An endoscope fluid channel monitoring system

Abstract

This application relates to the field of endoscopic technology, and more particularly to an endoscopic fluid channel monitoring system, including an irrigation channel, an aspiration channel, a first acquisition module, a second acquisition module, and a control module. The first acquisition module is used to acquire the fluid flow rate of the aspiration channel, and the second acquisition module is used to acquire the directional bending angle of the endoscope insertion section. By simultaneously monitoring the fluid flow rate of the aspiration channel and the directional bending angle of the endoscope insertion section, and calculating the Pearson correlation coefficient between the two, this application can accurately distinguish whether the obstruction is a rigid obstruction caused by stone impaction or a non-rigid obstruction caused by a change in bending posture. This solves the problem that existing technologies cannot identify the cause of obstruction, which is beneficial for guiding clinical treatment (such as stopping irrigation and preparing for endoscope withdrawal and cleaning), avoiding the loss of the stone fragmentation target and reduced surgical efficiency due to unnecessary endoscope withdrawal, and effectively improving the safety and stone fragmentation efficiency of endoscopic applications.

Description

Technical Field

[0001] This application relates to the field of endoscopy technology, and more particularly to an endoscopy fluid channel monitoring system. Background Technology

[0002] An endoscope is a medical device that integrates optics, electronics, precision mechanics, and software processing. Its core mission is to "penetrate deep into the body's natural orifices or small surgical incisions to observe and manipulate internal organs." An endoscope generally consists of a handle and an insertion section. To achieve directional bending of the distal end of the insertion section, a lever and a traction wheel assembly are typically installed on the handle. The lever actuates the traction wheel assembly, which in turn winds up / releases the traction rope, pulling the distal end of the insertion section and causing it to bend in a specific direction.

[0003] During nephrolithotomy, fluid is simultaneously infused and aspirated into the kidney, circulating within the body to facilitate stone removal and maintain a clear view of the distal end of the insertion site. If this circulation becomes obstructed, it can easily lead to increased intrarenal pressure and kidney damage. Therefore, existing techniques immediately remove the endoscope upon detecting obstruction to clear the blockage. However, the inventors discovered in this application that existing techniques typically monitor obstruction signals by controlling the pressure and flow rate of the infusion and aspiration of the perfusion fluid. However, these techniques, upon detecting obstruction... When a blockage signal is detected, it is not always due to a stone lodged in the aspiration channel. It could also be caused by fluctuations in intrarenal pressure due to breathing and abdominal pressure, or by an excessively large bending angle at the distal end of the insertion part altering the cross-sectional shape of the aspiration channel and reducing its throughput. All of these situations can easily trigger a blockage detection signal. This often leads to unnecessary removal of the endoscope to clear the blockage due to inaccurate blockage detection in current technology. When the endoscope is removed, the target location for stone fragmentation is lost, and re-insertion requires re-locating the target, thus reducing the efficiency of stone fragmentation. Summary of the Invention

[0004] The purpose of this application is to provide an endoscopic fluid channel monitoring system, which at least addresses the problem of reduced lithotripsy efficiency caused by inaccurate detection of blockages.

[0005] This application is implemented as follows: This application provides an endoscopic fluid channel monitoring system, comprising: An infusion channel is provided for introducing fluid, and the input end of the infusion channel is used to connect to an infusion fluid source. A suction channel is used to perform negative pressure suction of fluid, and the output end of the suction channel is used to connect to a negative pressure source. A first acquisition module is connected to the suction channel and is used to acquire the fluid flow rate of the suction channel. The second acquisition module corresponds to the endoscope and is used to acquire the directional bending angle of the endoscope insertion part. The control module is connected to the first acquisition module and the second acquisition module respectively. The control module is configured to: determine whether the suction channel is blocked based on the fluid flow signal of the first acquisition module; the control module is also configured to: determine the blockage state of the suction channel based on the fluid flow signal of the first acquisition module and the directional bending angle of the second acquisition module. The blockage state includes rigid obstruction, which refers to the stone being embedded in the suction channel.

[0006] The technical solution provided in this application can achieve the following beneficial effects: This application, by simultaneously monitoring the fluid flow rate of the aspiration channel and the directional bending angle of the endoscope insertion section, and calculating the Pearson correlation coefficient between the two, can accurately distinguish whether the obstruction is a rigid obstruction caused by stone impaction or a non-rigid obstruction caused by changes in bending posture. This solves the problem that existing technologies cannot identify the cause of obstruction, which helps guide clinical practice to take correct measures (such as stopping irrigation and preparing for endoscope withdrawal and cleaning), avoids loss of stone fragmentation targets and reduced surgical efficiency due to unnecessary endoscope withdrawal, and effectively improves the safety and stone fragmentation efficiency of endoscope application. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, 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.

