Method for determining bending information

Abstract

Provided is a method for determining bending information, applied to a luminal endoscope outer sleeve. A plurality of bending measurement tubes are sequentially arranged on an inner wall of the luminal endoscope outer sleeve; each of the bending measurement tubes corresponds to a unique digital identifier; the bending measurement tubes each comprise a cable and a bourdon tube, wherein fixing end points of the cable and the bourdon tube on the inner wall of the outer sleeve are the same, a fixing starting point of the cable is located at one of a plurality of first calibration positions on the inner wall of the outer sleeve, and a fixing starting point of the bourdon tube is located at a second calibration position of the inner wall of the outer sleeve; a displacement sensor is arranged at the fixing starting point of the cable of each of the bending measurement tubes; and fixing end points of the bending measurement tubes on the inner wall of the outer sleeve are different. The method comprises: for the plurality of bending measurement tubes, determining cable displacement information on the basis of the displacement sensors (S110); and determining bending information of the luminal endoscope outer sleeve on the basis of the digital identifiers of the plurality of bending measurement tubes, the cable displacement information, and sectional diameters of the bourdon tubes (S120).

Description

Method for determining bending information

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 19, 2024, with application number 202410182883.6, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of robot control technology, for example, to a method for determining bending information. Background Art

[0003] Endoscopic surgery through the natural cavity of the human body is to allow surgical instruments to enter the human cavity through the natural cavity of the human body (such as the mouth, esophagus, bronchus, stomach, colon, rectum, etc.) and perform diagnosis and treatment. During the operation, it is necessary to insert a cavity endoscope outer sleeve into the natural cavity. The cavity endoscope outer sleeve is hollow and is used to accommodate multiple different types of surgical instruments, guiding the end effector of the surgical instrument to finally reach the surgical operation point. During the operation, the bending deformation of the instrument pipeline causes the spring guide tube and cable of the transmission instrument to deform, increasing the nonlinear friction between the transmission cable inside the instrument pipeline and its spring guide tube, resulting in a large cumulative friction force, thereby causing the transmission position of the transmission end of the transmission cable to be inaccurate, resulting in inaccurate control of the end effector of the instrument. Usually, the outer sleeve of the natural cavity surgical robot, the instrument pipeline of the surgical instrument, and the cable transmission structure of the transmission instrument are tightly wrapped. Therefore, the bending state of the cable transmission structure can be equivalently evaluated by online identification of the bending state of the cavity endoscope outer sleeve, providing effective feedback information for achieving precise control of the end.

[0004] At present, shape detection sensors can be configured on the outer sleeve of the endoscopic tube, such as fiber Bragg Grating (FBG) sensors. These sensors can detect the local strain of the fiber Bragg Grating, and the change in the Bragg wavelength reflected by the shape sensor reflects the change in the bending curvature. Then, the 3D shape is obtained through differential geometry methods to identify the bending state of the outer sleeve of the endoscopic tube.

[0005] However, the sensitivity of this sensor is affected by environmental factors (such as light and temperature fluctuations). Furthermore, fiber optic bend sensors are dependent on the mechanical properties of the optical fiber itself. Made primarily of silica, the fiber has poor shear resistance, and can easily break and cause sensor failure in crude installation or improper operation. Furthermore, the sensor's determination of bend information is subject to instability. Furthermore, the sensor is relatively costly and complex to install and maintain. Summary of the Invention

[0006] The embodiment of the present application provides a method for determining bending information, which can stably, quickly, efficiently and at low cost determine the bending information of the outer sleeve of a cavity endoscope, and provide effective feedback information for friction evaluation during natural cavity surgical robot surgery and precise end instrument control.

[0007] In a first aspect, the present application provides a method for determining bending information, wherein the outer sleeve of a luminal endoscope includes a plurality of bending measurement tubes sequentially arranged on the inner wall of the outer sleeve of the luminal endoscope; each bending measurement tube corresponds to a unique digital identifier; each bending measurement tube includes a cable and a spring tube surrounding a portion of the cable, the length of the cable is greater than the length of the spring tube, the cable and the spring tube have the same fixed end point on the inner wall of the outer sleeve, the fixed starting point of the cable is located at one of at least one first calibration position on the inner wall of the outer sleeve, and the fixed starting point of the spring tube is located at a second calibration position on the inner wall of the outer sleeve; a displacement sensor is configured at the fixed starting point of the cable of each bending measurement tube; and each bending measurement tube has a different fixed end point on the inner wall of the outer sleeve. The method comprises:

[0008] For each of the plurality of bend measurement tubes, determining cable displacement information based on the corresponding displacement sensors;

[0009] Based on the digital identifications of the multiple bending measurement tubes, the corresponding cable displacement information and the cross-sectional diameter of the spring tube, the bending information of the outer sleeve of the endoscopic tube is determined; wherein, the bending information includes the outer sleeve bending position segment and the bending curvature corresponding to the outer sleeve bending position segment.

[0010] In a second aspect, the present application provides a device for determining bending information, the device comprising:

[0011] a cable displacement information acquisition module configured to determine cable displacement information for a plurality of the bending measurement tubes based on the corresponding displacement sensors;

[0012] The bending information determination module is configured to determine the bending information of the outer sleeve of the endoscopic tube based on the digital identifiers of multiple bending measurement tubes, the corresponding cable displacement information and the cross-sectional diameter of the spring tube; wherein the bending information includes the outer sleeve bending position segment and the bending curvature corresponding to the outer sleeve bending position segment.

[0013] In a third aspect, the present application provides a data processing electronic device, comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the method for determining bending information of an endoscope outer tube applied to a cavity according to any embodiment of the present application.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium storing computer instructions, which are used to enable a processor to implement the method for determining bending information of an outer sleeve of a endoscopic tube applied to a cavity of any embodiment of the present application when executed.

