CN116350154B

CN116350154B - Endoscope ventilation control method and endoscope

Info

Publication number: CN116350154B
Application number: CN202310348888.7A
Authority: CN
Inventors: 方乐堃; 方晟堃
Original assignee: Guangzhou Shipoyu Biotechnology Co ltd
Current assignee: Guangzhou Shipoyu Biotechnology Co ltd
Filing date: 2023-03-31
Publication date: 2024-07-09
Anticipated expiration: 2043-03-31

Abstract

The invention belongs to the technical field of endoscopes in medical/animal medical appliances, and in particular relates to an endoscope ventilation control method and an endoscope, comprising the following steps: (a) acquiring a current moment image; (b) acquiring each size in the image; (c) Acquiring the sum of the corresponding first overlapping sizes and the lengths of overlapping parts of the tissue wall and the non-tissue wall in each size in the image, and the sum of the corresponding second overlapping sizes and the lengths of the overlapping parts; (e) Acquiring the major axis sizes of the maximum ellipses of the non-tissue wall area and the non-tissue wall, and acquiring the major axis sizes of the maximum ellipses of the tissue wall area and the tissue wall; (f) Acquiring a filling amount evaluation value delta _t; (g) Obtaining a filling amount evaluation value delta _t+1 at the next moment; (h) Obtaining a ventilation value sigma _t+1; (i) obtaining the current ventilation regulation required. The invention can analyze the dynamic proportion of the tissue wall of different observation samples in the visual field in real time, and quantizes the filling amount evaluation value through the visual field and is used for controlling the accurate adjustment of the filling amount.

Description

Endoscope ventilation control method and endoscope

Technical Field

The invention belongs to the technical field of endoscopes in medical/animal medical appliances, and particularly relates to an endoscope ventilation control method and an endoscope.

Background

In animal experiments, medical treatments and medical researches, it is often necessary to observe images of the inside of living bodies/tissues, and an endoscopic imaging system is currently the main device for such observation. An endoscope is a commonly used instrument which can enter a living body through a natural duct of the living body to observe internal tissues or structures. Internal lesions, abnormalities, and the like, which cannot be observed by other examinations, can be observed by an endoscope. Commonly used endoscopes are classified into physical optical imaging and electronic digital imaging according to imaging forms. The electronic digital imaging endoscope consists of an inner detection pipeline, an imaging sensor, an image digital circuit, a transmission circuit, a display panel and a corresponding software system. The inner detection pipeline of the endoscope system is divided into a hard pipeline and a flexible pipeline, and the corresponding type of inner detection pipeline is selected according to different observation targets. Since the size of the dimensions determines the size and length of the selected endoscopic probe tube when viewing the internal structures of the medical/animal.

The internal space of part of experimental biological tissues is narrow, and a proper amount of tissue is filled in an inflatable mode to provide sufficient observation space. And in the inspection process, the air pressure among different parts is inconsistent, the change is quick, and the pressure of the air pump is difficult to dynamically and artificially control. In the past, pressure control is needed by matching with an air pressure detection and automatic air pump control system. If the vent valve is forcibly closed, the air pump is forced to stop operating under the condition of energizing, and the air pump is damaged. It is therefore important to find a suitable way to maintain the pressure in the observed area and to automatically and dynamically adjust it according to the pressure.

In addition, for the inflation control of the very small space, the control is mainly performed by controlling a flow valve at present; however, the requirement on the flow control precision of a narrow space is extremely high, the traditional air flow control is realized through the linkage of a sensor and a valve, the traditional equipment cannot realize stable micro-flow air pressure control temporarily, if a high-precision flow controller is used, the cost is extremely high, and an operator is still required to control the air flow frequently; and a fixed flow rate and air pressure value cannot be determined due to individual differences of the observation samples.

Disclosure of Invention

The invention aims to overcome the defects that the air pressure cannot be dynamically and accurately regulated aiming at different observation samples and the stable micro-flow air pressure control cannot be realized in the prior art, and provides an endoscope ventilation control method and an endoscope.

In order to achieve the above object, in a first aspect, the present invention provides an endoscope ventilation control method comprising the steps of:

(a) Acquiring an image corresponding to the shooting visual field of the endoscope at the current moment;

(b) Based on the image, acquiring a tissue wall and a non-tissue wall in the image, and simultaneously acquiring various sizes in the image, wherein each size comprises a transverse maximum length, a longitudinal maximum length, a left diagonal maximum length and a right diagonal maximum length;

(c) Acquiring respective first respective overlapping dimensions of overlapping portions of the tissue wall in the image and respective second respective overlapping dimensions of overlapping portions of the non-tissue wall in the image based on the tissue wall, the non-tissue wall, and the respective dimensions in the image;

(d) Acquiring the sum L2 of the lengths of the first overlapping sizes and the second overlapping sizes based on the first overlapping sizes and the second overlapping sizes, and acquiring the sum L1 of the lengths of the second overlapping sizes;

