane; In response to the operation of moving the second joystick to the right, a signal is triggered to control the gastrointestinal endoscope to move to the right in the current operating plane; The movement of the gastrointestinal endoscope within the current operating plane is achieved by driving the direction control module.

6. The lens advance control system according to claim 4, characterized in that, The endoscope advancement control system also controls the movement of the gastrointestinal endoscope within the natural orifice by executing the following endoscope advancement control method: Sensor data of the gastrointestinal endoscope during its movement is acquired by sensors configured on the endoscope. When the endoscope comes into contact with the inner wall of the natural cavity, the external force acting on the endoscope is calculated based on the sensor data. When the external force is greater than or equal to a preset threshold, the joystick provides operation feedback to the user; wherein, the operation feedback includes vibration feedback.

7. The telescope advance control system according to any one of claims 1 to 3 or 5 to 6, characterized in that, The endoscope advancement control system also controls the movement of the gastrointestinal endoscope within the natural orifice by executing the following endoscope advancement control method: Receive the gastrointestinal images acquired by the gastrointestinal endoscope; By recognizing the gastrointestinal images, the target direction of the gastrointestinal endoscope movement is determined. The target direction includes the forward direction of the gastrointestinal endoscope within the natural cavity, and the forward direction is the direction corresponding to the maximum depth value in the gastrointestinal image. An operation signal for the gastrointestinal endoscope is automatically generated based on the target direction. The operation signal is an advance signal that instructs the gastrointestinal endoscope to move in the target direction.

8. The lens advance control system according to claim 7, characterized in that, The target direction also includes the direction corresponding to the location of the lesion tissue. Determining the target direction of the gastrointestinal endoscope movement by recognizing the gastrointestinal images includes: By identifying lesions in the gastrointestinal images, the location of the lesion tissue can be determined; The movement path of the gastroscope is planned with the direction corresponding to the location of the lesion as the target direction, and the location of the lesion in the gastroscope image is marked on the display interface displaying the gastroscope image.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the computer device implements the following advance control method implemented by the advance control system as described in any one of claims 1 to 8: In response to the received endoscope movement signal, the screw displacement corresponding to the current movement of the endoscope advance motor is determined. The endoscope movement signal includes an advance signal or an exit signal. The advance signal is used to drive the lifting column to descend, and the exit signal is used to drive the lifting column to ascend. Based on the lead screw displacement and the drive module currently in a clamping state, determine the driving mode of the lens advance motor in response to the lens advance signal or the lens retraction signal; The endoscope motor is driven according to the described driving method to move, thereby advancing or retracting the endoscope.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed, the following advance control method implemented by the advance control system as described in any one of claims 1 to 8 is performed: In response to the received endoscope movement signal, the screw displacement corresponding to the current movement of the endoscope advance motor is determined. The endoscope movement signal includes an advance signal or an exit signal. The advance signal is used to drive the lifting column to descend, and the exit signal is used to drive the lifting column to ascend. Based on the lead screw displacement and the drive module currently in a clamping state, determine the driving mode of the lens advance motor in response to the lens advance signal or the lens retraction signal; The endoscope motor is driven according to the described driving method to move, thereby advancing or retracting the endoscope.

Images