[0018] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the method for determining the bending information of the outer sleeve of a endoscopic tube applied to a cavity of any embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG1 is a schematic diagram of a flexible surgical robot for natural orifice surgery according to an embodiment of the present application;

[0020] FIG2 is a schematic diagram of the physical structure of the outer sleeve of the endoscopic tube according to the first embodiment of the present application;

[0021] FIG3 is a schematic diagram of the physical structure of the bending measurement tube involved in Example 1 of the present application;

[0022] FIG4 is a schematic diagram of a bending measurement tube according to the first embodiment of the present application arranged and laid around the inner wall of the outer sleeve of a cavity endoscope;

[0023] FIG5 is a flow chart of a method for determining bending information of an outer tube of a luminal endoscope provided in Example 1 of the present application;

[0024] FIG6 is a schematic diagram of determining cable displacement information according to the first embodiment of the present application;

[0025] FIG7 is a schematic diagram of an endoscope outer sleeve according to the first embodiment of the present application, in which the outer sleeve has two bending sections;

[0026] FIG8 is a schematic diagram of a measuring tube support frame in an outer sleeve of a luminal endoscope according to the first embodiment of the present application;

[0027] 9 is a flowchart of a method for determining bending information of an endoscope outer tube provided in Example 2 of the present application;

[0028] FIG10 is a schematic structural diagram of a device for determining bending information of an outer tube of a lumen endoscope provided in Example 3 of the present application;

[0029] FIG11 is a schematic structural diagram of an electronic device provided in Example 4 of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the embodiments of this application. The embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0031] The terms "first precondition," "second precondition," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. Such terms are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. Furthermore, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions; for example, a process, method, system, product, or apparatus comprising a series of steps or units may include other steps or units not expressly listed or inherent to such process, method, product, or apparatus.

[0032] Before introducing this application, an example description of the application scenario can be given first. Endoscopic surgery through the natural cavity of the human body is to allow surgical instruments to enter the human body cavity through the natural cavity of the human body (such as the mouth, esophagus, bronchus, stomach, colon, rectum, etc.) for diagnosis and treatment. Nowadays, a flexible surgical robot through the natural cavity can be used to perform endoscopic surgery through the natural cavity of the human body. See Figure 1 for a schematic diagram of the flexible surgical robot through the natural cavity. As shown in Figure 1, the flexible surgical robot through the natural cavity includes an instrument pipeline, surgical instruments, and a cavity endoscope outer sleeve (referred to as the outer sleeve).

[0033] Among them, the flexible surgical robot through the natural cavity adopts the cable transmission method to remotely operate the end surgical instrument. For example, the inside of the instrument pipeline is a transmission cable, and the end of the surgical instrument includes an end effector. The actuator is connected to the transmission cable, and the transmission cable extends to the driving mechanism of the instrument, such as a motor. When implementing the surgical operation command, the end effector is driven by the transmission cable to perform the surgical operation. Among them, the cable transmission structure is usually composed of an internal transmission cable and a spring guide tube (tight coil spring configuration) that wraps the cable. The two ends of the spring guide tube are fixed at the two ends of the instrument pipeline to guide the transmission path of the internal transmission cable.

[0034] The outer sleeve is hollow and is configured to accommodate multiple different types of surgical instruments, guiding the end effector of the surgical instrument to ultimately reach the surgical operation point. During a general surgical procedure, an outer sleeve is inserted into a natural cavity, and multiple surgical instruments are inserted into the outer sleeve. The surgical instruments are then inserted into the body along with the outer sleeve. When the outer sleeve and the surgical instruments reach the appropriate position at the surgical point, the end effector of the surgical instrument extends from the outer sleeve to perform the surgical operation. During the process of the end effector of the surgical instrument reaching the surgical operation point, the operator needs to adjust the posture of the outer sleeve so that the end effector of the surgical instrument can smoothly reach the surgical operation point, and then perform subsequent surgical operations.

[0035] Based on the aforementioned hardware structure, during surgery using a flexible transluminal surgical robot, bending and deformation of the instrument conduit causes both the spring conduit encasing the cable and the drive cable to deform simultaneously, increasing nonlinear friction between the drive cable and its spring conduit within the instrument conduit. The potential for multiple bends creates significant cumulative friction between the drive cable and its spring conduit, leading to inaccurate positioning of the cable's drive end, such as the motor's position. This, in turn, makes it difficult to accurately control the instrument's end effector, posing a challenge to achieving precise control of the end effector.

[0036] Due to the space limitation of the end of the surgical robot instrument, it is often impossible to add additional sensors to the instrument. Therefore, in order to obtain the above-mentioned friction force of the cable transmission structure caused by bending, the bending information of the flexible surgical robot through the natural cavity can be identified online. Usually, the outer sleeve of the surgical robot through the natural cavity of the human body, the instrument pipeline of the surgical instrument, and the cable transmission structure of the transmission instrument are tightly wrapped. Therefore, the bending information of the cable transmission structure can be equivalently evaluated by online identification of the bending information of the outer sleeve, thereby providing effective feedback information for achieving precise control of the end, and then more accurately calculating the transmission error of the surgical robot caused by friction and combining other compensation algorithms to improve the control accuracy of the end instrument.

[0037] Example 1

[0038] See Figure 2 for a schematic diagram of the physical structure of the endoscopic outer sleeve involved in an embodiment of the present application. As shown in Figure 2, the endoscopic outer sleeve includes multiple bend measurement tubes sequentially arranged on the inner wall of the endoscopic outer sleeve. A thin black solid line in the figure represents a bend measurement tube. The bend measurement tube is a physical device specifically used to measure the bend information of the endoscopic outer sleeve. Each bend measurement tube has a unique digital identifier. A displacement sensor is configured at the fixed starting point of each bend measurement tube. The fixed end point of each bend measurement tube on the inner wall of the outer sleeve is different.

[0039] Each bend measuring tube consists of a cable and a spring tube that partially surrounds the cable. The cable is longer than the spring tube. To clearly illustrate the structure of each bend measuring tube, one of these tubes is used as an example. A schematic diagram of the physical structure of any bend measuring tube is shown in Figure 3. As shown in Figure 3, the black solid line in the middle represents the cable, with a length of b. The rectangular box surrounding a portion of the black solid line (cable) represents the spring tube, with a length of a.

[0040] The reason why the bending measuring tube includes a spring tube is that: since the hardness of the cable is relatively high, when the outer sleeve bends, it cannot drive the cable to form a natural curvature, resulting in the problem of low determination accuracy of the bending information obtained based on the bending measuring tube; adding a spring tube to the outside of the cable, since the spring tube can form a natural curvature, when the outer sleeve bends, the entire outer sleeve including the bending measuring tube can form a natural bending curvature, which is beneficial to improving the determination accuracy of the outer sleeve bending information.