(e) Based on the tissue wall and the non-tissue wall, acquiring a non-tissue wall area S1 and a major axis dimension R1 of a maximum ellipse of the non-tissue wall, and acquiring a tissue wall area S2 and a major axis dimension R2 of the maximum ellipse of the tissue wall;

(f) Based on L2, L1, S2, R2, S1 and R1 and a preset filling amount relation table, acquiring a filling amount evaluation value delta _t of the current time t under the current visual field; the preset filling amount relation table comprises corresponding relations of L2, L1, S2, R2, S1 and R1 and filling amount evaluation values delta under the moment of evaluation;

(g) Maintaining the current constant ventilation at the ventilation sigma _t at the current time t, and repeating the steps (a) - (f) to obtain a filling quantity evaluation value delta _t+1 at the next time;

(h) Acquiring a ventilation value sigma _t+1 corresponding to the next time t+1 based on the filling quantity evaluation value delta _t+1, the filling quantity evaluation value delta _t, the ventilation value sigma _t of the current time t and a preset ventilation relation table; the preset ventilation relation table comprises a corresponding relation between sigma _t+1 and sigma _t、Δ_t+1、Δ_t;

(i) Based on the ventilation value sigma _t+1 and the ventilation value sigma _t, the current required ventilation adjustment quantity is obtained, and then the ventilation of the endoscope is adjusted.

In some preferred embodiments of the present invention, the acquiring each size in the image based on the image in step (b) includes:

acquiring the resolution of the currently acquired image based on the image;

and acquiring each size represented by the number of pixels based on the resolution of the currently acquired image.

In some preferred embodiments of the present invention, the obtaining a non-tissue wall area S1, a major axis dimension R1 of a maximum ellipse of the non-tissue wall and obtaining a tissue wall area S2, a major axis dimension R2 of a maximum ellipse of the tissue wall based on the non-tissue wall and the tissue wall in the step (e) includes:

Based on the non-tissue wall, acquiring the total number of pixel points in a partial image interval where the non-tissue wall is positioned as a non-tissue wall area S1; the number of the pixels with all the straight line lengths in the partial image interval of the non-tissue wall is obtained, and the maximum number of the pixels with all the straight line lengths is further obtained and used as the major axis dimension R1 of the maximum ellipse of the non-tissue wall;

Based on the tissue wall, acquiring the total number of pixel points in a partial image interval where the tissue wall is positioned as a tissue wall area S2; and acquiring the number of pixel points with all the straight line lengths in the partial image interval of the tissue wall, and further acquiring the maximum number of pixel points with all the straight line lengths as the major axis dimension R2 of the maximum ellipse of the tissue wall.

In some preferred embodiments of the present invention, the correspondence in the preset filling amount relation table in the step (f) is:

wherein, alpha, beta and gamma are respectively proportional coefficients, alpha is 0.7-0.85, beta is 0.03-0.07, gamma is 0.08-0.27, and the sum of alpha, beta and gamma is 1.

In some preferred embodiments of the present invention, the correspondence in the preset ventilation relation table in step (h) is:

in a second aspect, the present invention provides an endoscope, including an image acquisition device, an endoscopic probe, a ventilation device, and a control module, where the control module is connected to the image acquisition device, the endoscopic probe, and the ventilation device, respectively, and the control module is configured to execute the ventilation control method of the endoscope in the first aspect.

In a third aspect, the present invention provides a flexible endoscope, including an endoscope probe, an optical lens and an imaging sensor mounted on the head of the endoscope probe, a catheter mounted in the endoscope probe, a supply device connected to the catheter, and a control module, wherein the control module is respectively connected to the imaging sensor, the endoscope probe, and the supply device, and the control module is used for executing the ventilation control method of the endoscope in the first aspect.

In some preferred embodiments of the invention, the supply means comprises a gas supply means.

Preferably, the gas supply device includes:

An air pump;

the first end of the gas output pipeline is communicated with the catheter in the endoscopic probe to output gas, the second end of the gas output pipeline is communicated with the air pump to be filled with gas, and the first end of the gas output pipeline is provided with a pneumatic control valve;

The first end of the air flow pressure relief pipeline is communicated with the air pump and the air output pipeline so as to relieve pressure when the air pressure in the air output pipeline is high, and an air flow pressure relief valve is arranged on the air flow pressure relief pipeline;

The spiral piece is arranged in the air flow pressure relief pipeline, is positioned at the upstream of the air flow pressure relief valve in the air flow pressure relief discharging direction and is used for enabling air flow to flow out in a spiral outward pressure relief mode; the size of the spiral surface of the spiral piece is gradually reduced along the air flow pressure relief and discharge direction, and the pipe orifice of the air flow pressure relief pipeline, which is provided with the spiral piece, is correspondingly provided with a conical inner cavity.

