Pressure control method, endoscope irrigation and aspiration system, and readable storage medium

Abstract

The application relates to a pressure control method, an endoscope perfusion and suction system and a readable storage medium. A first pressure value at a first pressure measurement point in a target cavity and a second pressure value at a second pressure measurement point are obtained. The first pressure measurement point corresponds to the end of an endoscope insertion part, and the second pressure measurement point corresponds to the end of a sheath tube. A first confidence degree of the first pressure value and a second confidence degree of the second pressure value are respectively calculated. Based on the first confidence degree and the second confidence degree, joint decision is made on the first pressure value and the second pressure value to obtain a third pressure value of the target cavity. Based on the third pressure value, a pressure control executor in the endoscope perfusion and suction system is driven to adjust the pressure of the target cavity. Through confidence degree evaluation and joint decision of double-source pressure measurement data, the problem of pressure control inaccuracy caused by failure of a single pressure measurement source in a traditional hard switching mode is avoided, and the pressure control precision is effectively improved.

Description

Technical Field

[0001] This application relates to the field of endoscopic control technology, and in particular to a pressure control method, an endoscopic irrigation and suction system, and a readable storage medium. Background Technology

[0002] With the development of minimally invasive urological surgical techniques, natural orifice endoscopic surgery and ureteroscopic lithotripsy have emerged. These surgeries require precise control of intraluminal pressure while continuously perfusing and dilating the renal cavity to avoid complications such as fluid reflux, infection spread, and renal parenchymal damage caused by excessive intrarenal pressure. In this technological context, real-time and accurate monitoring of intraluminal pressure has become a core requirement for ensuring surgical safety.

[0003] Currently, endoscopic perfusion and suction systems can also be equipped with dual-source pressure measurement functions. When two pressure measurement sources are connected at the same time, the system usually adopts a simple two-choice mode strategy. In this hard switching mode, even if the other pressure measurement source is switched to, it cannot be guaranteed whether the pressure measurement source is currently reliable. There is a safety hazard that a failed pressure measurement source is continuously used as the basis for pressure control, resulting in limited pressure control accuracy.

[0004] There is currently no effective solution to the problem of insufficient pressure control accuracy in traditional technologies. Summary of the Invention

[0005] Therefore, it is necessary to provide a pressure control method, an endoscopic perfusion and aspiration system, and a readable storage medium that can improve the accuracy of pressure control in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a pressure control method applied to an endoscopic perfusion and aspiration system, the method comprising:

[0007] Acquire a first pressure value at a first pressure measuring point and a second pressure value at a second pressure measuring point within the target cavity; the first pressure measuring point corresponds to the end of the endoscope insertion section; the second pressure measuring point corresponds to the end of the sheath.

[0008] Calculate the first confidence level of the first pressure value and the second confidence level of the second pressure value, respectively;

[0009] Based on the first confidence level and the second confidence level, a joint decision is made on the first pressure value and the second pressure value to obtain the third pressure value of the target cavity;

[0010] Based on the third pressure value, the pressure control actuator in the endoscopic perfusion and suction system is driven to adjust the pressure of the target cavity.

[0011] In one embodiment, the first pressure value is acquired by a pressure sensor located at the end of the endoscope insertion portion; calculating the first confidence level of the first pressure value includes:

[0012] Obtain the multi-dimensional evaluation indicators corresponding to the pressure sensor.

[0013] The evaluation indicators of each dimension in the multi-dimensional evaluation index are quantified to obtain the corresponding score value of each dimension evaluation indicator.

[0014] The scores corresponding to each evaluation indicator in each dimension are weighted and fused to obtain the first confidence level of the first stress value.

[0015] In one embodiment, the multi-dimensional evaluation indicators include data fluctuation indicators, data consistency indicators, and data timeliness indicators; obtaining the multi-dimensional evaluation indicators corresponding to the pressure sensor includes:

[0016] Acquire historical pressure measurement data from the pressure sensor;

[0017] Calculate the historical pressure standard deviation of the historical pressure measurement data within a preset sliding window, and determine the historical pressure standard deviation as the data fluctuation index;

[0018] Calculate the historical average pressure value of the historical pressure measurement data, and determine the absolute deviation between the first pressure value and the historical average pressure value as the data consistency index.

[0019] The response time of the pressure sensor when it collects the first pressure value is obtained, and the response time is determined as the data timeliness index.

[0020] In one embodiment, the quantification of each dimension of the multi-dimensional evaluation index to obtain the score value corresponding to each dimension includes:

[0021] Based on a preset maximum fluctuation threshold, the data fluctuation index is normalized to obtain the first score value corresponding to the data fluctuation index.

[0022] Based on a preset maximum data deviation threshold, the data consistency index is normalized to obtain a second score value corresponding to the data consistency index.

[0023] Based on a preset baseline response time, the data timeliness index is normalized to obtain a third score value corresponding to the data timeliness index.

[0024] In one embodiment, the step of jointly deciding on the first pressure value and the second pressure value based on the first confidence level and the second confidence level to obtain the third pressure value of the target cavity includes:

[0025] If the first confidence level is less than the first preset confidence threshold, and the second confidence level is greater than or equal to the second preset confidence threshold, then the second stress value is determined as the third stress value; the first preset confidence threshold is less than the second preset confidence threshold.

[0026] If the second confidence level is less than the first preset confidence threshold, and the first confidence level is greater than or equal to the second preset confidence threshold, then the first pressure value is determined as the third pressure value;

[0027] If both the first confidence level and the second confidence level are less than or equal to the first preset confidence threshold, or both are greater than or equal to the first preset confidence threshold, then calculate the absolute pressure difference between the first pressure value and the second pressure value;

[0028] Based on the absolute pressure difference, a joint decision is made on the first pressure value and the second pressure value to obtain the third pressure value.

[0029] In one embodiment, the step of jointly deciding on the first pressure value and the second pressure value based on the absolute pressure difference to obtain the third pressure value includes:

[0030] If the absolute pressure difference is greater than the preset pressure difference threshold, then the third pressure value is determined based on the pressure value corresponding to the highest confidence level among the first confidence level and the second confidence level.

[0031] If the absolute pressure difference is less than or equal to the preset pressure difference threshold, then the fused pressure value and fused confidence level are determined based on the first confidence level, the second confidence level, the first pressure value, and the second pressure value.

[0032] If the fusion confidence level is greater than or equal to the preset lower limit threshold of fusion confidence level, then the fusion pressure value is determined as the third pressure value;

[0033] If the fusion confidence level is less than the preset fusion confidence level lower threshold, then the third pressure value is determined based on the pressure value corresponding to the highest confidence level among the first confidence level and the second confidence level.