[0041] Next, the fixed positions of the cable and the spring tube in the bend measurement tube on the inner wall of the outer sleeve will be described in detail. The fixed end points of the cable and the spring tube on the inner wall of the outer sleeve are the same, but the fixed starting points of the cable and the spring tube on the inner wall of the outer sleeve are not necessarily the same. Optionally, the fixed starting point of the cable is located at one of at least one first designated position on the inner wall of the outer sleeve, while the fixed starting point of the spring tube is located at a second designated position on the inner wall of the outer sleeve.

[0042] Among them, the number of first calibration positions can be one or more. As shown in FIG2 , the leftmost side of the outer sleeve in FIG2 is predefined as the proximal end of the outer sleeve, and the rightmost side is predefined as the distal end of the outer sleeve. The example in FIG2 includes three first calibration positions (represented by the white rectangular boxes in FIG2 ), namely position 1, position 2, and position 3. The first calibration position at which the cable of each bending measurement tube is fixed can be predefined. For example, a total of 10 bending measurement tubes are included, and the starting positions of the cables of the 10 bending measurement tubes can be different. The fixed starting points of the cables of 3 bending measurement tubes are predefined to be at position 1, the fixed starting points of the cables of 5 bending measurement tubes are predefined to be at position 2, and the fixed starting points of the cables of 2 bending measurement tubes are predefined to be at position 3.

[0043] Among them, the number of second calibration positions is one. When predetermining the second calibration position, the first calibration position farthest from the proximal end of the outer sleeve is first determined as the reference first calibration position, so that the second calibration position is acceptable as long as it is located to the right of the reference first calibration position. For example, position S in the example of Figure 2 represents a determined second calibration position (represented by the black rectangular box in Figure 2), and the spring tubes of multiple bending measurement tubes are all fixed at this second calibration position. In specific applications, the second calibration position can be set at a preset distance position to the right of the reference first calibration position, wherein the specific value of the preset distance can be set according to actual needs.

[0044] For example, a total of N bend measurement tubes are included, and the cable fixing starting points of these N bend measurement tubes are located at the same first calibration position. See Figure 4 for a schematic diagram of these N bend measurement tubes arranged flat around the inner wall of the endoscope's outer sleeve. The first bend measurement tube is uniquely numbered "1," the second is uniquely numbered "2," and so on. Each bend measurement tube has a different fixed end point on the inner wall of the endoscope's outer sleeve. The solid black rectangle in Figure 4 represents the second calibration position, and the white rectangle represents the first calibration position for each of the N bend measurement tubes. For any of the bend measurement tubes, the cable and spring tube have the same fixed end point: the cable's fixed starting point is at the first calibration position in Figure 4, and the spring tube's fixed starting point is at the second calibration position in Figure 4. A displacement sensor is positioned at each bend measurement tube's fixed starting point. Additionally, a tensioning device can be positioned at the fixed starting point to ensure that the bend measurement tube's cable is tensioned.

[0045] Optionally, the number of bending measurement tubes can be set according to the measurement accuracy of the bending information. The greater the number of bending measurement tubes, the higher the measurement accuracy of the bending information.

[0046] FIG5 is a flowchart of a method for determining curvature information provided in Example 1 of the present application. This embodiment is applicable to determining curvature information of an endoscope outer tube. The method can be executed by a device for determining curvature information applied to an endoscope outer tube. The device can be implemented in the form of hardware and / or software. The device can be configured on a computer device, such as a notebook, desktop computer, or smart tablet. As shown in FIG5 , the method includes:

[0047] S110 , for each of the plurality of bend measurement tubes, determining cable displacement information based on the corresponding displacement sensors.

[0048] The displacement sensor is an electronic device used to measure the displacement of the bend tube cable. It converts the position or linear displacement of the bend tube into a readable electrical signal for digitization, control, and processing. In this embodiment, the displacement sensor may include an inductive displacement sensor, a capacitive displacement sensor, a photoelectric displacement sensor, an ultrasonic displacement sensor, and a Hall effect displacement sensor.

[0049] Optionally, since a displacement sensor is configured at a fixed starting point of each bending measuring tube, the corresponding cable displacement information can be determined based on the displacement sensor corresponding to the bending measuring tube.

[0050] Exemplarily, a schematic diagram for determining cable displacement information is shown in FIG6 . When the bending measuring tube bends, the displacement sensor disposed at a fixed starting point of the bending measuring tube can collect the cable displacement information. The ΔL in FIG6 is the cable displacement information. If the bending measuring tube has undergone a bending change compared with the previous moment, the cable displacement information is ΔL; if the bending measuring tube has not undergone a bending change compared with the previous moment, the cable displacement information is 0.

[0051] S120 , determining the curvature information of the endoscope outer sleeve based on the digital identifiers of the plurality of curvature determination tubes, the corresponding cable displacement information, and the cross-sectional diameter of the spring tube.

[0052] The bending information includes the outer tube bending location segment and the corresponding bending curvature of the outer tube bending location segment. The cross-sectional diameter of the spring tube is shown in the spring tube structure schematic on the right side of Figure 6. The cross-sectional diameter of the spring tube is a fixed parameter of the spring tube and is a fixed quantity that can be directly obtained here.

[0053] Optionally, during surgery using a natural orifice flexible surgical robot, the cable displacement information of each bend measurement tube can be constantly determined. If the cable displacement information for one or more bend measurement tubes is non-zero, it indicates that a portion of the endoscopic outer cannula has been bent. Therefore, one or more bend measurement tubes to be processed whose cable displacement information is non-zero can be first identified. Then, based on the digital identifiers of the bend measurement tubes to be processed, the outer cannula bend position segment of the endoscopic outer cannula can be determined. Because each bend measurement tube has a different fixed endpoint on the inner wall of the endoscopic outer cannula and each bend measurement tube corresponds to a unique digital identifier, the outer cannula bend position segment can be determined by simply determining the digital identifiers of the bend measurement tubes whose cable displacement information is non-zero.

[0054] In this embodiment, a preset displacement-curvature mapping function of the outer sleeve bending curvature may be predetermined. The preset displacement-curvature mapping function is:

[0055] Where, is the curvature of the outer tube bending section, ΔL is the total displacement change of the cables of the multiple bending measuring tubes included in the outer tube bending section, d is the cross-sectional diameter of the spring tube,

[0056] During the specific implementation process, for the outer sleeve bending position segment, as long as the total cable displacement change of the multiple bending measurement tubes contained in the outer sleeve bending position segment is determined, the total cable displacement change and the cross-sectional diameter of the spring tube can be substituted into the preset displacement-curvature mapping function to obtain the bending curvature corresponding to the outer sleeve bending position segment.