In some preferred embodiments of the invention, the screw comprises:

The middle shaft extends along the air flow pressure relief and discharge direction and is arranged in the air flow pressure relief pipeline, and the radial dimension of the middle shaft is smaller than that of the air flow pressure relief pipeline;

the spiral blades are spirally and extendedly arranged along the outer surface of the center shaft and are in contact with the inner wall of the airflow pressure relief pipeline.

Preferably, the total diameter of the endoscopic probe is not more than 2mm.

In some preferred embodiments of the present invention, the flexible endoscope further comprises:

A liquid supply device or an operating clamp device;

an optical fiber integrated within the endoscopic probe and extending along to an endoscopic probe head;

The integrated handle is connected with the endoscopic tube and comprises a handle shell, a light source brightness adjusting valve, an air valve switch, an air tube interface, a USB interface, a straight-through pipeline and a flow dividing mechanism, wherein the light source brightness adjusting valve, the air valve switch, the air tube interface and the USB interface are respectively arranged on the handle shell; the flow dividing mechanism is used for dividing the straight-through pipeline and the air pipe interface.

The beneficial effects are that:

according to the endoscope ventilation control method, the visual field image shot by the endoscope is analyzed, the visual field ratio of the tissue wall and the non-tissue wall is analyzed and observed, the filling quantity evaluation value of the tissue is quantized, and the required ventilation adjustment quantity is obtained and used for accurately ventilating in real time, so that automatic ventilation stability control is realized. The invention can avoid individual difference of the observation sample, and automatically adjust ventilation to achieve the optimal observation field of view; this approach avoids the use of expensive air pressure sensors and does not require the determination of fixed air pressure and air flow physical values, dynamically adjusting ventilation based on the state of the field of view being observed. The invention can be used for ventilation control in a narrow space, realizes stable control of extremely small ventilation and air pressure, and has extremely low structural cost.

In the scheme of the preset filling amount relation table of the preferred relation, the relation between the tissue wall and the non-tissue wall under the specific proportionality coefficient is carried out, so that the space proportion under different forms (such as circles or flats) can be balanced and quantized into a relatively fixed amount range, and the accurate measurement of the filling amount evaluation value is facilitated, thereby being beneficial to accurately regulating and controlling the required ventilation amount. The alpha, the beta and the gamma are respectively in a specific range, the sum of the alpha, the beta and the gamma is 1, and the sum of the weight values of different geometric evaluations is 1, so that the constraint evaluation value is favorable for balancing the calculation proportion of different geometric parameters, and the actual ventilation can be accurately evaluated under the condition that the evaluation value is relatively stable. Under the same condition, if alpha is too small, irregular change of geometric forms can cause repeated change of the evaluation value, and the evaluation value is unstable; an excessively large area ratio leads to a completely dominant evaluation, and the influence of the non-tissue wall morphology on the evaluation becomes smaller, for example, a long and flat morphology is in a collapsed state generally, but the area weight alpha is too large, so that the evaluation is easy to evaluate as filling, and the evaluation accuracy is reduced; if beta or gamma is too large, the geometric shape change can cause repeated change of the evaluation value, the evaluation value is unstable, if beta or gamma is too small, the area ratio can be completely dominant, and the influence of the non-tissue wall shape on the evaluation is small.

The flexible endoscope can ventilate and fill a narrow space of the endoscope, reduces ventilation capacity, does not damage an air pump due to pressure increase, has low structure cost, does not need repeated adjustment after adjusting stable air capacity, and greatly reduces operation complexity.

Furthermore, the inventor of the present invention also studied and found that in the prior art, the endoscope needs to maintain a small amount of air pressure at the same time to fill the space of the observed area, and the air pressure is generally continuously inflated by an air pump and directly controlled by a valve, but the second technical problem that the pressure of the observed area is too large to cause tissue rupture or the air pressure is unstable and negligence is easy to occur is easily caused. With the preferred structure, if resistance is encountered during the endoscopic examination, the pressure in the examination cavity is too high, the air flow at one end of the air output pipeline can be restrained from flowing out, and the air pressure conducted reversely can be discharged from the air flow pressure relief pipeline at the other end. After the pressure in the examination cavity is reduced, the air flow can be automatically supplemented. Therefore, the normal operation of the air pump can be maintained, the air pump is not damaged due to severe air pressure change, and the inflation flow of the endoscope can be automatically and dynamically adjusted according to the pressure.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of an endoscopic ventilation control method of the present invention.

Fig. 2 is a schematic view of a part of the structure of the flexible endoscope of the present invention.

Fig. 3 is a perspective view of the endoscopic probe of fig. 2 in accordance with the present invention.

Fig. 4 is a schematic structural view of an integrated handle according to the present invention.

Fig. 5 is a schematic view showing a specific structure of the gas supply apparatus or the ventilation apparatus of the present invention.

Fig. 6 is a schematic diagram showing a specific structure of the air flow pressure release pipeline and the screw member in fig. 5.

