Force sensing structure and force sensing flexible tip controllable medical device

Abstract

The application provides a force sensing structure and a force sensing flexible end controllable medical instrument, and the force sensing structure comprises a first mounting plate, a plurality of metal screws, an elastic part, a second mounting plate, and at least one light sensor. The second mounting plate is provided with the at least one light sensor on one side close to the plurality of metal screws, and the other side away from the plurality of metal screws is fixedly connected with the other end of the elastic part. The at least one light sensor is used for collecting a real-time distance between the metal screw above the light sensor and the light sensor, and sending the real-time distance to an upper computer, so as to detect whether the flexible end controllable medical instrument collides with the human body inside. The force sensing structure can detect the collision of the flexible end controllable medical instrument with the human body inside in different directions in real time, improve the safety of the control process of the flexible end controllable medical instrument, and prevent the human body inside from being damaged.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a force-sensing structure and a force-sensing flexible end-effector controllable medical device. Background Technology

[0002] In related technologies, when doctors use flexible end-effectors to enter the human body, they usually use a camera installed on the medical device to provide real-time images of the inside of the body, and combine this with expert experience to determine whether the medical device has collided inside the body. This diagnostic method has low real-time performance. When the flexible end-effector has entered the human body, it has already collided with the inner wall of the organ, and the flexible end-effector is still moving forward, which can easily cause discomfort to the patient or cause rupture of the inner wall. Summary of the Invention

[0003] This invention provides a force-sensing structure and a force-sensing flexible end-effector controllable medical device to address the shortcomings of existing technologies that rely on real-time images of the human body fed back by the medical device's camera, combined with expert experience, to determine whether the medical device has collided inside the human body. These technologies are inefficient and prone to causing injury to the human body. This invention improves the force-sensing capability of the flexible end-effector controllable medical device.

[0004] This invention provides a force-sensing structure, comprising:

[0005] A first mounting plate, one side of which is provided with a plurality of metal screws;

[0006] An elastic component, one end of which is fixedly connected to the flexible end controllable medical device and the first mounting plate, respectively, and the elastic component is used to undergo elastic deformation when the flexible end controllable medical device is subjected to pressure;

[0007] A second mounting plate is provided with at least one photosensor on the side of the second mounting plate near the plurality of metal screws, and the side of the second mounting plate away from the plurality of metal screws is fixedly connected to the other end of the elastic part; the at least one photosensor is used to collect the real-time distance between the metal screw above the photosensor and the photosensor, and send the real-time distance to the host computer;

[0008] The host computer is used to detect whether the flexible end-effector collidees with the human body based on the real-time distance.

[0009] According to a force-sensing structure provided by the present invention, the second mounting plate has an opening at its center, and the elastic component includes:

[0010] The movable end is fixedly connected to the flexible end controllable medical device and the first mounting plate respectively through the opening, and the inner diameter of the opening is larger than the outer diameter of the movable end.

[0011] An elastic component base, one side of which is fixedly connected to the second mounting plate.

[0012] According to a force sensing structure provided by the present invention, a plurality of locking nuts are provided on the other side of the first mounting plate.

[0013] According to a force-sensing structure provided by the present invention, the plurality of metal screws are evenly distributed.

[0014] According to a force sensing structure provided by the present invention, the force sensing structure further includes:

[0015] The top plate is attached to the side of the first mounting plate near the locking nut, and the top plate is connected to the flexible end controllable medical device.

[0016] According to a force sensing structure provided by the present invention, the force sensing structure further includes:

[0017] The mounting base has one end fixedly connected to the other side of the elastic component base, and the other end detachably connected to the mounting assembly.

[0018] According to a force sensing structure provided by the present invention, the force sensing structure further includes:

[0019] A bellows is fitted onto the sidewall of the force-sensing structure, and the deformation of the bellows is related to the deformation of the elastic component of the force-sensing structure.

[0020] According to a force sensing structure provided by the present invention, the second mounting plate is a PCB board.

[0021] According to a force sensing structure provided by the present invention, the second mounting plate is provided with a plurality of support columns, and the plurality of support columns are fixedly connected to the elastic component.

[0022] The present invention also provides a force-sensing flexible end-effector controllable medical device, including a force-sensing structure.