[0057] Next, the derivation process of the displacement-curvature mapping function is preset in detail. When the outer tube bending position section of the outer tube of the endoscopic outer tube is bent, the spring tube of any bending measurement tube in the outer tube bending position section is deformed. The deformation relationship is shown on the right side of Figure 6. The spring tube is composed of multiple spring single coils. In Figure 6, an ellipse represents a spring single coil, b represents the width of the spring single coil, d represents the cross-sectional diameter of the spring tube, and S represents the cumulative contact arc length between multiple units at the bend of the spring tube. Represents the bending angle of each spring coil, Δx i Represents the displacement information of each spring coil. As shown in Figure 6, the cumulative arc length S of the spring tube bending is the sum of the widths of the single coils of the spring in all the bending parts, and the cumulative bending curvature is is the curvature of a single coil of the spring The total cable displacement change ΔL is the displacement Δx caused by each single coil of the spring. i The above relationship can be expressed as:

[0058] Optionally, the deformation Δx of each spring coil i According to the law of cosines, the following relationship is satisfied:

[0059] Here, we can simply assume that the bend is uniformly curved. If it is not uniformly curved, only each single coil of the spring The coefficients of distribution are different, but the total curvature The geometric relationship remains unchanged. This assumption is convenient for formula derivation but will not affect the results. Therefore, if we make this assumption, then:

[0060] Therefore, formula (2) can be rewritten as:

[0061] Finally, a mapping relationship model between the total amount of cable displacement changes of multiple bending measurement tubes included in the outer sleeve bending position segment and the cumulative bending curvature of the outer sleeve bending position segment can be expressed as:

[0062] Furthermore, according to the uniform bending assumption, the number n of spring tube elements contained in the bend satisfies:

[0063] Therefore, formula (5) can be rewritten as:

[0064] The curvature of the spring tube at the bend is defined as κ, which satisfies the following relationship:

[0065] Therefore, formula (7) can be rewritten as:

[0066] If A(bκ) is Taylor expanded, its expression is:

[0067] If the remainder of the expanded polynomial is O(bκ) 2 If the total cable displacement change ΔL of the multiple bending measuring tubes included in the outer tube bending position section is small enough, the bending curvature corresponding to the outer tube bending position section is The following linear relationship is satisfied:

[0068] Formula (12) can be transformed into:

[0069] Optionally, formula (14) can be encapsulated as a mapping relationship model Mapping relationship model for:

[0070] Wherein, j is the digital identifier corresponding to the bending test tube, n is the total number of bending test tubes, is the curvature of the outer casing at the bending position, ΔL j It is the total amount of cable displacement changes of multiple bending measurement tubes included in the outer sleeve bending position section.

[0071] Because the bend measurement tube and its spring tube are embedded within the outer sleeve, the calculated curvature of the multiple bend measurement tubes corresponds to the curvature of the outer sleeve within which they are embedded. Because a luminal endoscope outer sleeve has multiple outer sleeve curvature segments, the above-described specific implementation method can determine each outer sleeve curvature segment and the curvature corresponding to each outer sleeve curvature segment. The sum of the curvatures of the multiple outer sleeve curvature segments is the cumulative total curvature of the luminal endoscope outer sleeve.

[0072] For example, FIG7 is a schematic diagram showing that the outer tube of a luminal endoscope has two outer tube bending sections.

[0073] As shown in Figure 7, the cable displacement information of the 1st to nth bending measurement tubes is zero, indicating that the outer tube of the cavity endoscope corresponding to the first n bending measurement tubes is not bent. The cable displacement information of the n+1th bending measurement tube to the n+mth bending measurement tube is non-zero, indicating that the area between the fixed end point of the nth bending measurement tube and the fixed end point of the n+mth bending measurement tube is the outer tube bending position segment. According to the outer tube bending position segment, the total amount of cable displacement changes corresponding to multiple bending measurement tubes and the mapping relationship model It is identified that the curvature of the outer tube bending position section of the endoscopic outer tube is 90 degrees. This outer tube bending position section can be called the first outer tube bending position section. The cable displacement information from the m+1 bending measurement tube to the m+k bending measurement tube is non-zero, indicating that the area between the fixed end point of the m-th bending measurement tube and the fixed end point of the m+k bending measurement tube is the outer tube bending position section. According to the total amount of cable displacement changes corresponding to multiple bending measurement tubes in the outer tube bending position section and the mapping relationship model It is identified that the curvature of the outer tube bending position section of the endoscopic outer tube is 90 degrees, and this outer tube bending position section can be referred to as the second outer tube bending position section. The endoscopic outer tube has two outer tube bending position sections, and the cumulative curvature of the endoscopic outer tube is 180 degrees.

[0074] Based on the above embodiment, the outer sleeve of the endoscopic tube also includes: a measuring tube support frame, which is configured to fix the end points of multiple curved measuring tubes; the number of measuring tube support frames is consistent with the number of curved measuring tubes, and the placement spacing of the multiple measuring tube support frames on the inner wall of the outer sleeve is consistent with the difference in pipe length of the multiple curved measuring tubes.

[0075] In this embodiment, a schematic diagram of the measuring tube support frame within the outer cannula of the endoscopic tube is shown in FIG8 . The black, bold, solid circle in FIG8 represents the measuring tube support frame. Multiple measuring tube supports are arranged axially on the inner wall of the outer cannula at predetermined distances, wherein the predetermined distances are determined based on the length differences of the multiple curved measuring tubes. The measuring tube support frame has the same number of small through-holes as the number of curved measuring tubes for securing and guiding the curved measuring tubes. The ends of the curved measuring tubes can be secured to the support frame by welding. Optionally, the tubes can be secured sequentially in length in a single direction (clockwise or counterclockwise) until all the curved measuring tubes are secured to their corresponding supports. Alternatively, the support frame can be arranged in a random order, rather than from long to short (short to long), as long as at least one curved measuring tube of each different length is secured to the support frame. Furthermore, as shown in the lower right corner of FIG8 , the large through-holes within the measuring tube support frame can serve as a channel for surgical instruments.