[0008] Figure 1 This is a schematic diagram of the endoscopic fluid channel monitoring system disclosed in the embodiments of this application; Figure 2 yes Figure 1 A magnified view of a section at point A in the middle; Figure 3 This is a schematic diagram of the module connections of the endoscopic fluid channel monitoring system disclosed in the embodiments of this application; Figure 4 This is a flowchart of the decision logic of the control module disclosed in the embodiments of this application.

[0009] In the picture: 10. Handle; 20. Insertion part; 30. Sheath; 100. Infusion channel; 200. Suction channel; 300. First acquisition module; 400. Second acquisition module; 500. Third acquisition module; 600. Control module; 700. Negative pressure source; 800. Infusion fluid source. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0011] While existing technologies can detect blockages, they cannot distinguish the specific causes of the blockages, thus failing to implement differentiated treatment strategies for different causes. For changes in the channel cross-section caused by excessive bending angle of the insertion section, simply adjusting the insertion section's posture can restore patency without removing the endoscope. However, for hard blockages caused by stones lodged in the aspiration channel, the insertion section must be removed for cleaning. Existing technologies cannot differentiate between these two situations, leading to a single treatment strategy and unnecessary clinical intervention. Therefore, this application provides an endoscopic fluid channel monitoring system, at least to address the problem of reduced lithotripsy efficiency caused by inaccurate blockage detection, as detailed in the following embodiments.

[0012] Example 1

[0013] This embodiment provides an endoscopic fluid channel monitoring system, such as Figures 1-3 As shown, it includes: The infusion channel 100 is used to introduce fluid (such as physiological saline), and the input end of the infusion channel 100 is used to connect to the infusion fluid source 800 (such as an infusion pump). The suction channel 200 is used to perform negative pressure suction of fluid, and the output end of the suction channel 200 is used to connect to the negative pressure source 700 (such as a negative pressure aspirator); the infusion channel 100 is provided on the insertion part 20, the insertion part 20 passes through the sheath tube 30, and the gap between the insertion part 20 and the sheath tube 30 serves as the suction channel 200. The first acquisition module 300 is connected to the suction channel 200 and is used to acquire the fluid flow rate of the suction channel 200. The first acquisition module 300 may be a flow sensor, such as a turbine flow meter, an ultrasonic flow meter or a thermal mass flow meter, etc. Its sensing part extends at least partially into the suction channel 200 or is in fluid communication with the suction channel 200, which will not be described in detail here.

[0014] The second acquisition module 400 corresponds to the endoscope and is used to acquire the directional bending angle of the endoscope insertion part 20. In this embodiment, the second acquisition module 400 is an angle detection unit, which is correspondingly arranged with the traction wheel set on the endoscope handle 10 and is used to detect the rotation angle of the traction wheel. Specifically, the angle detection unit can be a photoelectric encoder, potentiometer, or Hall angle sensor, etc., which is set at the shaft of the traction wheel and can output an electrical signal characterizing the rotation angle of the traction wheel in real time. Since there is a definite transmission relationship between the rotation angle of the traction wheel and the bending angle of the distal end of the insertion part 20, the directional bending angle of the distal end of the insertion part 20 can be indirectly obtained by detecting the rotation angle of the traction wheel.

[0015] The control module 600 is connected to the first acquisition module 300 and the second acquisition module 400, respectively. The control module 600 can be integrated into the endoscope's main unit system or housed in a separate processor. It includes a memory and processing circuitry. The memory stores computer program instructions, and the processing circuitry executes these instructions to perform the following functions: First, the control module 600 determines whether the suction channel 200 is blocked based on the fluid flow signal from the first acquisition module 300. Specifically, the control module 600 monitors the fluid flow in the suction channel 200 in real time. When the fluid flow in the suction channel 200 decreases by more than a first preset flow value within a first preset time period t1, it is determined that the suction channel 200 is blocked. For example, in one embodiment, t1 is 1 second, and the first preset flow value is 30% of the normal flow. That is, when the suction flow decreases by more than 30% of the normal flow within 1 second, it is determined that a blockage has occurred.