Fig. 7 is a view image of embodiment 1 of the present invention.

Description of the reference numerals

1. The device comprises an endoscopic tube, 2, an air pump, 3, a light source, 4, a display interface, 5, an integrated handle, 6, a gas output pipeline, 7, an air flow pressure relief pipeline, 8 and a screw; 101. conduit holes, 102, fiber holes, 103, optical lens holes; 501. the device comprises a USB interface, 502, an air pipe interface, 503, an air valve switch, 504, a light source brightness adjusting valve, 505, an inlet of a straight-through pipeline, 506, the tail part of an endoscopic probe, 601, an air pressure control valve, 701, an air flow pressure relief valve, 801, a central shaft, 802 and a spiral blade.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

The endpoints and any values of the ranges disclosed herein are not limited to the precise range or value, and are understood to encompass values approaching those ranges or values. For numerical ranges, one or more new numerical ranges may be found between the endpoints of each range, between the endpoint of each range and the individual point value, and between the individual point value, in combination with each other, and are to be considered as specifically disclosed herein. Wherein the terms "optional" and "optionally" mean either comprising or not comprising (or may not be present).

In a first aspect, the present invention provides a method for controlling ventilation of an endoscope, as shown in fig. 1, comprising the steps of:

(b) Based on the image, acquiring a tissue wall and a non-tissue wall in the image, and simultaneously acquiring various sizes in the image, wherein each size comprises a transverse maximum length, a longitudinal maximum length, a left diagonal maximum length and a right diagonal maximum length; it is understood that the diagonal line from left to right in the image is the diagonal line from top left to right in the image;

acquiring the resolution of the currently acquired image based on the image;

In the step (b) of the invention, based on the image, tissue walls and non-tissue walls in the image are obtained, a person skilled in the art can perform manual operation to divide the tissue walls and the non-tissue walls based on the image, or can use the existing computer image division technology to divide the tissue walls and the non-tissue walls based on the image, for example, a certain number of pictures can be collected, and manually mark the tissue and non-tissue wall intervals to be used as a training sample for machine learning, and the trained model is used as a prediction model to perform image division on a new input sample image to obtain a required divided image of the tissue walls and the non-tissue walls, which is the prior art and is not described herein.

In the step (c), the corresponding first overlapping sizes of the overlapping portions of the tissue wall in the image are obtained, and the corresponding sizes of the overlapping portions of the tissue wall in the image (the transverse maximum length, the longitudinal maximum length, the left diagonal maximum length, and the right diagonal maximum length) are obtained; the corresponding second overlapping dimensions of the overlapping portions of the non-tissue walls in the image are the same and are not described in detail herein. It should be understood that L2 is at least the sum of the overlapping transverse maximum length, the overlapping longitudinal maximum length, the overlapping left diagonal maximum length, the overlapping right diagonal maximum length of the tissue wall, and L1 is the same.

It should be understood that, the number of pixels for obtaining all straight line lengths in the partial image interval where the tissue wall is located refers to the number of pixels for obtaining any straight line length (i.e., a straight line length in any direction) in the partial image interval where the tissue wall is located, so as to facilitate obtaining the number of pixels contained in the maximum straight line.

The person skilled in the art can determine the preset filling amount relation according to the relation between the filling condition and L2, L1, S2, R2, S1, R1, for example, ventilation can be manually adjusted through experiments, a view image when the cavity is maximally filled and a view image when the cavity is collapsed to be minimum, through the two view images and intermediate state images thereof, corresponding L2, L1, S2, R2, S1, R1 can be obtained, so that corresponding relation is obtained to facilitate the subsequent estimation of ventilation adjustment amount, and corresponding delta _max、Δ_min is calculated through the six parameters, wherein delta _max、Δ_min is the upper limit and the lower limit of the corresponding evaluation value in the ideal filling state.

Wherein, alpha, beta and gamma are respectively proportional coefficients, alpha is 0.7-0.85, beta is 0.03-0.07, gamma is 0.08-0.27, and the sum of alpha, beta and gamma is 1. Under the preferred scheme, the inventor of the invention finds that the spatial proportion under different forms (such as circles or flats) can be balanced by correlating specific parameters of tissue walls and non-tissue walls under specific proportion coefficients, and the spatial proportion can be quantized into a relatively fixed amount, which is more beneficial to accurately measuring filling amount evaluation values, thereby being beneficial to accurately regulating and controlling the required ventilation.

In some specific embodiments, a mouse intestinal experiment is carried out, alpha, beta and gamma are arranged in the corresponding relation range of the formula, the observation visual field is always clear, the mouse has no obvious uncomfortable sign, and the evaluation value can be ensured to quantitatively and accurately reflect filling and collapsing states and can clearly distinguish filling and collapsing processes through repeated experiments of inflation and deflation; the acquisition of alpha, beta and gamma of 0.8, 0.05 and 0.15 is the optimal filling amount evaluation parameter for the current mouse experiment. After the alpha, beta and gamma parameters are determined, in actual use, the automatic inflation process is gentle and stable, and particularly under the condition of approaching a critical value, namely the maximum filling degree, the air quantity of the air pump can be controlled to a smaller stable value in real time, so that the inflation accuracy is ensured.