[0034] In one embodiment, determining the fusion pressure value and fusion confidence value based on the first confidence level, the second confidence level, the first pressure value, and the second pressure value includes:

[0035] Based on the first confidence level and the second confidence level, the first pressure value and the second pressure value are subjected to normalized weighted fusion processing to obtain the fused pressure value;

[0036] Calculate the average confidence level between the first confidence level and the second confidence level;

[0037] The confidence attenuation coefficient is determined based on the preset maximum allowable pressure difference threshold and the absolute pressure difference;

[0038] The fusion confidence is determined based on the confidence decay coefficient and the average confidence.

[0039] In one embodiment, the step of driving the pressure-controlled actuator in the endoscopic perfusion and aspiration system to adjust the pressure of the target cavity based on the third pressure value includes:

[0040] Obtain the preset target pressure value of the target cavity;

[0041] Calculate the pressure deviation between the third pressure value and the preset target pressure value;

[0042] Based on the pressure deviation, the pressure control actuator in the endoscopic perfusion and aspiration system is driven to adjust the pressure of the target cavity.

[0043] Secondly, this application provides an endoscopic perfusion aspiration system for performing the pressure control method described above.

[0044] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0045] Fourthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described above.

[0046] The aforementioned pressure control method, endoscopic irrigation and aspiration system, and readable storage medium acquire a first pressure value at a first pressure measurement point corresponding to the end of the endoscope insertion section and a second pressure value at a second pressure measurement point corresponding to the end of the sheath within the target cavity. By calculating the first confidence level of the first pressure value and the second confidence level of the second pressure value, the reliability of the pressure values ​​at each pressure measurement point can be accurately quantified. Furthermore, based on the first and second confidence levels, a joint decision is made on the first and second pressure values ​​to obtain a third pressure value for the target cavity. This ensures the reliability of the data used for pressure control. Subsequently, based on the third pressure value, the pressure control actuator in the endoscopic irrigation and aspiration system is driven to adjust the pressure in the target cavity. Thus, through the confidence assessment and joint decision-making of dual-source pressure measurement data, the problem of inaccurate pressure control caused by the failure of a single pressure measurement source in the traditional hard switching mode is avoided, effectively improving the pressure control accuracy. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a diagram illustrating the application environment of the pressure control method in one embodiment;

[0049] Figure 2 This is a flowchart illustrating the pressure control method in one embodiment;

[0050] Figure 3 This is a flowchart illustrating the confidence calculation steps in one embodiment;

[0051] Figure 4 This is a flowchart illustrating the joint decision-making steps in one embodiment;

[0052] Figure 5 This is a flowchart illustrating the joint decision-making steps in another embodiment. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0054] Currently, endoscopic perfusion and aspiration systems have evolved into integrated devices that combine endoscopy and pressure-controlled perfusion and aspiration functions. These devices can also feature dual-source pressure measurement capabilities, integrating a pressure measurement module within the endoscope and simultaneously integrating it into the sheath system. The sheath system includes the sheath body, which establishes an operational channel for entering the body's natural cavities. The endoscope is inserted through the sheath body and extends to the target cavity. An annular gap is formed between the outer wall of the endoscope and the inner wall of the sheath body, serving as a channel for fluid transport or material removal. However, related technologies have the following shortcomings in the coordinated control of dual pressure sources:

[0055] Single pressure control source: Currently, most systems use only a single pressure measurement module as the pressure control source. Even if the equipment is compatible with dual-source pressure measurement function, it fails to make full use of the complementary advantages of the data from the two pressure measurement sources, resulting in limited pressure control accuracy.

[0056] Dual-source data not fused: When two pressure sources are connected at the same time, there is a lack of an effective data fusion mechanism, making it impossible to comprehensively analyze and fit the pressure data from the two pressure sources, resulting in a waste of data resources.

[0057] Lack of intelligent switching strategy: Endoscopic pressure measurement modules and sheath pressure measurement modules each have their advantages and disadvantages. Endoscopic pressure measurement modules are closer to the surgical area, offering higher pressure measurement accuracy and directly reflecting the actual pressure within the target cavity. However, they are prone to signal fluctuations when the perfusion fluid flow rate changes drastically or when air bubbles adhere to the sensor surface, making their stability susceptible to operational conditions. Sheath pressure measurement modules, installed in the tubing system, offer good stability and strong anti-interference capabilities, but their distance from the surgical area may lead to tubing pressure loss. Related systems typically use a fixed pressure source as the basis for pressure control, making it impossible to dynamically assess the applicability of both pressure sources based on real-time operational changes, and difficult to flexibly adjust between them. This results in difficulties in ensuring the continuity and accuracy of pressure control under complex operating conditions.

[0058] Lack of data quality assessment methods: The relevant technologies lack methods for assessing the quality of pressure measurement data. When a pressure measurement source malfunctions (such as sensor blockage, signal drift, bubble interference, etc.), the system cannot automatically identify and switch to a reliable pressure measurement source, which poses a safety hazard.

[0059] Therefore, this application proposes a pressure control method that aims to fully utilize the complementary characteristics of dual pressure source data, take into account the measurement advantages of different pressure measurement points, and improve the pressure control accuracy of the system.

[0060] The following specific embodiments are given to illustrate the technical solution of this application in detail.

[0061] Before introducing the pressure control method provided in this application, let's briefly introduce the application scenarios of this application.

[0062] The pressure control method provided in this application is applied to an endoscopic irrigation and aspiration system, which includes an endoscope, a sheath system, a pressure control actuator, and a control unit; please refer to [link to relevant documentation]. Figure 1 , Figure 1 Only a partial schematic diagram of the endoscopic perfusion and suction system is shown; the endoscope includes an insertion section; the insertion section extends to the target cavity, and a pressure sensor (not shown) is provided at the end of the insertion section. A sheath system includes a sheath for establishing an operating channel into the body's natural cavities. The endoscope is inserted through the sheath, and an annular gap is formed between the outer wall of the endoscope and the inner wall of the sheath body. This gap channel is used for fluid delivery or substance extraction. A pressure sensor (not shown) is provided on the sheath system. A pressure control actuator (not shown) includes an perfusion actuator and a suction actuator for adjusting the pressure within the target cavity. A control unit (not shown) is communicatively connected to the first pressure sensor, the second pressure sensor, and the pressure control actuator, respectively, for executing the pressure control method described in the embodiments of this application.

[0063] The pressure control method provided in this application is described in detail below.

[0064] In one embodiment, such as Figure 2 As shown, Figure 2 This is a flowchart illustrating a pressure control method in one embodiment; the pressure control method of this application is applied to, for example... Figure 1 The pressure control method of the endoscopic irrigation and suction system shown includes the following steps:

[0065] Step S201: Obtain the first pressure value at the first pressure measuring point and the second pressure value at the second pressure measuring point within the target cavity.