[0076] In this embodiment, multiple bending measuring tubes can be fixed by the measuring tube support frame, so that the entire tubes of the multiple bending measuring tubes are in close contact with the inner wall of the outer sleeve of the endoscopic tube, thereby improving the accuracy of equivalent measurement of the bending information of the outer sleeve of the endoscopic tube by the bending measuring tube.

[0077] The number of measuring tube support frames can be more than the number of bending measuring tubes, so as to fix the displacement path of the bending measuring tube on the inner wall of the outer sleeve. More measuring tube support frames are set to connect the bending measuring tubes to ensure that the bending curvature of the bending measuring tube is closer to the bending curvature of the outer sleeve, thereby improving the accuracy of the bending information measurement.

[0078] In an embodiment of the present application, the outer sleeve of a luminal endoscope includes a plurality of bending measurement tubes arranged in sequence on the inner wall of the outer sleeve of the luminal endoscope; each bending measurement tube corresponds to a unique digital identifier; each bending measurement tube includes a cable and a spring tube surrounding a portion of the cable, the length of the cable is greater than the length of the spring tube, the fixed end points of the cable and the spring tube on the inner wall of the outer sleeve are the same, the fixed starting point of the cable is located at one of at least one first calibration positions on the inner wall of the outer sleeve, and the fixed starting point of the spring tube is located at a second calibration position on the inner wall of the outer sleeve; a displacement sensor is configured at the fixed starting point of the cable of each bending measurement tube; each bending measurement tube has a different fixed end point on the inner wall of the outer sleeve, and a method for determining the bending information of the outer sleeve of the luminal endoscope is as follows: for multiple bending measurement tubes, the cable displacement information is determined based on the corresponding displacement sensor, and then, based on the digital identifiers of the multiple bending measurement tubes, the corresponding cable displacement information and the cross-sectional diameter of the spring tube, the bending information of the outer sleeve of the luminal endoscope is determined, wherein the bending information includes the outer sleeve bending position segment and the bending curvature corresponding to the outer sleeve bending position segment. To obtain the frictional force between each spring guide tube and the transmission cable in the instrument conduit of a flexible transluminal surgical robot, this application embeds several bend measurement tubes in the outer sleeve of a transluminal endoscope. By combining the bending characteristics of the cables with the spring guide tubes, the bending information of the transluminal endoscope outer sleeve during use can be identified online. This allows for stable, rapid, efficient, and low-cost determination of the bending information of the transluminal endoscope outer sleeve. Consequently, the cumulative curvature of the transluminal endoscope outer sleeve can be determined based on the bending information, providing effective feedback information for friction assessment during transluminal surgery and precise end-instrument control.

[0079] Example 2

[0080] FIG9 is a flowchart of a method for determining curvature information of an endoscope outer tube according to a second embodiment of the present application, which refines step S120 based on the above embodiment. Technical terms that are the same as or corresponding to those in the above embodiment are not repeated here.

[0081] As shown in FIG9 , the method includes:

[0082] S210 : For a plurality of the bend measurement tubes, determine cable displacement information based on the corresponding displacement sensors.

[0083] S220 , for the plurality of bending measurement tubes, determining at least one bending measurement tube group to be processed and at least one unbent measurement tube group based on the cable displacement information and a preset bending judgment condition.

[0084] The preset bending determination condition is a pre-set condition used to determine whether the bending measurement tube is in a bent state. The set of bending measurement tubes to be processed includes at least two bending measurement tubes in a bent state. The set of unbending measurement tubes includes at least two bending measurement tubes that are not in a bent state.

[0085] Optionally, the preset bending judgment condition is: the cable displacement information is equal to or greater than the preset displacement threshold, and at least two bent measurement tubes that are digitally identified as adjacent to each other are determined as a group of bent measurement tubes to be processed; the cable displacement information is less than the preset displacement threshold, and at least two bent measurement tubes that are digitally identified as adjacent to each other are determined as a group of unbent measurement tubes.

[0086] In this embodiment, the preset displacement threshold is a fixed displacement value. In specific applications, there may be situations where the cable displacement information of a bend measurement tube is extremely small. Determining the bend information of the endoscope outer tube based on a bend measurement tube with extremely small cable displacement information may result in low measurement accuracy. Therefore, a preset displacement threshold may be set. For multiple bend measurement tubes, at least one bend measurement tube group to be processed and at least one unbend measurement tube group are determined based on the relationship between the cable displacement information and the preset displacement threshold.

[0087] For example, if there are 20 bent measurement tubes in total, and the cable displacement information of the 1st to 5th bent measurement tubes is less than a preset displacement threshold, the cable displacement information of the 6th to 12th bent measurement tubes is greater than the preset displacement threshold, the cable displacement information of the 13th to 17th bent measurement tubes is less than the preset displacement threshold, and the cable displacement information of the 17th to 20th bent measurement tubes is greater than the preset displacement threshold, then there are two groups of bent measurement tubes to be processed and two groups of unbent measurement tubes. The two groups of bent measurement tubes to be processed are the 6th to 12th bent measurement tubes and the 17th to 20th bent measurement tubes, and the two groups of unbent measurement tubes are the 1st to 5th bent measurement tubes and the 13th to 17th bent measurement tubes.

[0088] S230: For the bend measurement tube group to be processed, determine the bend information of the outer sleeve of the endoscopic tube based on the digital identification of the bend measurement tubes included in the bend measurement tube group to be processed, the cable displacement information, and the cross-sectional diameter of the spring tube.

[0089] In this embodiment, determining the curvature information of the outer tube of the endoscopic tube may include the following steps:

[0090] S2301: Determine a target outer tube bending position segment of the endoscopic outer tube based on the first digital identifier of the first bending measurement tube and the second digital identifier of the last bending measurement tube in the group of bending measurement tubes to be processed.

[0091] Based on the above example, for a set of curved testing tubes to be processed that includes the 6th to 12th curved testing tubes, the 6th curved testing tube is the first curved testing tube, and the 12th curved testing tube is the last curved testing tube. If the numerical identifier corresponding to the 6th curved testing tube is "6," the first numerical identifier is "6"; if the numerical identifier corresponding to the 12th curved testing tube is "12," the second numerical identifier is "12."