[0016] Secondly, after a blockage is confirmed, the control module 600 uses the time of the blockage occurrence as a marker time point to acquire the fluid flow rate curve of the suction channel 200 within a second preset time period t2 prior to the marker time point, and the directional bending angle change curve within a third preset time period t3 prior to the marker time point. Here, t2 and t3 have the same length, and the end of the third preset time period t3 is earlier than the end of the second preset time period t2, with a lag time Δt between them. This time alignment method is designed to adapt to the actual situation where the bending angle change precedes the flow response. In actual operation, the change in the bending posture of the insertion part 20 causes a change in the cross-sectional shape of the suction channel 200, which in turn causes a change in the suction flow rate; therefore, there is a certain lag in the change of the suction flow rate.

[0017] Then, the control module 600 calculates the Pearson correlation coefficient r between the two curves. The Pearson correlation coefficient is an indicator that measures the degree of linear correlation between two variables, and its value ranges from [-1, 1]. When |r| is close to 1, it indicates that there is a strong correlation between the two variables; when |r| is close to 0, it indicates that there is almost no linear correlation between the two variables.

[0018] Finally, the control module 600 determines the blockage status of the suction channel 200 based on the Pearson correlation coefficient r and the current directional bending angle β.

[0019] Specifically, when the directional bending angle β is greater than a preset angle value (indicating that the operator is performing or has performed a significant bending operation) and the Pearson correlation coefficient r is less than a first preset coefficient value (indicating that the aspiration flow rate does not respond to changes in the bending angle or responds very weakly), the control module 600 determines that the aspiration channel 200 is in a rigid obstruction state. Rigid obstruction refers to a fixed blockage formed by solid objects such as stones embedded in the aspiration channel. The position and shape of the blockage do not change with the bending posture of the insertion part. Therefore, regardless of how the bending angle changes, the aspiration flow rate remains a constant low value.

[0020] Conversely, when the directional bending angle β is greater than the preset angle value and the Pearson correlation coefficient r is greater than or equal to the first preset coefficient value, the control module determines that the suction channel 200 is in a non-rigid blockage state. In this case, the suction flow rate changes accordingly with the bending angle, indicating that the blockage is caused by the bending posture changing the cross-sectional shape of the channel (for example, excessive bending at the distal end of the insertion part 20 causes the insertion part 20 to be in an arc shape against the inner wall of the sheath 30 at the distal end of the sheath 30), rather than the fixed object being embedded.

[0021] In addition, when the directional bending angle β is less than or equal to the preset angle value (indicating that the operator has not performed a significant bending operation), the control module 600 directly determines that the aspiration channel 200 is in a non-rigid obstruction state - at this time, abnormal changes in flow should be caused by other factors (such as perfusion pump fluctuations, patient breathing or abdominal pressure effects, etc.).

[0022] In some embodiments, the system may further include a third acquisition module 500, which is connected to the infusion channel 100 and is used to acquire the fluid flow rate of the infusion channel 100. The control module 600 determines whether the suction channel 200 is blocked based on the fluid flow rate signal of the suction channel 200 from the first acquisition module 300 and the fluid flow rate signal of the infusion channel 100 from the third acquisition module 500.

[0023] Specifically, the control module 600 calculates the difference between the fluid flow rate of the suction channel 200 and the fluid flow rate of the infusion channel 100 in real time. When the change in this difference exceeds a second preset flow rate value within a first preset time period t1, it is determined that the suction channel 200 is blocked. The advantage of this judgment method is that when the infusion flow rate itself fluctuates (such as when the infusion pump is unstable or the infusion fluid source is about to run out), simply relying on the decrease in suction flow rate may lead to misjudgment; however, by comparing the difference between the infusion flow rate and the suction flow rate, the interference caused by fluctuations on the infusion side can be effectively eliminated, improving the accuracy of blockage detection. For example, in one embodiment, the normal infusion flow rate is 100 mL / min, the normal suction flow rate is 95 mL / min, and the difference between the two is 5 mL / min. When the suction channel 200 is blocked, the suction flow rate drops to 50 mL / min, and the difference between the two becomes 50 mL / min. The change reaches 45 mL / min within 1 second, exceeding the second preset flow rate value (such as 40 mL / min), and is therefore determined to be blocked. When the infusion flow rate decreases, the suction flow rate and the infusion flow rate decrease simultaneously, and the difference between the two remains stable, thus preventing false alarms.