The method comprises the steps of (i) obtaining the current required ventilation adjustment quantity based on ventilation quantity sigma _t+1 and ventilation quantity sigma _t, and then adjusting the ventilation of an endoscope; it will be appreciated that, based on the ventilation values σ _t+1 and σ _t, a person skilled in the art can know whether the current ventilation belongs to the filling state or the collapsing state, and further determine the current required ventilation adjustment (which may be a ventilation increment or a ventilation decrement) according to the difference between the ventilation values σ _t+1 and σ _t, so as to control the opening and closing increment of the required valve, thereby implementing conversion of the corresponding parameter into a ventilation valve control parameter, and providing the ventilation valve control parameter to the corresponding valve in step (i), and implementing the ventilation control.

Preferably, as shown in fig. 5, the ventilation device includes:

an air pump 2;

A gas output pipe 6, a first end of which is used for outputting gas to the head of the inward-looking probe 1, a second end of which is communicated with the air pump 2 to be filled with gas, and a first end of which is provided with a pneumatic control valve 601;

The first end of the air flow pressure relief pipeline 7 is communicated with the air pump 2 and the air output pipeline 6 to relieve pressure when the air pressure in the air output pipeline 6 is high, and an air flow pressure relief valve 701 is arranged on the air flow pressure relief pipeline;

A screw 8 disposed in the air pressure release pipe 7 and upstream of the air pressure release valve 701 in the air pressure release discharge direction, for releasing the air flow in a spiral shape; preferably, the spiral surface of the spiral piece 8 gradually decreases in size along the air flow pressure relief discharging direction, and the pipe orifice of the air flow pressure relief pipe 7 provided with the spiral piece 8 is correspondingly provided with a conical inner cavity.

In some particularly preferred embodiments of the invention, as shown in fig. 5-6, the screw 8 comprises:

A center shaft 801 extending in the direction of air pressure relief and discharge and disposed in the air pressure relief duct 7, and having a radial dimension smaller than that of the air pressure relief duct 7;

the spiral blades 802 are spirally arranged along the outer surface of the center shaft 801 in a extending manner, and are in contact with the inner wall of the air flow pressure release pipeline 7.

The endoscope provided by the invention can adapt to the internal observation of complex animal tissues and can be used for proper filling according to actual conditions.

The prior art uses the existing endoscope equipment to simultaneously be equipped with continuous ventilation for filling the collapsed tissue in the interior, the endoscope cannot complete ventilation, and the ventilation is completed by externally sleeving, so that the diameter of the endoscope is further increased, and the operation complexity and the operation volume are increased. In this regard, in a third aspect, the present invention provides a flexible endoscope, including an endoscope probe, an optical lens and an imaging sensor mounted on a head of the endoscope probe, a catheter mounted in the endoscope probe, and a supply device connected to the catheter, and a control module, wherein the control module is respectively connected to the imaging sensor, the endoscope probe, and the supply device, and the control module is configured to perform the ventilation control method of the endoscope of the first aspect. In the flexible endoscope, the endoscopic tube is integrated with the breathable catheter, so that the flexible endoscope can provide inflation operation in the observation process without externally sleeving, and the defects of pollution or difficult operation and enlarged diameter caused by sleeving are avoided; the invention can provide integrated observation, collection, inflation and other operations.

The control module can be a PLC controller, a singlechip controller and the like, and can be selected by a person skilled in the art according to actual requirements.

The conventional endoscope is a hard mirror, and the shooting device transmits signals to the rear-end receiver through an optical fiber and the like to enable the rear-end receiver to receive and acquire images, but the imaging quality of an endoscope system transmitted through the optical fiber is reduced due to the loss of light rays in the optical fiber. In contrast, in the flexible endoscope, the imaging sensor and the optical lens are both arranged on the head of the endoscope probe, and the imaging sensor directly acquires the internal image information of the optical lens, so that the imaging is clear. In the invention, a person skilled in the art can match matched components according to requirements of an imaging sensor and the like, such as a cable is arranged in an endoscopic probe, the imaging sensor is transmitted to an imaging circuit system through the cable, the length of the endoscopic probe can be randomly adjusted without influencing imaging quality, and deeper observation can be carried out on the inside of a tissue.

In some preferred embodiments of the invention, the supply means comprises a gas supply means. The catheter of the invention can be used for ventilation pressurization in daily life, and can also be used for liquid perfusion by using an external access liquid supply device.