[0092] In this embodiment, the specific implementation is as follows:

[0093] (1) Obtain a preset code-position mapping relationship table.

[0094] The preset code-position mapping relationship table is a correspondence relationship table between the digital identifier of the bending measurement tube and the position information of the fixed end point of the bending measurement tube on the outer sleeve of the cavity endoscope.

[0095] In this embodiment, the preset code-position mapping relationship table is saved in a preset storage unit in advance and can be directly obtained here.

[0096] (2) Determine the digital identifier that is adjacent to the first digital identifier as the starting digital identifier.

[0097] Based on the above example, for the group of bent measurement tubes to be processed including the 6th to 12th bent measurement tubes, if the digital identifier corresponding to the 6th bent measurement tube is "6", then the first digital identifier is "6" and the starting digital identifier is "5".

[0098] (3) Based on the starting digital identifier, the second digital identifier, and the preset code-position mapping relationship table, determine the bending start position corresponding to the starting digital identifier and the bending end position corresponding to the second digital identifier.

[0099] In this embodiment, based on determining the starting digital identifier and the second digital identifier, by querying the preset code-position mapping relationship table, the bending starting position corresponding to the starting digital identifier and the bending ending position corresponding to the second digital identifier can be directly obtained.

[0100] (4) The area from the bending start position to the bending end position of the endoscopic outer sleeve is determined as a target outer sleeve bending position segment.

[0101] S2302. Determine the bending curvature corresponding to the target outer sleeve bending position segment based on the cable displacement information of the plurality of bending measurement tubes in the to-be-processed bending measurement tube group and the cross-sectional diameter of the spring tube.

[0102] The specific implementation method is:

[0103] (1) Based on the cable displacement information of the plurality of bend measurement tubes in the bend measurement tube group to be processed, a total amount of cable displacement change corresponding to the bend measurement tube group to be processed is determined.

[0104] In this embodiment, the cable displacement information of the plurality of bend measurement tubes in the bend measurement tube group to be processed is summed to obtain the total displacement change of the bend measurement tube group to be processed.

[0105] (2) Based on the total amount of cable displacement change, the cross-sectional diameter of the spring tube and a preset displacement-curvature mapping function, the bending curvature corresponding to the target outer sleeve bending position segment is determined.

[0106] Wherein, the preset displacement-curvature mapping function is:

[0107] Where, is the bending curvature corresponding to the bending position section of the outer sleeve, ΔL is the total cable displacement change corresponding to the bending measurement tube group to be processed, and d is the cross-sectional diameter of the spring tube.

[0108] In this embodiment, the total cable displacement change and the cross-sectional diameter of the spring tube are substituted into a preset displacement-curvature mapping function for calculation to obtain the bending curvature corresponding to the target outer sleeve bending position segment.

[0109] The method provided in the embodiment of the present application determines the cable displacement information of multiple bending measurement tubes based on the corresponding displacement sensors, and then, for the multiple bending measurement tubes, determines at least one bending measurement tube group to be processed and at least one unbending measurement tube group based on the cable displacement information and preset bending judgment conditions. For the bending measurement tube group to be processed, the outer tube bending position segment of the outer tube of the endoscopic outer tube and the bending curvature corresponding to the outer tube bending position segment are determined based on the digital identification of the bending measurement tube included in the bending measurement tube group to be processed, the cable displacement information and the cross-sectional diameter of the spring tube, thereby realizing stable, fast, efficient and low-cost determination of the bending information of the outer tube of the endoscopic outer tube.

[0110] Example 3

[0111] FIG10 is a schematic diagram of the structure of a device for determining bending information of an endoscope outer tube provided in a third embodiment of the present application. The device can execute the method for determining bending information of an endoscope outer tube provided in an embodiment of the present application. The endoscope outer tube includes a plurality of bending measurement tubes sequentially arranged on the inner wall of the endoscope outer tube; each bending measurement tube corresponds to a unique digital identifier; each bending measurement tube includes a cable and a spring tube surrounding a portion of the cable, the length of the cable is greater than the length of the spring tube, the cable and the spring tube have the same fixed end point on the inner wall of the outer tube, the fixed starting point of the cable is located at one of at least one first calibration position on the inner wall of the outer tube, and the fixed starting point of the spring tube is located at a second calibration position on the inner wall of the outer tube; a displacement sensor is configured at the fixed starting point of each bending measurement tube cable; each bending measurement tube has a different fixed end point on the inner wall of the outer tube. The device includes: a cable displacement information acquisition module 310 and a bending information determination module 320.

[0112] The cable displacement information acquisition module 310 is configured to determine cable displacement information of the plurality of bending measurement tubes based on the corresponding displacement sensors;

[0113] The bending information determination module 320 is configured to determine the bending information of the outer sleeve of the endoscopic tube based on the digital identifications of multiple bending measurement tubes, the corresponding cable displacement information and the cross-sectional diameter of the spring tube; wherein the bending information includes the outer sleeve bending position segment and the bending curvature corresponding to the outer sleeve bending position segment.

[0114] The device provided in the embodiment of the present application includes a plurality of bending measurement tubes arranged in sequence on the inner wall of the outer tube of the endoscopic tube; each bending measurement tube corresponds to a unique digital identifier; each bending measurement tube includes a cable and a spring tube surrounding a portion of the cable, the length of the cable is greater than the length of the spring tube, the fixed end points of the cable and the spring tube on the inner wall of the outer tube are the same, the fixed starting point of the cable is located at one of at least one first calibration position on the inner wall of the outer tube, and the fixed starting point of the spring tube is located at a second calibration position on the inner wall of the outer tube; a displacement sensor is configured at the fixed starting point of the cable of each bending measurement tube; each bending measurement tube has a different fixed end point on the inner wall of the outer tube, and a specific method for determining the bending information of the outer tube of the endoscopic tube is as follows: for multiple bending measurement tubes, the cable displacement information is determined based on the corresponding displacement sensor, and the bending information of the outer tube of the endoscopic tube is determined based on the digital identifiers of the multiple bending measurement tubes, the corresponding cable displacement information and the cross-sectional diameter of the spring tube, wherein the bending information includes the outer tube bending position segment and the bending curvature corresponding to the outer tube bending position segment. To obtain the frictional force between each spring guide tube and the transmission cable in the instrument conduit of a flexible transluminal surgical robot, this application embeds several bend measurement tubes in the outer sleeve of a transluminal endoscope. By combining the bending characteristics of the cables with the spring guide tubes, the bending information of the transluminal endoscope outer sleeve during use can be identified online. This allows for stable, rapid, efficient, and low-cost determination of the bending information of the transluminal endoscope outer sleeve. Consequently, the cumulative curvature of the transluminal endoscope outer sleeve can be determined based on the bending information, providing effective feedback information for friction assessment during transluminal surgery and precise end-instrument control.