[0024] Example 2

[0025] The difference between this embodiment and the previous embodiment lies in the specific implementation of the second acquisition module 400. In this embodiment, the second acquisition module 400 is a displacement detection unit, which is correspondingly arranged with the traction rope and used to detect the axial movement length of the traction rope. Since there is a definite correspondence between the axial movement length of the traction rope and the directional bending angle of the distal end of the insertion part 20, the directional bending angle of the distal end of the insertion part 20 can also be indirectly obtained by detecting the displacement of the traction rope. The displacement detection unit can be a linear displacement sensor, a magnetostrictive displacement sensor, or a grating ruler, etc.

[0026] Example 3

[0027] The difference between this embodiment and the previous embodiment lies in the specific implementation of the second acquisition module 400. In this embodiment, the second acquisition module 400 is an inertial measurement unit (IMU) array, which is axially arranged on the insertion part 20 and used to directly detect the directional bending angle of the insertion part 20. An IMU typically includes a three-axis accelerometer and a three-axis gyroscope, capable of outputting its attitude information in space in real time. By arranging multiple IMUs along the axial direction of the insertion part 20 and fusing the attitude data of each IMU, the overall three-dimensional bending shape of the insertion part 20 can be reconstructed, thereby obtaining a precise directional bending angle.

[0028] Example 4

[0029] The difference between this embodiment and the previous embodiment lies in the specific implementation of the second acquisition module 400. In this embodiment, the second acquisition module 400 is an optical fiber embedded with a fiber Bragg grating (FBG) sensor. This optical fiber is axially disposed on the insertion part 20 and is used to detect the directional bending angle of the insertion part 20. The FBG sensor is a wavelength-encoded optical fiber sensor. When the optical fiber bends, the reflected wavelength of the FBG will shift. By detecting the wavelength shift, the bending curvature and bending direction of the optical fiber can be accurately calculated. Due to the advantages of optical fiber, such as its extremely small diameter, immunity to electromagnetic interference, and ability to be deployed along the entire length of the insertion part, the FBG sensor array can achieve high-precision, distributed measurement of the bending shape of the insertion part 20.

[0030] Example 5

[0031] The difference between this embodiment and the above embodiment lies in the arrangement of the infusion channel 100 and the suction channel 200.

[0032] In one implementation of this embodiment, the system further includes a sheath 30, an infusion channel 100 and a suction channel 200, both disposed on the sheath 30, and an insertion part 20 of the endoscope passing through the sheath 30.

[0033] In another implementation of this embodiment, one of the infusion channel 100 and the suction channel 200 is disposed on the sheath 30, and the other is disposed on the insertion part 20.

[0034] In another implementation of this embodiment, the suction channel 200 is disposed on the insertion part 20, the insertion part 20 passes through the sheath tube 30, and the gap between the insertion part 20 and the sheath tube 30 serves as the infusion channel 100.

[0035] The above-mentioned multiple channel arrangements enable the present invention to flexibly adapt to different types of endoscopes and different clinical surgical scenarios.

[0036] The calculation method for the Pearson correlation coefficient r of the fluid flow rate curve and directional bending angle change curve of the suction channel 200 is illustrated here: Assume the sampling period is T (e.g., T = 20 ms). The control module determines the time point at which the suction channel 200 becomes blocked as the marked time point t0. The fluid flow rate sequence Q = {q1, q2, ..., q...} of the suction channel 200 within the second preset time period t2 (e.g., t2 = 1.5 seconds) before the marked time point is obtained. n}, and the directional bending angle sequence A={a1,a2,...,a3} within the third preset time period t3 (e.g., t3=1.5 seconds) before the marked time point. n}, where n=t2 / T=t3 / T. The end point of the third preset time period t3 is earlier than the end point of the second preset time period t2, and the difference between the two is a lag time Δt (for example, Δt=200~400ms), that is, the time window corresponding to the angle sequence A is entirely Δt earlier than the time window corresponding to the flow sequence Q, which reflects the physical causal relationship that the bending angle change occurs first and the flow response follows.

[0037] The specific calculation formula for the Pearson correlation coefficient r is as follows:

[0038] where, and are the respective mean values of the angle sequence and the flow sequence, n is the total number of data points, i is the index of a single data point (from 1 to n), A i is the value of the i-th data point in the directional bending angle sequence A, Q i is the value of the i-th data point in the suction channel fluid flow sequence Q. In some examples, considering that there is a mechanical idle travel (usually 5°~8°) in the rotation of the traction wheel, before calculating the correlation coefficient, the angle data may first be subjected to dead zone filtering processing, that is, the angle change amount smaller than the idle travel threshold is zeroed, so as to eliminate the influence of the mechanical clearance on the correlation calculation.