[0066] The target cavity can be, but is not limited to, the renal pelvis, bladder, ureter, bile duct, or other natural body cavities. The first pressure measurement site within the target cavity corresponds to the distal end of the endoscope insertion portion; the second pressure measurement site within the target cavity corresponds to the distal end of the sheath. It is understood that the first and second pressure measurement sites are located at different spatial positions within the target cavity.

[0067] The first pressure value at the first pressure measurement point is acquired by a pressure sensor installed at the end of the endoscope insertion section, and is used to characterize the pressure state in the cavity near the end of the endoscope insertion section. The second pressure value at the second pressure measurement point is acquired by a pressure sensor installed on the sheath system, and is used to characterize the pressure state in the cavity near the end of the sheath.

[0068] It should be noted that the timestamps of the first pressure value and the second pressure value are aligned. For example, the first pressure value at the first pressure measurement point and the second pressure value at the second pressure measurement point are collected in real time at a synchronous sampling frequency and the timestamps are aligned to ensure that the first pressure value and the second pressure value involved in the subsequent calculation correspond to the target cavity pressure state at the same time, thus avoiding joint decision distortion caused by sampling time deviation.

[0069] Step S202: Calculate the first confidence level of the first pressure value and the second confidence level of the second pressure value, respectively.

[0070] The first confidence level is used to characterize the reliability of the first pressure value under the current operating conditions; the second confidence level is used to characterize the reliability of the second pressure value under the current operating conditions.

[0071] In an exemplary embodiment, the confidence level calculation method for each pressure value may include, but is not limited to, the following: based on a pre-set confidence assessment model and the performance indicators of the corresponding sensors, a confidence level assessment is performed on each pressure value to obtain the confidence level corresponding to each pressure value. The pre-set confidence assessment model may include, but is not limited to, algorithms such as Bayesian estimation, Kalman filtering, and neural networks, and can be set according to actual assessment needs; no specific limitation is made here. The sensor performance indicators may include, but are not limited to, fluctuation, consistency, response characteristics, temperature compensation, sensor aging coefficient, and signal-to-noise ratio, and can be set according to actual assessment needs; no specific limitation is made here.

[0072] It is understood that by calculating the first confidence level of the first pressure value and the second confidence level of the second pressure value, this application can accurately quantify the reliability of the pressure values ​​at each pressure measurement point, providing a reliable basis for joint decision-making.

[0073] Step S203: Based on the first confidence level and the second confidence level, a joint decision is made on the first pressure value and the second pressure value to obtain the third pressure value of the target cavity.

[0074] The third pressure value serves as the control basis for the pressure-controlled actuator in the endoscopic irrigation and aspiration system. This application, by introducing a first confidence level and a second confidence level, jointly decides on the first and second pressure values, ensuring the reliability of the data used for pressure control and avoiding the problem of reduced pressure control accuracy due to data distortion from a single pressure source. The pressure control basis is the data used by the pressure-controlled actuator to adjust the pressure; its reliability directly affects the pressure control accuracy of the actuator, thereby affecting the pressure state within the target cavity and the safety of the surgery.

[0075] In an exemplary embodiment, the method for jointly deciding on the first pressure value and the second pressure value based on the first confidence level and the second confidence level to obtain the third pressure value of the target cavity may include, but is not limited to, the following: If the first pressure value and the second pressure value meet a preset fusion condition, a weighted fusion process is performed on the first pressure value and the second pressure value based on the first confidence level and the second confidence level to obtain the third pressure value of the target cavity. If the first pressure value and the second pressure value do not meet the preset fusion condition, the pressure value corresponding to the highest confidence level among the first confidence level and the second confidence level is determined as the third pressure value within the target cavity. The preset fusion condition may include, but is not limited to, the following: the confidence level deviation between the first confidence level and the second confidence level is less than a preset confidence level deviation threshold, and both the first confidence level and the second confidence level are higher than a preset minimum confidence level threshold; this is not specifically limited here.

[0076] Step S204: Based on the third pressure value, drive the pressure control actuator in the endoscopic perfusion and suction system to adjust the pressure of the target cavity.

[0077] The pressure control actuator includes an injection actuator and a suction actuator; in some embodiments, the injection actuator is used to deliver injection fluid into the target cavity to increase the pressure in the target cavity, and the suction actuator is used to draw out the liquid from the target cavity to reduce the pressure in the target cavity.

[0078] In an exemplary embodiment, the method for adjusting the pressure of the target cavity by driving the pressure control actuator in the endoscopic perfusion and suction system based on the third pressure value can be as follows: The third pressure value is compared with a preset target pressure range. If the third pressure value is lower than the lower limit of the preset target pressure range, a perfusion control command is generated to drive the perfusion actuator to increase the perfusion fluid flow rate, thereby increasing the pressure within the target cavity. If the third pressure value is higher than the upper limit of the preset target pressure range, a suction control command is generated to drive the suction actuator to increase the suction negative pressure, thereby reducing the pressure within the target cavity. If the third pressure value is within the preset target pressure range, the current perfusion and suction parameters are maintained, or fine-tuned to maintain pressure stability. Optionally, during the adjustment process, feedback algorithms, such as PID (proportional-integral-derivative) control, fuzzy control, or adaptive control, can be used to collect pressure change data in real time and dynamically adjust the actuator output to achieve closed-loop pressure control, ensuring that the cavity pressure remains stable within a safe range and avoiding safety risks caused by pressure misjudgment.

[0079] Understandably, using the third pressure value as the basis for pressure control to drive the pressure control actuator to precisely adjust the pressure in the target cavity can effectively avoid pressure control deviation caused by data distortion from a single pressure source, thereby improving the accuracy and stability of pressure regulation.

[0080] In the above embodiments, a first pressure value at a first pressure measurement point corresponding to the end of the endoscope insertion section and a second pressure value at a second pressure measurement point corresponding to the end of the sheath are obtained within the target cavity. By calculating the first confidence level of the first pressure value and the second confidence level of the second pressure value respectively, the reliability of the pressure value at each pressure measurement point can be accurately quantified. Then, based on the first confidence level and the second confidence level, a joint decision is made on the first pressure value and the second pressure value to obtain a third pressure value of the target cavity. Based on the third pressure value, the pressure control actuator in the endoscope perfusion and suction system is driven to adjust the pressure of the target cavity. Thus, by using confidence evaluation and joint decision-making of dual-source pressure measurement data, the problem of pressure control inaccuracy caused by the failure of a single pressure measurement source in the traditional hard switching mode is avoided, and the pressure control accuracy is effectively improved.

[0081] In one embodiment, such as Figure 3 As shown, Figure 3 This is a flowchart illustrating the confidence level calculation steps in one embodiment. It should be noted that the calculation principles for the first confidence level and the second confidence level are the same; the following explanation uses the first confidence level as an example. Calculating the first confidence level of the first pressure value includes the following steps:

[0082] Step S301: Obtain the multi-dimensional evaluation indicators corresponding to the pressure sensor.