[0115] Optionally, the bending information determination module 320 includes:

[0116] a bending measurement tube determination submodule configured to determine, for the plurality of bending measurement tubes, at least one bending measurement tube group to be processed and at least one unbent measurement tube group based on the cable displacement information and a preset bending judgment condition;

[0117] The bending information determination submodule is configured to determine the bending information of the endoscope outer sleeve based on the digital identification of the bending measurement tube group to be processed, the cable displacement information and the cross-sectional diameter of the spring tube.

[0118] Optionally, the bent measurement tube determination submodule is specifically configured to determine the cable displacement information equal to or greater than a preset displacement threshold and at least two bent measurement tubes that are digitally adjacent to each other as a bent measurement tube group to be processed; and to determine the cable displacement information less than a preset displacement threshold and at least two bent measurement tubes that are digitally adjacent to each other as an unbent measurement tube group.

[0119] Optionally, the bending information determination submodule includes:

[0120] a bending segment determining unit configured to determine a target outer tube bending position segment of the endoscopic outer tube based on a first digital identifier of a first bending measurement tube and a second digital identifier of a last bending measurement tube in the group of bending measurement tubes to be processed;

[0121] The bending curvature determining unit is configured to determine the bending curvature corresponding to the target outer sleeve bending position segment based on the cable displacement information of the plurality of bending measurement tubes in the to-be-processed bending measurement tube group and the cross-sectional diameter of the spring tube.

[0122] Optionally, the curved segment determining unit includes:

[0123] A mapping table acquisition subunit is configured to acquire a preset code-position mapping relationship table; wherein the preset code-position mapping relationship table is a correspondence relationship table between the digital identifier of the bending measurement tube and the position information of the fixed end point of the bending measurement tube on the outer sleeve of the cavity endoscope;

[0124] a start identifier determining subunit, configured to determine a digital identifier adjacent to the first digital identifier as a start digital identifier;

[0125] a start and end position determining subunit, configured to determine a bending start position corresponding to the start digital identifier and a bending end position corresponding to the second digital identifier based on the start digital identifier, the second digital identifier, and the preset code-position mapping relationship table;

[0126] The bending segment determination subunit is configured to determine the area from the bending start position to the bending end position of the endoscopic outer tube as a target outer tube bending position segment.

[0127] Optionally, the bending curvature determining unit includes:

[0128] a displacement change amount determining subunit configured to determine a total amount of cable displacement changes corresponding to the bend measurement tube group to be processed based on cable displacement information of a plurality of the bend measurement tubes in the bend measurement tube group to be processed;

[0129] a bending curvature determination subunit, configured to determine a bending curvature corresponding to the target outer sleeve bending position segment based on the total amount of cable displacement change, the cross-sectional diameter of the spring tube, and a preset displacement-curvature mapping function;

[0130] Wherein, the preset displacement-curvature mapping function is:

[0131] Where, is the bending curvature corresponding to the bending position section of the outer sleeve, ΔL is the total cable displacement change corresponding to the bending measurement tube group to be processed, and d is the cross-sectional diameter of the spring tube.

[0132] Optionally, the outer sleeve of the endoscopic tube also includes: a measuring tube support frame, which is configured to fix the end points of multiple curved measuring tubes; the number of the measuring tube support frames is consistent with the number of the curved measuring tubes, and the placement interval of the multiple measuring tube support frames on the inner wall of the outer sleeve is consistent with the difference in pipe length of the multiple curved measuring tubes.

[0133] The device for determining bending information of an outer tube of a luminal endoscope provided in an embodiment of the present disclosure can execute the method for determining bending information of an outer tube of a luminal endoscope provided in any embodiment of the present disclosure, and has functional modules and beneficial effects corresponding to the execution method.

[0134] The various units and modules included in the above-mentioned device are divided according to functional logic and can realize corresponding functions; in addition, the specific names of the functional units are only for the convenience of distinguishing them from each other.

[0135] Example 4

[0136] Figure 11 is a schematic diagram of the structure of an electronic device provided in Example 4 of the present application. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions can be used as examples.

[0137] As shown in Figure 11, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the ROM 12 or the computer program loaded from the storage unit 18 into the RAM 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12 and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0138] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0139] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for determining curvature information of an endoscope overtube.

[0140] In some embodiments, the method for determining curvature information applied to a luminal endoscope overtube can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining curvature information applied to a luminal endoscope overtube described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for determining curvature information applied to a luminal endoscope overtube in any other appropriate manner (e.g., by means of firmware).

[0141] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard parts (ASSPs), system on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0142] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a general-purpose computer, a special-purpose computer, or other programmable processor for use in a device for determining curvature information of an endoscope outer cannula, so that when executed by the processor, the computer programs implement the functions / operations specified in the flowcharts and / or block diagrams. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0143] In the context of the present application, computer-readable storage medium can be a tangible medium that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage medium can include electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage medium can be a machine-readable signal medium. Machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, RAM, ROM, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device or any suitable combination of the foregoing.

[0144] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0145] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0146] A computing system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. The client-server relationship is established by computer programs running on the respective computers and establishing a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within a cloud computing service system that addresses the management difficulties and poor business scalability of traditional physical hosts and virtual private server (VPS) services. The various forms of the processes shown above may be used to reorder, add, or delete steps. For example, the steps described in this application may be executed in parallel, sequentially, or in a different order, as long as the desired results of this application are achieved. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A method for determining bending information, applied to an outer sleeve of a endoscopic tube, the outer sleeve comprising a plurality of bending measurement tubes sequentially arranged on the inner wall of the outer sleeve of the endoscopic tube; each bending measurement tube corresponds to a unique digital identifier; each bending measurement tube comprises a cable and a spring tube surrounding a portion of the cable, the length of the cable being greater than the length of the spring tube, the cable and the spring tube having the same fixed end point at the inner wall of the outer sleeve, the fixed starting point of the cable being located at one of at least one first calibration position on the inner wall of the outer sleeve, and the fixed starting point of the spring tube being located at a second calibration position on the inner wall of the outer sleeve; a displacement sensor is configured at the fixed starting point of each bending measurement tube cable; each bending measurement tube having a different fixed end point at the inner wall of the outer sleeve, the method comprising: For each of the plurality of bend measurement tubes, determining cable displacement information based on the corresponding displacement sensors; Based on the digital identifications of the multiple bending measurement tubes, the corresponding cable displacement information and the cross-sectional diameter of the spring tube, the bending information of the outer sleeve of the endoscopic tube is determined; wherein, the bending information includes the outer sleeve bending position segment and the bending curvature corresponding to the outer sleeve bending position segment.