[0023] The force-sensing structure and force-sensing flexible end-effector controllable medical device provided by this invention, by setting multiple metal screws on a first mounting plate, and fixing one end of an elastic part to the flexible end-effector controllable medical device and the first mounting plate respectively through an opening in a second mounting plate, and fixing the other end of the elastic part to the second mounting plate, and by setting at least one photosensor on the side of the second mounting plate near the multiple metal screws, it is possible to collect the real-time distance between the metal screws above the photosensor and the photosensor when the elastic part undergoes elastic deformation, and send the real-time distance to the host computer, so as to detect in real time the collision between the flexible end-effector controllable medical device and the human body in different directions, thereby improving the safety of the control process of the flexible end-effector controllable medical device. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is one of the structural schematic diagrams of the force sensing structure provided by the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the elastic part provided by the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the second mounting plate provided by the present invention;

[0028] Figure 4 This is the second schematic diagram of the force sensing structure provided by the present invention;

[0029] Figure 5 This is a structural schematic diagram of the force-sensing flexible end-effector controllable medical device provided by the present invention.

[0030] Figure label:

[0031] 100: Force sensing structure; 110: First mounting plate; 111: Metal screw;

[0032] 112: Locking nut; 120: Elastic part; 121: Moving end;

[0033] 122: Flexible component base; 130: Second mounting plate; 131: Light sensor;

[0034] 132: Support column; 140: Mounting base; 150: Top plate; 160: Corrugated pipe;

[0035] 200: Flexible end-effector controllable medical device; 300: Installation component. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0037] In the description of the embodiments of the present invention, it should be noted that the terms "upper," "lower," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, a wired communication connection, or a wireless communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0039] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0041] Flexible end-effectors can be used in the medical field as thin, flexible electronic endoscopes such as bronchoscopes, urethroscopy, duodenoscopes, cholangioscopes, and nephroscopes.

[0042] This invention is applicable not only to endoscopes, but also to other end-controlled flexible medical devices.

[0043] The following is combined with Figures 1-5 The present invention describes a force-sensing structure and a force-sensing flexible end-effector controllable medical device.

[0044] Figure 1 This is one of the structural schematic diagrams of the force sensing structure provided by the present invention, such as... Figure 1 As shown, the force sensing structure includes: a first mounting plate 110, a second mounting plate 130, an elastic component 120, and at least one photosensor 131.

[0045] A plurality of metal screws 111 are provided on one side of the first mounting plate 110.

[0046] In this embodiment, the first mounting plate 110 includes a metal screw mounting plate. A plurality of metal screws 111 can be provided on one side of the first mounting plate 110. For example, the first mounting plate 110 is provided with three screw holes, through which three metal screws 111 can be installed respectively.

[0047] In some embodiments, a plurality of non-metallic screws may also be provided on the first mounting plate 110.

[0048] One end of the elastic component 120 is fixedly connected to the flexible end controllable medical device 200 and the first mounting plate 110 respectively. The elastic component 120 is used to undergo elastic deformation when the flexible end controllable medical device 200 is subjected to pressure.

[0049] In this embodiment, the second mounting plate 130 may be a metal plate or a circuit board, for example, the second mounting plate 130 may be a PCB (Printed Circuit Board).

[0050] In this embodiment, one end of the flexible end controllable medical device 200 enters the human body for detection, and the other end of the flexible end controllable medical device 200 is connected to the elastic component 120. When one end of the flexible end controllable medical device 200 touches the inner wall of the human body or other obstacles, resistance is easily generated. This resistance is transmitted through the flexible end controllable medical device 200 to the elastic component 120, causing the elastic component 120 to deform.

[0051] At least one photosensitive sensor 131 is provided on the side of the second mounting plate 130 near the plurality of metal screws 111, and the side of the second mounting plate 130 away from the plurality of metal screws 111 is fixedly connected to the other end of the elastic part 120; at least one photosensitive sensor 131 is used to collect the real-time distance between the metal screws 111 above the photosensitive sensor 131 and the photosensitive sensor 131, and send the real-time distance to the host computer.

[0052] In this embodiment, the second mounting plate 130 is used to fix the detection position of a photosensitive sensor 131. For example, the relative position of the metal screws 111 on the first mounting plate 110 and the corresponding photosensitive sensor 131 on the second mounting plate 130 can be adjusted by adjusting the up and down positions of the multiple metal screws 111 on the first mounting plate 110.

[0053] In this embodiment, the photosensitive sensor 131 includes a photoelectric sensor, which obtains the real-time distance between the metal screw 111 and the corresponding photosensitive sensor 131 by the change in the transmission time of the light signal or the change in the light intensity.

[0054] In this embodiment, the photosensor 131 sends the acquired real-time distance to the host computer, which calculates the change in real-time distance at the current moment and determines whether the flexible end-effector 200 has collided with the human body at the current moment.

[0055] In this embodiment, as long as the real-time distance acquired by the photosensor changes at the current moment, it can be determined that the flexible end-controlled medical device 200 has collided with the human body at the current moment; for example, if the host computer detects that the real-time distance is less than the initial distance, it determines that the flexible end-controlled medical device 200 has collided with the human body at the current moment.