Furthermore, the inventor of the present invention has also studied and found that in the prior art, the endoscopy needs to maintain a small amount of air pressure at the same time to fill the space of the observed area, and the inflation is generally performed by continuously inflating the air pump, but the continuously inflating air pump can cause the air pressure to be continuously increased, so that the pressure of the observed area is excessively high, for example, the gastrointestinal tract endoscopy is performed, and the risk of excessively high pressure rupture of the gastrointestinal tract is caused. Aiming at the technical problems that the direct control of the inflation pressure through a valve in the prior art easily causes unstable air pressure and negligence, the invention discloses a novel exhaust structure at an exhaust end, and preferably, a gas supply device is shown in fig. 5, and comprises:

an air pump 2;

The first end of the air flow pressure release pipeline 7 is communicated with the air pump 2 and the air output pipeline 6 to release pressure when the air pressure in the air output pipeline 6 is large, and an air flow pressure release valve 701 is arranged on the air flow pressure release pipeline. Under the preferred scheme, certain pressure in the gas output pipeline can be maintained under the condition of maintaining normal operation of the gas pump, one end of the gas flow pressure relief pipeline is empty to exhaust, and the gas flow pressure output in the endoscopy process can be adjusted through the arrangement of the gas pressure control valves at the two ends and the gas flow pressure relief valve, so that the filling gas pressure in the control cavity is more stable.

With the adoption of the structure of the gas supply device, if resistance is encountered in the process of endoscopy, the pressure in the examination cavity is too high, so that the outflow of the gas flow at one end of the gas output pipeline can be restrained, and the reversely conducted gas pressure can be discharged from the gas flow pressure relief pipeline at the other end. After the pressure in the examination cavity is reduced, the air flow can be automatically supplemented. Therefore, the normal operation of the air pump can be maintained, and the air pump is not damaged due to severe air pressure change. But also can automatically and dynamically adjust the inflation flow of the endoscope according to the pressure.

In the invention, the ventilation quantity required to be regulated is quantized in the endoscope ventilation control method according to the first aspect to control the air pressure control valve and the air flow relief valve, and a person skilled in the art can control the air pressure control valve and the air flow relief valve according to the air flow of the proportion 1 (1-2) according to the requirement, and the proportion is linked in the control process.

Further preferably, the gas supply device further includes: the spiral piece 8 is disposed in the air pressure release pipeline 7 and is located upstream of the air pressure release valve 701 along the air pressure release discharge direction, so that the air flow is discharged in a spiral manner. Under this preferred scheme, set up the screw member that is used for reducing the air current and overflows the speed and discharge and lead to inside atmospheric pressure at the air outlet end of air current pressure release pipeline, let the air current spiral outwards flow, increased the stroke of air current, the change of atmospheric pressure can not conduct the cavity inside rapidly, makes the inside atmospheric pressure of cavity more stable.

More preferably, as shown in fig. 6, the spiral surface of the spiral member 8 gradually decreases in size along the direction of discharging the air flow pressure relief, and the orifice of the air flow pressure relief pipe 7 where the spiral member 8 is disposed is correspondingly configured as a conical inner cavity. Under this preferred scheme, the helicoid size is continuously narrowed towards the air current output direction, because the helicoid is continuously narrowed, and the air current is constantly compressed at the in-process volume of flowing, and atmospheric pressure increases, forms high pressure in the part, forms the isolation with the outside UNICOM space of air current relief valve and cavity inner space, and the air current leaks and leads to the atmospheric pressure to reduce because the increase of local high pressure and air current stroke, and the change of atmospheric pressure can not conduct the cavity inside rapidly, further makes the inside atmospheric pressure of cavity more stable.

In some preferred embodiments of the invention, as shown in fig. 6, the screw 8 comprises:

In some preferred embodiments of the present invention, the flexible endoscope further comprises: an optical fiber or LED integrated within the endoscope and extending along to the endoscope head. The endoscopic tube integrates the optical fiber or the LED for illumination, the matched light source and the light source brightness adjustment are arranged on the integrated handle of the endoscope, and the optical fiber is used for guiding light so as to ensure that the endoscopic tube does not exceed 2mm specified by the design size. The invention adopts the extremely small and integral consistent endoscopic probe, the diameter of the integral probe is not more than 2mm, the extremely small endoscopic probe is designed, the damage to animal/human tissues or cavity passages is avoided, and the portable design is convenient for operators to use in multiple scenes.

The endoscope of the present invention may also include conventional components such as handles and kits for the desired functions. Those skilled in the art can choose according to the actual needs.

In some preferred embodiments of the present invention, the flexible endoscope further comprises: a liquid supply device or an operating clamp device (e.g., a micro-operating clamp).