[0083] The first pressure value is acquired by a pressure sensor located at the end of the endoscope insertion section. The multi-dimensional evaluation index corresponding to the pressure sensor can be multiple independent physical or statistical characteristics that describe the operating status and signal quality of the pressure sensor. The multi-dimensional evaluation index can include, but is not limited to, fluctuation, consistency, response characteristics, temperature compensation, sensor aging coefficient, signal-to-noise ratio, etc., and can be set according to actual evaluation needs. No specific limitation is made here.

[0084] Understandably, using multi-dimensional evaluation indicators based on pressure sensors to assess confidence can overcome the limitations of single-indicator evaluation, comprehensively quantify the reliability of pressure measurement data from multiple levels, and provide a solid data quality foundation for subsequent joint decision-making.

[0085] In an exemplary embodiment, the multi-dimensional evaluation indicators include data fluctuation indicators, data consistency indicators, and data timeliness indicators; step S301, obtaining the multi-dimensional evaluation indicators corresponding to the pressure sensor, includes the following steps:

[0086] Step 1: Obtain historical pressure measurement data from the pressure sensor.

[0087] Historical pressure measurement data refers to a series of pressure measurement values ​​collected by the same pressure sensor within a preset time period before the current acquisition time corresponding to the first pressure value, which is used to reflect the pressure change history of the pressure sensor under recent operating conditions.

[0088] Step 2: Calculate the historical pressure standard deviation of historical pressure measurement data within the preset sliding window, and determine the historical pressure standard deviation as the data fluctuation index.

[0089] The preset sliding window refers to a fixed time interval that traces back from the current acquisition time corresponding to the first pressure value. The preset sliding window needs to be set according to the actual evaluation requirements, and no specific limitation is made here. The historical pressure standard deviation is used to quantify the dispersion of historical pressure measurement data within the preset sliding window. The larger the standard deviation (i.e., the higher the data fluctuation index), the more drastic the data fluctuation and the worse the pressure measurement stability. Conversely, the smaller the standard deviation, the more stable the pressure measurement status.

[0090] Understandably, by setting a preset sliding window, the analysis scope of historical pressure measurement data can be limited, so that the calculation of data fluctuation indicators is based on recent operating conditions rather than all historical data. This allows for a more sensitive reflection of the dynamic changes in the current pressure measurement status, avoids interference from early abnormal data or long-standing historical data on the current confidence assessment, and improves the timeliness and accuracy of data fluctuation indicators.

[0091] Step 3: Calculate the historical average pressure value of the historical pressure measurement data, and determine the absolute deviation between the first pressure value and the historical average pressure value as the data consistency index.

[0092] In some embodiments, the historical average pressure can be calculated using global historical pressure measurement data, or the historical average pressure can be calculated using historical pressure measurement data within a preset sliding window to capture the local pressure level under recent operating conditions. This can be set according to actual evaluation needs and is not specifically limited here.

[0093] The absolute deviation measures the degree of deviation between the current first pressure value and the historical average pressure value. The larger the absolute deviation (i.e., the higher the data consistency index), the more abnormal the first pressure value is and the worse the consistency with the historical trend. Conversely, the smaller the absolute deviation, the more normal the first pressure value is within the normal fluctuation range.

[0094] Step 4: Obtain the response time of the pressure sensor when it collects the first pressure value, and determine the response time as the data timeliness index.

[0095] The response time is the time interval required from a change in pressure to a stable reading output by the pressure sensor. A longer response time (i.e., higher data timeliness) indicates that the pressure sensor is less able to follow pressure changes and has a more severe pressure measurement lag. Conversely, a shorter response time indicates that the pressure sensor can quickly capture pressure changes and has better real-time pressure measurement.

[0096] For example, the method for obtaining the response time when the pressure sensor acquires the first pressure value may be, but is not limited to, estimating the response time based on the factory calibration parameters or pre-stored response characteristic curve of the pressure sensor, combined with the current operating condition parameters, without specific limitations.

[0097] This embodiment calculates data fluctuation indicators, data consistency indicators, and data timeliness indicators, which can comprehensively quantify the quality characteristics of pressure measurement data from three perspectives: data stability, data deviation, and data real-time performance, ensuring the comprehensiveness and accuracy of confidence assessment.

[0098] Step S302: Quantify the evaluation indicators of each dimension in the multi-dimensional evaluation indicators to obtain the score value corresponding to each dimension evaluation indicator.

[0099] Among them, the score value is used to characterize the quality of the corresponding dimension evaluation index; the higher the score value, the more the evaluation index of the dimension conforms to the ideal pressure measurement state, and the stronger the reliability of the first pressure value in the dimension; the lower the score value, the more abnormal the dimension is, and the weaker the reliability of the first pressure value in the dimension.

[0100] In an exemplary embodiment, step S302 quantifies each dimension of the multi-dimensional evaluation index to obtain the score value corresponding to each dimension, including the following steps:

[0101] Step 1: Based on the preset maximum fluctuation threshold, normalize the data fluctuation index to obtain the first score value corresponding to the data fluctuation index.

[0102] The preset maximum fluctuation threshold refers to the maximum standard deviation threshold allowed by the system. This threshold needs to be set according to actual pressure control accuracy requirements, and is not specifically limited here. For example, the preset maximum fluctuation threshold is denoted as σ_max, and the data fluctuation index is denoted as σ. Based on the preset maximum fluctuation threshold denoted as σ_max, the data fluctuation index σ is normalized to obtain the first score value corresponding to the data fluctuation index σ as (1-σ / σ_max). The higher the first score value, the higher the data stability; conversely, the lower the score value, the worse the data stability.

[0103] Step 2: Based on the preset maximum data deviation threshold, normalize the data consistency index to obtain the second score value corresponding to the data consistency index.

[0104] The preset maximum data deviation threshold refers to the maximum allowable deviation threshold of the system, which needs to be set according to the acceptable pressure measurement error limit, and is not specifically limited here. For example, the preset maximum data deviation threshold is denoted as Δ_max, and the data consistency index is denoted as |Δ|. Based on the preset maximum data deviation threshold Δ_max, the data consistency index |Δ| is normalized to obtain the second score value corresponding to the data consistency index |Δ| as (1-|Δ| / Δ_max). The higher the second score value, the higher the degree of data consistency, and vice versa.

[0105] Step 3: Based on the preset baseline response time, normalize the data timeliness index to obtain the third score value corresponding to the data timeliness index.

[0106] The preset baseline response time refers to the ideal response time of the pressure sensor, which needs to be set according to the type of pressure sensor and factory calibration parameters, and is not specifically limited here. For example, the preset baseline response time is denoted as τ_ref, and the data timeliness index is denoted as τ. Based on the preset baseline response time τ_ref, the data timeliness index τ is normalized to obtain the third score value corresponding to the data timeliness index τ as τ_ref / τ. The higher the third score value, the higher the data timeliness; conversely, the lower the score value, the worse the data timeliness.