[0039] As Figure 4 shown, the determination logic process of the control module 600 of the present application is as follows: Step S1: Acquire the fluid flow signal of the suction channel 200 and the directional bending angle signal in real time.

[0040] Step S2: Determine whether the suction channel 200 is blocked. If no blockage occurs, return to step S1 to continue monitoring; if a blockage occurs, execute step S3.

[0041] Step S3: Taking the blockage occurrence time point as the marker time point, extract the suction flow curve within the second preset time period t2 before the marker time point and the bending angle curve within the third preset time period t3, and calculate the Pearson correlation coefficient r of the two.

[0042] Step S4: Determine whether the directional bending angle β is greater than a preset angle value.

[0043] If β ≤ the preset angle value, it is determined as a non-rigid infarction, and it is recommended to check other possible factors such as the perfusion system.

[0044] If β > the preset angle value, further determine the magnitude relationship between the Pearson correlation coefficient r and the first preset coefficient value r1: If r < r1, it is determined as a rigid infarction (stone impaction), an alarm signal is issued, and it is recommended to stop perfusion and prepare for withdrawal of the endoscope for cleaning; If r≥r1, it is determined to be a non-rigid obstruction (caused by bending posture), and it is recommended to fine-tune the posture of the insertion part 20 to restore the passage patency.

[0045] In the endoscope described in the above embodiments, the endoscope includes a handle 10 and an insertion part 20. The insertion part 20 is provided with an instrument channel along the axial direction. The proximal port of the instrument channel can be located on the handle 10. There can be one or more proximal ports of the instrument channel. The distal port of the instrument channel is located at the distal end of the insertion part 20. The instrument channel is used to allow surgical instruments, perfusion fluid, or negative pressure aspiration fluid to pass through. The surgical instruments are existing technologies and can be injection needles, dilators, stents, stone retrieval baskets, optical fibers, biopsy forceps, hemostatic clips, etc., without specific limitations. The perfusion fluid can be physiological saline, a drug, or a gas, without specific limitations. A traction rope assembly is provided on the handle 10. The traction rope assembly controls the directional bending of the distal end of the insertion part 20. The traction rope assembly is existing technology and is exemplary. The traction rope assembly includes a traction rope, the distal end of which is connected to the distal end of the insertion part 20, the proximal end of which is connected to the traction wheel, and a lever connected to the traction wheel. By operating the lever, the traction wheel is rotated, pulling the traction rope on one side of the insertion part 20 towards the proximal end, while simultaneously releasing the traction rope on the other side of the insertion part 20 towards the distal end. The traction ropes on both sides of the insertion part move in opposite directions, thereby causing the distal end of the insertion part 20 to bend in a specific direction. In other examples, a single-sided traction rope can be used to control the directional bending of the insertion part 20 on one side. Multiple traction ropes can also be used to achieve four-way bending of the insertion part 20. All the above examples of traction rope assemblies that realize the directional bending function of the insertion part 20 can directly adopt existing designs. An illumination unit and a camera module are provided on the distal end surface of the insertion part 20. The illumination unit is used to provide illumination light, and the camera module is used to acquire image information of the interior of the distal end cavity of the insertion part.

[0046] In the above embodiments, the endoscope is illustrated using a nephroscope. However, the endoscope in the above embodiments can also be a bronchoscope, suction endoscope, esophagoscope, gastroscope, colonoscope, otoscope, rhinoscope, oral endoscope, laryngoscope, colposcope, laparoscope, arthroscope, etc. This application does not impose specific limitations on the type of endoscope.

[0047] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. In the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0048] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. An endoscopic fluid channel monitoring system, characterized in that, include: An infusion channel is provided for introducing fluid, and the input end of the infusion channel is used to connect to an infusion fluid source. A suction channel is used to perform negative pressure suction of fluid, and the output end of the suction channel is used to connect to a negative pressure source. A first acquisition module is connected to the suction channel and is used to acquire the fluid flow rate of the suction channel. The second acquisition module corresponds to the endoscope and is used to acquire the directional bending angle of the endoscope insertion part. The control module is connected to the first acquisition module and the second acquisition module respectively. The control module is configured to: determine whether the suction channel is blocked based on the fluid flow signal of the first acquisition module; the control module is also configured to: determine the blockage state of the suction channel based on the fluid flow signal of the first acquisition module and the directional bending angle of the second acquisition module, wherein the blockage state includes rigid obstruction.