[0056] In this embodiment, the degree of collision between the controllable medical device 200 and the human body is related to the change in the real-time distance from the initial set distance. That is, when the real-time distance is less than the preset distance, it is determined that the resistance experienced by the flexible end controllable medical device 200 inside the human body at the current moment exceeds the tolerance of the human body, which may easily cause damage to the human body.

[0057] In this embodiment, the preset distance can be set according to user needs. For example, the initial distance threshold can be set to 2mm by adjusting the metal screw 111, and the preset distance threshold can be set to 1mm.

[0058] In this embodiment, if the real-time distance between the metal screw 111 and the photosensor 131 at time t (t is a positive number greater than 1) is 2 mm, then the flexible end-controlled medical device 200 does not collide with the human body at time t; if the real-time distance between the metal screw 111 and the photosensor 131 at time t+1 is 1.5 mm, then the flexible end-controlled medical device 200 collides with the human body at time t+1; if the real-time distance between the metal screw 111 and the photosensor 131 at time t+2 is 1 mm, then the flexible end-controlled medical device 200 is likely to cause damage to the human body at time t+2.

[0059] In this embodiment, the number of light sensors 131 on the second mounting plate 130 can be determined according to the user's actual needs, and the number of metal screws 111 on the first mounting plate 110 is the same as the number of light sensors 131.

[0060] For example, if the number of light sensors 131 on the second mounting plate 130 is set to three, and correspondingly, the number of metal screws 111 on the first mounting plate 110 is three, then the collision situation of the flexible end controllable medical device 200 in three different directions can be detected.

[0061] This invention provides a force-sensing structure. By setting multiple metal screws on a first mounting plate, one end of an elastic component is fixedly connected to a flexible end-effector and the first mounting plate through an opening in a second mounting plate. The other end of the elastic component is fixedly connected to the second mounting plate. By setting at least one photosensor on the side of the second mounting plate near the multiple metal screws, the system can collect the real-time distance between the metal screws above the photosensor and the photosensor when the elastic component undergoes elastic deformation. This real-time distance is then sent to a host computer, enabling real-time detection of collisions between the flexible end-effector and the human body in different directions, thus improving the safety of the flexible end-effector control process.

[0062] In some embodiments, the second mounting plate 130 has an opening at its center, and the elastic component 120 includes: a movable end 121, which is fixedly connected to the flexible end controllable medical device 200 and the first mounting plate 110 respectively through the opening, and the inner diameter of the opening is larger than the outer diameter of the movable end 121; and an elastic component base 122, one side of which is fixedly connected to the second mounting plate 130.

[0063] In this embodiment, the movable end 121 can be a columnar structure, for example, the movable end 121 can be a cylindrical structure.

[0064] In this embodiment, the movable end 121 can be a spring structure.

[0065] In this embodiment, the elastic component base 122 can be a disc or an open disc. The elastic component base 122 is used to support the movable end 121. The stability of the force sensing structure 100 and the mounting assembly 300 can be ensured by the fixed connection between the lower surface of the elastic component base 122 and the frustum of the mounting base 140.

[0066] In this embodiment, the movable end 121 passes through the opening at the center of the second mounting plate 130, but does not contact the edge of the opening, so as to avoid the additional friction caused by the side of the movable end 121 contacting the cross section of the opening, thereby interfering with the real-time distance detection of the photosensor 131.

[0067] Figure 2 This is a schematic diagram of the structure of the elastic part 120 provided by the present invention. Figure 2 In this embodiment, the movable end 121 is a columnar structure, the elastic part base 122 is an open disc, the movable end 121 passes through the opening on the second mounting plate 130 and is tightly closed to one side of the second mounting plate 130, the upper surface of the elastic part base 122 is fixedly connected to the second mounting plate 130, and the lower surface of the elastic part base 122 is fixedly connected to the upper surface of the frustum of the mounting base 140.

[0068] The force sensing structure provided in this embodiment of the invention is fixedly connected to a flexible end controllable medical device and a first mounting plate through an opening at the movable end of an elastic component, and fixedly connected to a second mounting plate on one side of the base of the elastic component. This shortens the sensing distance of the optical sensor to the surface of the metal screw, improves the sensitivity of the optical sensor, and enhances the structural compactness of the force sensing structure.

[0069] In some embodiments, a plurality of locking nuts 112 are provided on the other side of the first mounting plate 110.

[0070] In this embodiment, the number of locking nuts 112 on the first mounting plate 110 is the same as the number of metal screws 111, that is, the locking nuts 112 and the metal screws 111 are used together.