[0107] Step S303: Perform weighted fusion processing on the score values ​​corresponding to each dimension of the evaluation index to obtain the first confidence level of the first stress value.

[0108] In an exemplary embodiment, step S303, which involves weighted fusion of the score values ​​corresponding to each dimension of the evaluation index to obtain the first confidence level of the first stress value, may be performed as follows:

[0109] Obtain the first preset weight coefficient, the second preset weight coefficient, and the third preset weight coefficient; the sum of the first preset weight coefficient, the second preset weight coefficient, and the third preset weight coefficient equals 1; based on the first preset weight coefficient, the second preset weight coefficient, and the third preset weight coefficient, perform a weighted summation on the first rating value, the second rating value, and the third rating value to obtain the first confidence level of the first stress value. The mathematical expression for the first confidence level is:

[0110] C=w1×(1-σ / σ_max)+w2×(1-|Δ| / Δ_max)+w3×(τ_ref / τ);

[0111] Where C represents the first confidence level, with a value ranging from [0,1]. The closer C is to 1, the more reliable the data. w1 is the first preset weight coefficient; w2 is the second preset weight coefficient; w3 is the third preset weight coefficient; satisfying w1+w2+w3=1, which can be adjusted according to the application scenario. (1-σ / σ_max) is the first score value; (1-|Δ| / Δ_max) is the second score value; (τ_ref / τ) is the third score value; the specific meaning of each parameter in each score value can be understood by referring to the above, and will not be repeated here.

[0112] It should be noted that the calculation principle for the second confidence level corresponding to the second pressure value is the same as that for the first confidence level mentioned above, and will not be repeated here.

[0113] In the above embodiments, by calculating the multi-dimensional evaluation indicators corresponding to the pressure sensor, the reliability of the pressure value can be comprehensively considered from multiple different levels, thereby obtaining the score value corresponding to each of the different evaluation indicators. Then, by weighted fusion of the score values ​​corresponding to each evaluation indicator, the corresponding confidence level can be obtained, which can accurately quantify the comprehensive reliability of the corresponding pressure value, laying a data foundation for realizing joint decision-making of dual pressure sources. At the same time, it can monitor the data quality of each pressure source in real time and promptly detect sensor anomalies or data drift.

[0114] In one embodiment, such as Figure 4 As shown, Figure 4 This is a flowchart illustrating the joint decision-making steps in one embodiment. Based on the above embodiment, a joint decision is made on the first pressure value and the second pressure value based on the first confidence level and the second confidence level to obtain the third pressure value of the target cavity, including the following steps:

[0115] Step S401: If the first confidence level is less than the first preset confidence threshold and the second confidence level is greater than or equal to the second preset confidence threshold, then the second pressure value is determined as the third pressure value.

[0116] Step S402: If the second confidence level is less than the first preset confidence threshold and the first confidence level is greater than or equal to the second preset confidence threshold, then the first pressure value is determined as the third pressure value.

[0117] The first preset confidence threshold is lower than the second preset confidence threshold. The first preset confidence threshold refers to a preset lower confidence limit, used to determine whether the pressure measurement data is reliable. When a certain confidence level is lower than the first preset confidence threshold, the corresponding pressure value is determined to be unreliable and unsuitable as a pressure control source.

[0118] The second preset confidence threshold refers to a pre-set pressure source switching threshold, used to determine whether another pressure value can be used as a pressure source. When the confidence level of another pressure value reaches or exceeds the second preset confidence threshold, it is determined that it has the reliability to be used as a pressure source. When the confidence level of another pressure value is lower than the second preset confidence threshold, it is determined that it does not have the reliability to be used as a pressure source. In this case, the third pressure value of the previous pressure control cycle is used as the current pressure source to avoid frequent changes in the pressure control strategy due to short-term data fluctuations, ensuring the continuity and stability of pressure regulation.

[0119] It is understandable that by setting a second preset confidence threshold higher than the first preset confidence threshold, this application forms a hysteresis interval, which can effectively avoid control oscillation caused by frequent switching near the threshold and improve the stability of the pressure control process.

[0120] Specifically, it is determined whether the first confidence level corresponding to the first pressure value is less than a first preset confidence threshold. If the first confidence level is less than the first preset confidence threshold and the second confidence level is greater than or equal to the second preset confidence threshold, then the second pressure value is determined as the third pressure value. If the first confidence level is less than the first preset confidence threshold, but the second confidence level is less than the second preset confidence threshold and greater than the first preset confidence threshold, then the third pressure value of the previous pressure control cycle is used as the third pressure value in the current pressure control cycle.

[0121] If the second confidence level is less than the first preset confidence threshold, and the first confidence level is greater than or equal to the second preset confidence threshold, then the first pressure value is determined as the third pressure value; if the second confidence level is less than the first preset confidence threshold, but the first confidence level is less than the second preset confidence threshold and greater than the first preset confidence threshold, then the third pressure value of the previous pressure control cycle is used as the third pressure value in the current pressure control cycle.

[0122] Therefore, when the confidence level of a single pressure source is below the lower threshold while the confidence level of another pressure source reaches the switching threshold, the pressure control source can be switched. When the confidence level of a single pressure source is below the lower threshold while the confidence level of another pressure source is in the intermediate hysteresis range, the pressure control basis of the previous pressure control cycle is maintained, thereby avoiding control oscillations caused by frequent switching of pressure control sources and ensuring the continuity and stability of pressure regulation.

[0123] Step S403: If both the first confidence level and the second confidence level are less than or equal to the first preset confidence threshold, or both are greater than or equal to the first preset confidence threshold, then calculate the absolute pressure difference between the first pressure value and the second pressure value.

[0124] It should be noted that if both the first and second confidence levels are less than or equal to the first preset confidence threshold, or both are greater than or equal to the first preset confidence threshold, it indicates that the confidence levels of the two pressure measurement sources are in the same state range. When both confidence levels are less than or equal to the first preset confidence threshold, it indicates that both pressure measurement sources are in an unreliable state. When both confidence levels are greater than or equal to the first preset confidence threshold, it indicates that both pressure measurement sources are in a reliable state. In this case, it is necessary to further analyze the absolute pressure difference between the first and second pressure values ​​and make a joint decision based on this to ensure that the final third pressure value can meet the data reliability requirements of the pressure control basis.

[0125] The absolute pressure difference between the first pressure value and the second pressure value is used to characterize the degree of pressure deviation between the first pressure value and the second pressure value.

[0126] Step S404: Based on the absolute pressure difference, a joint decision is made on the first pressure value and the second pressure value to obtain the third pressure value.