In some preferred embodiments of the present invention, as shown in fig. 4, the flexible endoscope further comprises: the integrated handle 5 is connected with the endoscopic probe 1 and comprises a handle shell, a light source brightness adjusting valve 504, an air valve switch 503, an air pipe interface 502, a USB interface 501, a straight-through pipeline and a shunt mechanism (not shown in the figure), wherein the light source brightness adjusting valve 504, the air valve switch 503, the air pipe interface 502, the USB interface 501, the straight-through pipeline and the shunt mechanism are respectively arranged on the handle shell, the straight-through pipeline and the shunt mechanism are positioned inside the handle shell and are arranged along the central axis of the handle shell, the light source brightness adjusting valve 504 is connected with an optical fiber, the air pipe interface 502 is communicated with a gas supply device, an inlet 505 of the straight-through pipeline is communicated with a liquid supply device or is sleeved with an operating clamp device, an outlet of the straight-through pipeline is communicated with a tail 506 of the endoscopic probe, and the inner straight-through pipeline is of a straight-through design as a whole and is not bent; the flow dividing mechanism is used for dividing the straight-through pipeline from the air pipe interface and is used for injecting liquid or introducing gas and the like required by an endoscopic target object into the endoscopic probe 1.

More preferably, the through pipe is mounted at the tail of the integrated handle and extends outwards along the central axis of the through pipe.

The liquid supply device or the operating clamp device is connected with the through pipeline, so that the injection of the liquid supply device or the tail of the operating clamp device to the tail of the endoscopic probe are all of a through design, the inner pipeline is not bent, the phenomenon that the operating clamp device in the traditional endoscope (the corresponding inner pipeline sleeved by the operating clamp is bent (90 degrees or 60 degrees) and is easy to damage is avoided, and friction or obstruction is generated between the operating clamp device and the inner pipeline when the operating clamp device is inserted from the input port and passes through the inner pipeline, so that damage to the pipeline is avoided.

It can be understood that the light source brightness adjusting valve, the air valve switch, the air valve interface, the USB interface, the through pipeline extending along the central axis of the handle housing, and the shunt mechanism can be integrated in the interior or the exterior of the integrated handle according to actual requirements, for example, the through pipeline, the optical fiber, and optional modules such as a video decoding circuit for matching are integrated in the interior of the integrated handle, the external through pipeline interface (the air pipe interface, the USB interface), the light source brightness adjusting valve, the air valve switch, the pipeline interface of the through pipeline, and the like are integrated in the exterior of the integrated handle, the positions of all the components thereof can be selected according to requirements, for example, the side part of the integrated handle is the air pipe interface, the tail part is the inlet of the through pipeline, and the injection device is used for injecting liquid required by an endoscopic target (or is used as an inlet of a micromanipulation forceps).

The specific structure of the endoscopic probe can be selected or optimized on the basis of meeting the arrangement of the parts, for example, as shown in fig. 2 and 3, the endoscopic probe is a multi-cavity hose (for example, different materials such as PTFE, PE and the like can be used), the head structure of the multi-cavity hose comprises an optical lens hole 103, a catheter hole 101 and a plurality of LEDs or optical fiber holes 102, the optical lens hole 103 is used for integrating an optical lens and an imaging sensor for imaging, and a transmission cable of the imaging sensor is connected with an internal circuit of a main body of the matched equipment through the multi-cavity hose; the catheter hole 101 uses a flexible airway tube integrated in a multi-lumen hose and connected to the air pump 2 in the main body of the accessory device; the optical fiber is connected with the light source 3 of the main body of the matched equipment through a multi-cavity hose and is used for providing additional illumination for the optical lens; the matched main body is also provided with a display interface 4.

For partial flexible endoscopes in the market, an imaging sensor is arranged at the front section of an endoscopic tube, but the product has larger size, is not suitable for endoscopic observation of tiny biological tissues, and is easy to scratch the observed tissues during observation. In this connection, the total diameter of the endoscope is preferably not more than 2mm. The flexible endoscopic probe can realize the extremely small total diameter under the condition of realizing self ventilation, and is suitable for endoscopic observation of extremely tiny tissues.

The invention will be further described in detail with reference to specific examples.

Example 1

An endoscope ventilation control method comprising the steps of:

(a) For an observation sample shown in fig. 7, specifically, a mouse intestinal tract, an image corresponding to an endoscope shooting visual field at the current moment is obtained;

(d) Based on the first overlapping sizes and the second overlapping sizes, obtaining a sum L2 of lengths of the first overlapping sizes (the number of specific pixels is 1375), and obtaining a sum L1 of lengths of the second overlapping sizes (the number of specific pixels is 557);

(e) Based on the tissue wall and the non-tissue wall, acquiring a non-tissue wall area S1 (the number of specific pixels is 65811), a major axis size R1 of a maximum ellipse of the non-tissue wall (the number of specific pixels is 152), and acquiring a tissue wall area S2 (the number of specific pixels is 94189) and a major axis size R2 of a maximum ellipse of the tissue wall (the number of specific pixels is 130); the method specifically comprises the following steps:

Based on the tissue wall, acquiring the total number of pixel points in a partial image interval where the tissue wall is positioned as a tissue wall area S2; the number of the pixels with all the straight line lengths in the partial image interval of the tissue wall is obtained, and the maximum number of the pixels with all the straight line lengths is further obtained and used as the major axis dimension R2 of the maximum ellipse of the tissue wall;