2. The endoscopic fluid channel monitoring system according to claim 1, characterized in that, The control module is configured to: determine that the suction channel is blocked when the change in fluid flow in the suction channel exceeds a first preset flow value within a first preset time period t1, based on the fluid flow signal from the first acquisition module.

3. The endoscopic fluid channel monitoring system according to claim 1, characterized in that, The system further includes a third acquisition module connected to the infusion channel. The third acquisition module is used to acquire the fluid flow rate of the infusion channel. The control module is configured to determine whether the suction channel is blocked based on the fluid flow rate signal from the first acquisition module and the fluid flow rate signal from the third acquisition module.

4. The endoscopic fluid channel monitoring system according to claim 3, characterized in that, The control module is configured to: based on the fluid flow signal from the first acquisition module and the fluid flow signal from the third acquisition module, determine that the suction channel is blocked when the change in the fluid flow difference between the suction channel and the injection channel exceeds a second preset flow value within a first preset time period t1.

5. The endoscopic fluid channel monitoring system according to claim 1, characterized in that, The control module is further configured to: determine the time point at which the suction channel becomes blocked as the marked time point; determine the Pearson correlation coefficient r between the fluid flow curve of the suction channel within a second preset time period t2 before the marked time point and the change curve of the directional bending angle within a third preset time period t3 before the marked time point; determine the blockage state of the suction channel based on the Pearson correlation coefficient r; the second preset time period t2 and the third preset time period t3 differ by a lag time Δt; the second preset time period t2 and the third preset time period t3 have the same length; and the end point of the third preset time period t3 is earlier than the end point of the second preset time period t2 and the difference between them is Δt.

6. The endoscopic fluid channel monitoring system according to claim 5, characterized in that, The control module is also configured to determine the blockage status of the suction channel based on the Pearson correlation coefficient r and the directional bending angle β.

7. An endoscopic fluid channel monitoring system according to claim 6, characterized in that, The control module is also configured to: determine that the suction channel is in a rigid obstruction state when the directional bending angle β is greater than a preset angle value and the Pearson correlation coefficient r is less than a first preset coefficient value, based on the Pearson correlation coefficient r and the directional bending angle β.

8. An endoscopic fluid channel monitoring system according to claim 7, characterized in that, The control module is also configured to: determine that the suction channel is in a non-rigid obstruction state when the directional bending angle β is less than or equal to a preset angle value, based on the directional bending angle β. And / or, the control module is further configured to: based on the Pearson correlation coefficient r and the directional bending angle β, when the directional bending angle β is greater than a preset angle value and the Pearson correlation coefficient r is greater than or equal to a first preset coefficient value, determine that the suction channel is in a non-rigid obstruction state.

9. An endoscopic fluid channel monitoring system according to any one of claims 1 to 8, characterized in that, The second acquisition module is an angle detection unit, which is configured correspondingly to the traction wheel and is used to detect the rotation angle of the traction wheel. Alternatively, the second acquisition module is a displacement detection unit, which is configured correspondingly to the traction rope. The displacement detection unit is used to detect the axial movement length of the traction rope. Alternatively, the second acquisition module is an inertial measurement unit array, which is axially disposed on the insertion part and is used to detect the directional bending angle of the insertion part; Alternatively, the second acquisition module is an optical fiber embedded with an optical fiber Bragg grating sensor, the optical fiber being disposed axially on the insertion part, and the optical fiber being used to detect the directional bending angle of the insertion part.

10. An endoscopic fluid channel monitoring system according to any one of claims 1 to 8, characterized in that, The infusion channel and suction channel are located on the insertion part; Alternatively, the system may also include a sheath, with the infusion channel and suction channel located on the sheath; Alternatively, the system may further include a sheath, with one of the infusion channel and the aspiration channel disposed on the sheath, and the other of the infusion channel and the aspiration channel disposed on the insertion portion; Alternatively, the system may further include a sheath, the infusion channel being disposed on the insertion part, the insertion part being inserted through the sheath, and the gap between the insertion part and the sheath serving as a suction channel; Alternatively, the system may also include a sheath, with the suction channel located on the insertion part, the insertion part passing through the sheath, and the gap between the insertion part and the sheath serving as an infusion channel.

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