[0127] In one exemplary embodiment, such as Figure 5 As shown, Figure 5 This is a flowchart illustrating the joint decision-making steps in another embodiment. Based on the above embodiment, step S404, based on the absolute pressure difference, performs a joint decision on the first pressure value and the second pressure value to obtain the third pressure value, including the following steps:

[0128] Step S501: If the absolute pressure difference is greater than the preset pressure difference threshold, then determine the third pressure value based on the pressure value corresponding to the highest confidence level between the first confidence level and the second confidence level.

[0129] The preset differential pressure threshold can be set according to the actual pressure control accuracy requirements, and is not specifically limited here. The preset differential pressure threshold is used to determine whether a pressure control source switching strategy needs to be executed. For example, when the absolute differential pressure is greater than the preset differential pressure threshold, it indicates that there is a significant difference between the two source pressure values, and they should not be directly merged. A single source mode should be executed, i.e., one source should be selected. When the absolute differential pressure is less than or equal to the preset differential pressure threshold, it indicates that the two source pressure values ​​tend to be consistent and have a basis for merging.

[0130] For example, let the preset differential pressure threshold be denoted as D_switch, the first pressure value as P_endo, and the second pressure value as P_module; calculate the absolute pressure difference between the first pressure value P_endo and the second pressure value P_module as |P_endo-P_module|, and determine whether the absolute pressure difference |P_endo-P_module| is greater than the preset differential pressure threshold D_switch; if |P_endo-P_module|>D_switch, it means that the pressure deviation between the first pressure value P_endo and the second pressure value P_module exceeds the threshold. If the pressure exceeds the allowable range, the system enters single-source mode. Specifically, a third pressure value is determined based on the pressure value corresponding to the highest confidence level between the first and second confidence levels. If the pressure value corresponding to the highest confidence level between the first and second confidence levels is greater than or equal to the second preset confidence threshold (preset pressure source switching threshold) described in the above embodiment, then the pressure value corresponding to the highest confidence level between the first and second confidence levels is determined as the third pressure value. If the pressure value corresponding to the highest confidence level between the first and second confidence levels is less than the second preset confidence threshold, then the third pressure value of the previous pressure control cycle is determined as the third pressure value of the current pressure control cycle.

[0131] Step S502: If the absolute pressure difference is less than or equal to the preset pressure difference threshold, then the fused pressure value and fused confidence value are determined based on the first confidence level, the second confidence level, the first pressure value and the second pressure value.

[0132] For example, if the absolute pressure difference |P_endo-P_module| is less than or equal to D_switch, it means that the pressure deviation between the first pressure value P_endo and the second pressure value P_module is within the allowable range. At this time, the fusion mode can be entered to make full use of the complementary advantages of the dual pressure source data and improve the pressure control accuracy and the comprehensiveness of pressure sensing.

[0133] In an exemplary embodiment, step S502, which determines the fusion pressure value and fusion confidence value based on the first confidence level, the second confidence level, the first pressure value, and the second pressure value, includes the following steps:

[0134] Step 1: Based on the first confidence level and the second confidence level, perform normalized weighted fusion processing on the first pressure value and the second pressure value to obtain the fused pressure value.

[0135] For example, let the first pressure value be denoted as P_endo, the second pressure value as P_module, the first confidence level as C_endo, and the second confidence level as C_module; based on the first confidence level C_endo and the second confidence level C_module, perform normalized weighted fusion processing on the first pressure value P_endo and the second pressure value P_module to obtain the fused pressure value P_fused as follows:

[0136] P_fused=(C_endo×P_endo+C_module×P_module) / (C_endo+C_module);

[0137] Based on the above expression for the fused pressure value P_fused, it can be seen that by using the confidence level of each pressure source as a weight for weighted averaging, pressure sources with high confidence levels occupy a larger proportion in the fused pressure value P_fused, while pressure sources with low confidence levels occupy a smaller proportion. This enables adaptive weighted fusion of pressure data with different levels of reliability, making the fusion result more inclined towards pressure sources with higher reliability.

[0138] Step 2: Calculate the average confidence level between the first confidence level and the second confidence level.

[0139] The average confidence level is used to reflect the overall reliability of the first and second pressure values. When both sources have high confidence levels, the average confidence level is also high. When there is a difference between the two sources, the average confidence level can balance their weight contributions and avoid the extreme confidence level of a single pressure source from having an excessive impact on the reliability of the fused pressure value.

[0140] Step 3: Determine the confidence attenuation coefficient based on the preset maximum allowable pressure difference threshold and the absolute pressure difference.

[0141] Among them, the preset maximum allowable pressure difference threshold refers to the preset maximum allowable pressure deviation threshold of the dual sources, which is used to determine the confidence attenuation coefficient and realize the confidence assessment of the fused pressure value.

[0142] The confidence decay coefficient is used to dynamically correct the average confidence level based on the degree of deviation between the two-source pressure values ​​to obtain the fusion confidence level. When the deviation between the two-source pressure values, i.e., the absolute pressure difference, is small, the confidence decay coefficient approaches 1, and the fusion confidence level approaches the average confidence level. When the deviation between the two-source pressure values, i.e., the absolute pressure difference, is large, the confidence decay coefficient approaches 0, and the fusion confidence level decreases accordingly. This avoids distortion of the pressure control basis due to excessively high fusion confidence when there is significant discrepancy between the two-source data.

[0143] Step 4: Determine the fusion confidence based on the confidence decay coefficient and the average confidence.

[0144] For example, the average confidence level between the first confidence level C_endo and the second confidence level C_module is calculated as (C_endo + C_module) / 2. The preset maximum allowable pressure difference threshold is denoted as Dmax. Based on the preset maximum allowable pressure difference threshold Dmax and the absolute pressure difference |P_endo - P_module|, the confidence decay coefficient is calculated as (1 - |P_endo - P_module| / D_max). The closer |P_endo - P_module| is to 0, the larger the confidence decay coefficient, indicating better consistency between the two sources of data; the closer |P_endo - P_module| is to D_max, the smaller the confidence decay coefficient, indicating poorer consistency between the two sources of data. Specifically, the smaller Dmax is, the more sensitive the system is to discrepancies between the two sources, and the easier it is to trigger a low-confidence alarm, requiring reasonable setting. Furthermore, multiplying the confidence decay coefficient by the average confidence level yields the fused confidence level C_fused as:

[0145] C_fused=(C_endo+C_module) / 2×(1-|P_endo-P_module| / D_max).

[0146] Based on the expression for the fusion confidence C_fused, it can be seen that the larger the confidence decay coefficient, the better the consistency between the two source data and the higher the fusion confidence C_fused; the smaller the confidence decay coefficient, the worse the consistency between the two source data and the lower the fusion confidence C_fused.

[0147] Step S503: If the fusion confidence level is greater than or equal to the preset lower limit threshold of fusion confidence level, then the fusion pressure value is determined as the third pressure value.

