Thin long flexible rod spatial shape detecting device and method

Abstract

The present invention relates to a space form detection device of fine-long flexible bar and its detection method. Said device is composed of fine-long flexible bar, fiber-optic grating sensor array, fiber-optic grating modulator-demodulator, local area network router, data acquisition and data processing module and display equipment. The space form detection method of fine-long flexible bar includes the following steps: utilizing a group of grating array formed from four optical fibers arranged on the fine-long flexible bar, utilizing scale factor between the off-line labeled curvature and wavelength and utilizing fiber-optic grating modulator and demodulator to measure wavelengths of 20 raster points in five discrete points of fine-long flexible bar in the space so as to obtain the space curvature size and direction of discrete point position, then utilizing data processing module to reconstruct the form of said fine-long flexible bar in space. Said device can be used for making real-time tracking detection of human body cavity channel and fine-small vessel forms in the therapeutic process.

Description

Technical field [0001] The invention relates to a device and method for detecting the spatial shape of a slender flexible rod, and the focus is on the device and method for detecting the shape of a spatial flexible rod based on a fiber grating sensor array. Background technique [0002] This device is mainly used to detect the three-dimensional shape of the slender flexible rod. Here, the colonoscope is mainly used as the background. After the colonoscope is inserted into the human body, the bending information of the slender flexible rod is used to reproduce the shape information of the colon. . At present, colonoscopy is one of the important methods for diagnosing rectal and sigmoid diseases. About 70% of colorectal cancers are located in the rectum and sigmoid colon. Therefore, colonoscopy is of great significance for the detection and diagnosis of early cancer of the rectum and sigmoid colon. During the insertion of the colonoscope, it has to go through a very complicated pat...

AI Technical Summary

Problems solved by technology

However, this method uses a multi-link mechanism, which has a high positioning accuracy for the front end of the medical device. The disadvantage of the insertion type medical device mechanism is that the detection range is relatively small, and this method cannot display the shape of the insertion cavity in real time.

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