2. The method according to claim 1, wherein The method of determining the curvature information of the endoscopic outer sleeve based on the digital identifiers of the plurality of curvature determination tubes, the corresponding cable displacement information, and the cross-sectional diameter of the spring tube includes: For the plurality of bending measurement tubes, determining at least one bending measurement tube group to be processed and at least one unbending measurement tube group based on the cable displacement information and a preset bending judgment condition; For the bend measurement tube group to be processed, the bend information of the outer sleeve of the endoscopic tube is determined based on the digital identification of the bend measurement tube included in the bend measurement tube group to be processed, the cable displacement information and the cross-sectional diameter of the spring tube.

3. The method according to claim 2, wherein: The preset bending judgment condition is: Determine at least two bending measurement tubes whose cable displacement information is equal to or greater than a preset displacement threshold and whose digital identifiers are adjacent to each other as a bending measurement tube group to be processed; At least two bent measurement tubes whose cable displacement information is smaller than a preset displacement threshold and whose digital identifiers are adjacent to each other are determined as an unbent measurement tube group.

4. The method according to claim 3, wherein: The method of determining the curvature information of the outer sleeve of the endoscopic tube based on the digital identification of the curvature measurement tube included in the curvature measurement tube group to be processed, the cable displacement information, and the cross-sectional diameter of the spring tube includes: Determining a target outer tube bending position segment of the endoscopic outer tube based on the first digital identifier of the first bending measurement tube and the second digital identifier of the last bending measurement tube in the group of bending measurement tubes to be processed; Based on the cable displacement information of the plurality of bend measurement tubes in the bend measurement tube group to be processed and the cross-sectional diameter of the spring tube, the bending curvature corresponding to the target outer sleeve bending position segment is determined.

5. The method according to claim 4, wherein The step of determining a target outer tube bending position segment of the endoscopic outer tube based on the first digital identifier of the first bending measurement tube and the second digital identifier of the last bending measurement tube in the group of bending measurement tubes to be processed comprises: Obtaining a preset code-position mapping relationship table; wherein the preset code-position mapping relationship table is a correspondence relationship table between the digital identifier of the bending measurement tube and the position information of the fixed end point of the bending measurement tube on the outer sleeve of the cavity endoscope; Determine the digital identifier adjacent to the first digital identifier as the starting digital identifier; Determining a bending start position corresponding to the starting digital identifier and a bending end position corresponding to the second digital identifier based on the starting digital identifier, the second digital identifier, and the preset code-position mapping relationship table; The area from the bending start position to the bending end position of the outer tube of the endoscopic cavity is determined as a target outer tube bending position segment.

6. The method according to claim 4, wherein: The determining of the curvature corresponding to the target outer sleeve bending position segment based on the cable displacement information of the plurality of bending measurement tubes in the to-be-processed bending measurement tube group and the cross-sectional diameter of the spring tube comprises: determining a total amount of cable displacement changes corresponding to the bend measurement tube group to be processed based on cable displacement information of a plurality of the bend measurement tubes in the bend measurement tube group to be processed; Determining the curvature of the target outer sleeve bending position segment based on the total amount of cable displacement change, the cross-sectional diameter of the spring tube, and a preset displacement-curvature mapping function; Wherein, the preset displacement-curvature mapping function is: Where, is the bending curvature corresponding to the bending position section of the outer sleeve, ΔL is the total cable displacement change corresponding to the bending measurement tube group to be processed, and d is the cross-sectional diameter of the spring tube.

7. The method according to claim 1, wherein The outer sleeve of the endoscopic tube also includes: a measuring tube support frame, which is configured to fix the end points of multiple curved measuring tubes; the number of the measuring tube support frames is consistent with the number of curved measuring tubes, and the placement interval of the multiple measuring tube support frames on the inner wall of the outer sleeve is consistent with the difference in pipe length of the multiple curved measuring tubes.

8. A device for determining bending information, applied to an outer sleeve of a endoscopic tube, the outer sleeve comprising a plurality of bending measurement tubes sequentially arranged on the inner wall of the outer sleeve; each bending measurement tube corresponds to a unique digital identifier; each bending measurement tube comprises a cable and a spring tube surrounding a portion of the cable, the length of the cable being greater than the length of the spring tube, the cable and the spring tube having the same fixed end point at the inner wall of the outer sleeve, the fixed starting point of the cable being located at one of at least one first calibration position on the inner wall of the outer sleeve, and the fixed starting point of the spring tube being located at a second calibration position on the inner wall of the outer sleeve; a displacement sensor is configured at the fixed starting point of each bending measurement tube cable; each bending measurement tube has a different fixed end point at the inner wall of the outer sleeve, the device comprising: a cable displacement information acquisition module configured to determine cable displacement information for a plurality of bending measurement tubes based on corresponding displacement sensors; The bending information determination module is configured to determine the bending information of the outer sleeve of the endoscopic tube based on the digital identifications of multiple bending measurement tubes, the corresponding cable displacement information and the cross-sectional diameter of the spring tube; wherein the bending information includes the outer sleeve bending position segment and the bending curvature corresponding to the outer sleeve bending position segment.

9. An electronic device comprising: one or more processors; a storage device for storing one or more programs, When one or more programs are executed by one or more processors, the one or more processors implement the method for determining bending information of an outer tube of a luminal endoscope as claimed in any one of claims 1 to 7.

10. A storage medium comprising computer executable instructions, wherein the computer executable instructions are used to execute the method for determining bending information of an outer tube of a luminal endoscope according to any one of claims 1 to 7 when executed by a computer processor.

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