[0148] Among them, the preset fusion confidence lower limit threshold is used to determine whether the fusion pressure value can be used as the third pressure value.

[0149] Step S504: If the fusion confidence level is less than the preset lower limit threshold of fusion confidence level, then determine the third pressure value based on the pressure value corresponding to the highest confidence level among the first confidence level and the second confidence level.

[0150] For example, if the fusion confidence level is greater than or equal to a preset lower threshold for fusion confidence, the fusion pressure value can be determined as the third pressure value to fully utilize the complementary advantages of the dual pressure source data. If the fusion confidence level is less than the preset lower threshold for fusion confidence, the third pressure value is determined based on the pressure value corresponding to the highest confidence level among the first and second confidence levels. Specifically, if the pressure value corresponding to the highest confidence level among the first and second confidence levels is greater than or equal to the second preset confidence threshold (preset pressure source switching threshold) described in the above embodiment, the pressure value corresponding to the highest confidence level among the first and second confidence levels is determined as the third pressure value. If the pressure value corresponding to the highest confidence level among the first and second confidence levels is less than the second preset confidence threshold, the third pressure value of the previous pressure control cycle is determined as the third pressure value of the current pressure control cycle. Thus, by introducing a single-source mode when the fusion confidence level is less than the preset lower threshold for fusion confidence, reliable redundancy backup can be provided for the system, enhancing the overall system robustness.

[0151] In the above embodiments, when both the first confidence level and the second confidence level are less than or equal to the first preset confidence threshold, or both are greater than or equal to the first preset confidence threshold, a joint decision is made on the first pressure value and the second pressure value based on the absolute pressure difference between the first pressure value and the second pressure value. This ensures that when the confidence levels of the two sources are consistent, the fusion or single-source mode is adaptively selected through quantitative evaluation of the degree of pressure deviation, thereby balancing pressure control accuracy and system robustness, and avoiding the risk of pressure control inaccuracy caused by discrepancies in the two-source data or simultaneous anomalies of the two sources.

[0152] In one embodiment, based on a third pressure value, driving a pressure-controlled actuator in an endoscopic perfusion and aspiration system to regulate the pressure in a target cavity includes the following steps:

[0153] Step 1: Obtain the preset target pressure value of the target cavity.

[0154] The preset target pressure value needs to be set according to the actual pressure control requirements, and no specific limit is set here.

[0155] Step 2: Calculate the pressure deviation between the third pressure value and the preset target pressure value.

[0156] Step 3: Based on the pressure deviation, drive the pressure control actuator in the endoscopic perfusion and suction system to adjust the pressure of the target cavity.

[0157] The pressure deviation between the third pressure value and the preset target pressure value is used to determine the control direction and adjustment range of the pressure control actuator. When the pressure deviation is positive, it indicates that the pressure in the current target cavity is higher than the preset target pressure value, and the pressure control actuator performs a suction operation to reduce the pressure. When the pressure deviation is negative, it indicates that the pressure in the current target cavity is lower than the preset target pressure value, and the pressure control actuator performs a filling operation to increase the pressure. The absolute value of the pressure deviation determines the adjustment intensity of the pressure control actuator. The larger the deviation, the larger the adjustment range, and the smaller the deviation, the smaller the adjustment range, thereby achieving closed-loop precise control of the pressure in the target cavity.

[0158] This application acquires pressure values ​​at different pressure measurement points within the target cavity and calculates the confidence level of each pressure value, thereby accurately quantifying the data reliability of each pressure measurement source under the current operating conditions. This overcomes the problem of pressure measurement inaccuracy caused by local interference or sensor malfunctions in a single pressure measurement source. Furthermore, based on the confidence levels, joint decision-making is made on the pressure values ​​from multiple sources, ensuring the reliability of the data used for pressure control. Finally, the pressure is adjusted by driving the pressure control actuator based on the third pressure value, achieving adaptive fusion and intelligent selection of data from dual pressure measurement sources. This ensures the continuity and reliability of the pressure control basis, improves the system's pressure control accuracy and robustness, and reduces the surgical safety risks caused by pressure misjudgment.

[0159] In one specific embodiment, the pressure control method is applied to an endoscopic irrigation and aspiration system, including the following steps:

[0160] Step 1: Obtain the first pressure value at the first pressure measurement point and the second pressure value at the second pressure measurement point within the target cavity.

[0161] Step 2: Calculate the first confidence level of the first pressure value and the second confidence level of the second pressure value, respectively.

[0162] Step 3: Based on the first and second confidence levels, a joint decision is made on the first and second pressure values ​​to obtain the third pressure value of the target cavity. Specifically, this includes:

[0163] Step 3.1: If the first confidence level is less than the first preset confidence threshold and the second confidence level is greater than or equal to the second preset confidence threshold, then the single-source mode is adopted, and the second pressure value is determined as the third pressure value.

[0164] The first preset reliability threshold is less than the second preset reliability threshold;

[0165] Step 3.2: If the second confidence level is less than the first preset confidence threshold and the first confidence level is greater than or equal to the second preset confidence threshold, then the single-source mode is adopted, and the first pressure value is determined as the third pressure value.

[0166] Step 3.3: If both the first confidence level and the second confidence level are less than or equal to the first preset confidence threshold, or both are greater than or equal to the first preset confidence threshold, then calculate the absolute pressure difference between the first pressure value and the second pressure value.

[0167] Step 3.4: If the absolute pressure difference is greater than the preset pressure difference threshold, then the single-source mode is adopted, and the third pressure value is determined according to the pressure value corresponding to the highest confidence level between the first confidence level and the second confidence level.

[0168] Step 3.5: If the absolute pressure difference is less than or equal to the preset pressure difference threshold, then the fused pressure value and fused confidence value are determined based on the first confidence level, the second confidence level, the first pressure value, and the second pressure value.

[0169] Step 3.6: If the fusion confidence level is greater than or equal to the preset lower limit threshold of fusion confidence level, then the fusion mode is adopted and the fusion pressure value is determined as the third pressure value;

[0170] Step 3.7: If the fusion confidence level is less than the preset lower limit threshold of fusion confidence level, then the single-source mode is adopted, and the third pressure value is determined according to the pressure value corresponding to the highest confidence level among the first confidence level and the second confidence level.

[0171] Step 4: Based on the third pressure value, drive the pressure control actuator in the endoscopic perfusion and suction system to adjust the pressure of the target cavity.

[0172] Repeat steps 1 to 4 above to achieve real-time closed-loop control.