(f) Based on L2, L1, S2, R2, S1 and R1 and a preset filling amount relation table, acquiring a filling amount evaluation value delta _t;Δ_t of the current time t under the current visual field, wherein the larger the value is, the more filling is represented, and otherwise, collapse is represented; the preset filling amount relation table comprises corresponding relations of L2, L1, S2, R2, S1 and R1 and filling amount evaluation values delta at the time of evaluation, wherein the corresponding relations are specifically as follows:

wherein, alpha, beta and gamma are respectively proportional coefficients, alpha is 0.8, beta is 0.05, and gamma is 0.15; the resulting Δ _t is 42.879;

(g) Maintaining the current constant ventilation at the ventilation sigma _t at the current time t, and repeating the steps (a) - (f) to obtain a filling quantity evaluation value delta _t+1 (specifically 56.972) at the next time; it indicates that this ventilation is insufficient to support the current state;

(h) Based on the filling amount evaluation value delta _t+1, the filling amount evaluation value delta _t, the ventilation sigma _t (specifically 100 mL/min) of the current time t and a preset ventilation relation table, acquiring a ventilation sigma _t+1 (specifically 114 mL/min) corresponding to the next time t+1; the preset ventilation relation table comprises a corresponding relation between sigma _t+1 and sigma _t、Δ_t+1、Δ_t, and the corresponding relation is as follows:

(i) Based on the ventilation value sigma _t+1 and the ventilation value sigma _t, the current required ventilation adjustment quantity is obtained, namely the ventilation quantity needs to be increased by 14mL/min, and then the ventilation of the endoscope is adjusted.

The embodiment performs the ventilation control in a narrow space, realizes the stable control of extremely small ventilation amount and air pressure, does not damage an observation sample, and has good observation field of view after ventilation.

The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, a number of simple variants of the technical solution of the invention are possible, including combinations of the individual technical features in any other suitable way, which simple variants and combinations should likewise be regarded as being disclosed by the invention, all falling within the scope of protection of the invention.

Claims

1. An endoscope ventilation control method, characterized by comprising the following steps:

(b) Based on the image, acquiring tissue walls and non-tissue walls in the image, and simultaneously acquiring various sizes in the image, including a transverse maximum length, a longitudinal maximum length, a left diagonal maximum length and a right diagonal maximum length;

(e) Based on the non-tissue wall and the tissue wall, acquiring a non-tissue wall area S1 and a major axis dimension R1 of a maximum ellipse of the non-tissue wall, and acquiring a tissue wall area S2 and a major axis dimension R2 of the maximum ellipse of the tissue wall;

2. The method of claim 1, wherein the acquiring each size in the image based on the image in step (b) comprises:

acquiring the resolution of the currently acquired image based on the image;

3. The method according to claim 1 or 2, wherein the obtaining a non-tissue wall area S1, a major axis dimension R1 of a maximum ellipse of a non-tissue wall, and obtaining a tissue wall area S2, a major axis dimension R2 of a maximum ellipse of a tissue wall based on the non-tissue wall and the tissue wall in the step (e) comprises:

4. The method according to claim 1, wherein the correspondence in the preset filling amount relation table in the step (f) is:

5. The method of claim 1, wherein the correspondence in the preset ventilation relation table in step (h) is:

。

6. An endoscope comprising an image acquisition device, an endoscope probe and a ventilation device, and further comprising a control module, wherein the control module is respectively connected with the image acquisition device, the endoscope probe and the ventilation device, and the control module is used for executing the ventilation control method of the endoscope according to any one of claims 1-5.

7. A flexible endoscope, comprising an endoscope probe, an optical lens arranged on the head of the endoscope probe and an imaging sensor, and the flexible endoscope is characterized in that a catheter arranged in the endoscope probe, a supply device connected with the catheter and a control module are respectively connected with the imaging sensor, the endoscope probe and the supply device, and the control module is used for executing the ventilation control method of the endoscope according to any one of claims 1-5.

8. The flexible endoscope of claim 7, wherein the supply means comprises a gas supply means comprising:

An air pump;

The spiral piece is arranged in the air flow pressure relief pipeline and is positioned at the upstream of the air flow pressure relief valve in the air flow pressure relief discharging direction, and is used for enabling air flow to flow out in a spiral outward pressure relief mode.

9. The flexible endoscope of claim 8, wherein the spiral surface of the spiral member gradually decreases in size along the direction of air flow pressure relief and discharge, and the orifice of the air flow pressure relief pipeline where the spiral member is disposed is correspondingly disposed as a tapered inner cavity; and/or

The screw member includes:

10. The flexible endoscope of any of claims 7-9, wherein the overall diameter of the endoscope probe is no more than 2mm; and/or, the flexible endoscope further comprises:

A liquid supply device or an operating clamp device;