[0173] The pressure control method described in the above embodiments employs a fusion mode (using fused pressure values ​​for pressure control) when the dual-source data is of good consistency, and automatically switches to a single-source mode (e.g., selecting a high-confidence pressure measurement source) when significant deviations occur in the dual-source data. This achieves a smooth transition and seamless switching, ensuring that the system always operates in an optimal state. Therefore, when a pressure measurement source malfunctions, the system can automatically switch to a reliable pressure measurement source, avoiding pressure control failure due to a single point of failure and significantly improving surgical safety. Furthermore, the pressure control method described in the above embodiments has low overall computational complexity, high real-time performance, and low resource consumption, making it easy to implement in embedded systems.

[0174] In some embodiments, the pressure control method described above can also be combined with a human-computer interaction module to realize real-time monitoring of dual-source data, visualization of confidence level, indication of pressure source status, abnormal alarm and manual intervention interface.

[0175] In some embodiments, when only a single pressure source is connected, the system can automatically degrade to single-source mode to maintain backward compatibility.

[0176] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0177] In one embodiment, an endoscopic perfusion and aspiration system is also provided. The system includes an endoscope, a sheath system, a pressure-controlled actuator, and a control unit. The endoscope includes an insertion portion extending into a target cavity, with a pressure sensor at its end. The sheath system includes a sheath for establishing an access channel to a natural body cavity. The endoscope is inserted through the sheath, forming an annular gap between the outer wall of the endoscope and the inner wall of the sheath. This gap channel is used for fluid delivery or material removal. A pressure sensor is provided on the sheath system. The pressure-controlled actuator includes a perfusion actuator and a suction actuator for adjusting the pressure within the target cavity. The control unit is communicatively connected to a first pressure sensor, a second pressure sensor, and the pressure-controlled actuator, respectively, for executing the pressure control method described in this embodiment.

[0178] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0179] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0180] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0181] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0182] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0183] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A pressure control method, characterized in that, The method, applied to an endoscopic irrigation and aspiration system, includes: Acquire a first pressure value at a first pressure measuring point and a second pressure value at a second pressure measuring point within the target cavity; the first pressure measuring point corresponds to the end of the endoscope insertion section; the second pressure measuring point corresponds to the end of the sheath. Calculate the first confidence level of the first pressure value and the second confidence level of the second pressure value, respectively; Based on the first confidence level and the second confidence level, a joint decision is made on the first pressure value and the second pressure value to obtain the third pressure value of the target cavity; Based on the third pressure value, the pressure control actuator in the endoscopic perfusion and suction system is driven to adjust the pressure of the target cavity.

2. The method according to claim 1, characterized in that, The first pressure value is acquired by a pressure sensor located at the end of the endoscope insertion section; Calculating the first confidence level of the first pressure value includes: Obtain the multi-dimensional evaluation indicators corresponding to the pressure sensor. The evaluation indicators of each dimension in the multi-dimensional evaluation index are quantified to obtain the corresponding score value of each dimension evaluation indicator. The scores corresponding to each evaluation indicator in each dimension are weighted and fused to obtain the first confidence level of the first stress value.

3. The method according to claim 2, characterized in that, The multi-dimensional evaluation indicators include data fluctuation indicators, data consistency indicators, and data timeliness indicators; the acquisition of the multi-dimensional evaluation indicators corresponding to the pressure sensor includes: Acquire historical pressure measurement data from the pressure sensor; Calculate the historical pressure standard deviation of the historical pressure measurement data within a preset sliding window, and determine the historical pressure standard deviation as the data fluctuation index; Calculate the historical average pressure value of the historical pressure measurement data, and determine the absolute deviation between the first pressure value and the historical average pressure value as the data consistency index. The response time of the pressure sensor when it collects the first pressure value is obtained, and the response time is determined as the data timeliness index.

4. The method according to claim 3, characterized in that, The quantitative processing of each dimension of the multi-dimensional evaluation index to obtain the corresponding score value for each dimension includes: Based on a preset maximum fluctuation threshold, the data fluctuation index is normalized to obtain the first score value corresponding to the data fluctuation index. Based on a preset maximum data deviation threshold, the data consistency index is normalized to obtain a second score value corresponding to the data consistency index. Based on a preset baseline response time, the data timeliness index is normalized to obtain a third score value corresponding to the data timeliness index.

5. The method according to claim 1, characterized in that, The step of jointly deciding on the first pressure value and the second pressure value based on the first confidence level and the second confidence level to obtain the third pressure value of the target cavity includes: If the first confidence level is less than the first preset confidence threshold, and the second confidence level is greater than or equal to the second preset confidence threshold, then the second stress value is determined as the third stress value; the first preset confidence threshold is less than the second preset confidence threshold. If the second confidence level is less than the first preset confidence threshold, and the first confidence level is greater than or equal to the second preset confidence threshold, then the first pressure value is determined as the third pressure value; If both the first confidence level and the second confidence level are less than or equal to the first preset confidence threshold, or both are greater than or equal to the first preset confidence threshold, then calculate the absolute pressure difference between the first pressure value and the second pressure value; Based on the absolute pressure difference, a joint decision is made on the first pressure value and the second pressure value to obtain the third pressure value.

6. The method according to claim 5, characterized in that, The step of making a joint decision based on the absolute pressure difference, considering the first pressure value and the second pressure value, to obtain the third pressure value includes: If the absolute pressure difference is greater than the preset pressure difference threshold, then the third pressure value is determined based on the pressure value corresponding to the highest confidence level among the first confidence level and the second confidence level. If the absolute pressure difference is less than or equal to the preset pressure difference threshold, then the fused pressure value and fused confidence level are determined based on the first confidence level, the second confidence level, the first pressure value, and the second pressure value. If the fusion confidence level is greater than or equal to the preset lower limit threshold of fusion confidence level, then the fusion pressure value is determined as the third pressure value; If the fusion confidence level is less than the preset fusion confidence level lower threshold, then the third pressure value is determined based on the pressure value corresponding to the highest confidence level among the first confidence level and the second confidence level.

7. The method according to claim 6, characterized in that, The determination of the fusion pressure value and fusion confidence value based on the first confidence level, the second confidence level, the first pressure value, and the second pressure value includes: Based on the first confidence level and the second confidence level, the first pressure value and the second pressure value are subjected to normalized weighted fusion processing to obtain the fused pressure value; Calculate the average confidence level between the first confidence level and the second confidence level; The confidence attenuation coefficient is determined based on the preset maximum allowable pressure difference threshold and the absolute pressure difference; The fusion confidence is determined based on the confidence decay coefficient and the average confidence.

8. The method according to claim 1, characterized in that, The step of driving the pressure control actuator in the endoscopic perfusion and aspiration system to adjust the pressure of the target cavity based on the third pressure value includes: Obtain the preset target pressure value of the target cavity; Calculate the pressure deviation between the third pressure value and the preset target pressure value; Based on the pressure deviation, the pressure control actuator in the endoscopic perfusion and aspiration system is driven to adjust the pressure of the target cavity.

9. An endoscopic irrigation and aspiration system, characterized in that, Used to perform the pressure control method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

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