[0071] In this embodiment, the locking nut 112 is used to fix the metal screw 111 to one side of the first mounting plate 110, and the initial distance between the metal screw and the corresponding photosensitive sensor 131 is adjusted by adjusting the relative distance between the metal screw 111 and the second mounting plate 130.

[0072] exist Figure 1 In the embodiment shown, the upper surface of the first mounting plate 110 is provided with three locking nuts 112 and three metal screws 111. The upper surface of the second mounting plate 130 has three photo sensors 131. There is a metal screw 111 directly above each photo sensor 131. The three locking nuts 112 are used to fix the three metal screws 111 at different positions to the first mounting plate 110.

[0073] In this embodiment, during the actual operation of the flexible end-effector 200, the sensitivity of the photosensor 131 is affected by the ambient light intensity, and the use of a 160 corrugated tube can isolate the influence of the external environment.

[0074] The force sensing structure provided in this embodiment of the invention can fix corresponding metal screws to the first mounting plate by setting multiple locking nuts on the first mounting plate. Then, by adjusting the relative distance between the metal screws and the second mounting plate, the relative distance between the metal screws and multiple light sensors can be adjusted according to different usage scenarios, thereby improving the sensitivity of the light sensors.

[0075] In some embodiments, a plurality of metal screws 111 are evenly distributed.

[0076] In this embodiment, the plurality of metal screws 111 on the first mounting plate 110 are symmetrically distributed. For example, the mounting positions of the plurality of metal screws 111 are axially symmetrical or centrally symmetrical.

[0077] exist Figure 1 In the embodiment shown, the three locking nuts 112 of the first mounting plate 110 are axially symmetrical, and correspondingly, the three metal screws 111 of the first mounting plate 110 and the three photosensors 131 of the second mounting plate 130 are also axially symmetrically distributed, which enables the elastic part 120 to be uniformly subjected to the gravity of the first mounting plate 110.

[0078] The force sensing structure provided in this embodiment of the invention, by setting multiple metal screws evenly distributed on a first mounting plate, ensures that the elastic part is subjected to uniform gravity of the first mounting plate, thereby guaranteeing that the initial distance between each group of metal screws and the corresponding photosensor is the same, and thus the real-time distance result collected by the photosensor is more reliable.

[0079] In some embodiments, the device further includes a top plate 150, which is attached to the side of the first mounting plate 110 near the locking nut 112, and the top plate 150 is connected to the flexible end-effector 200.

[0080] In this embodiment, the top plate 150 can be a sheet structure. One side of the top plate 150 is used to adhere the flexible end controllable medical device 200 to fix the flexible end controllable medical device 200 to the force sensing structure 100. The other side of the top plate 150 is used to fix and connect with the first mounting plate 110.

[0081] In this embodiment, the top plate 150 can be a cover-like structure, and the top plate 150 can be sleeved on the side of the first mounting plate 110 near the locking nut 112. The outer side of the top plate 150 is used to bond the flexible end controllable medical device 200, and fix the flexible end controllable medical device 200 to the force sensing structure 100. The inner side of the top plate 150 is bonded to the outer wall of the first mounting plate 110.

[0082] In this embodiment, the top plate 150 can protect the components on the first mounting plate 110 and the components below the first mounting plate 110 from environmental influences. For example, the top plate 150 can ensure that the locking nut 112 is dry and clean, and prevent the device from rusting.

[0083] The force sensing structure provided in this embodiment of the invention has a top plate that is closely attached to the side of the first mounting plate near the locking nut. The top plate is connected to a flexible end-effector, enabling the flexible end-effector to work in conjunction with the first mounting plate. At the same time, it ensures that the locking nut is dry and clean, reducing the safety threats caused by environmental erosion.

[0084] In some embodiments, the device further includes a mounting base 140, one end of which is fixedly connected to the other side of the resilient part base 122, and the other end of which is detachably connected to the mounting assembly 300.

[0085] In this embodiment, the force sensing structure 100 can be detachably connected to the mounting component 300 of the flexible end controllable medical device 200 via the mounting base 140, which facilitates the placement of the force sensing structure 100 on different flexible end controllable medical devices 200 to achieve collision sensing and detection; disassembly is convenient and simplifies user operation.

[0086] In this embodiment, the mounting base 140 includes a frustum and an insertion structure, wherein the frustum is fixedly connected to the elastic part base 122, and the insertion structure is used for detachable connection with the mounting assembly 300.

[0087] exist Figure 1In the embodiment shown, the lower surface of the elastic part base 122 is fixedly connected to the upper surface of the frustum, and the insertion structure is embedded into the mounting assembly 300 to achieve a detachable connection between the force sensing structure 100 and the mounting assembly 300.

[0088] The force sensing structure provided in this embodiment of the invention has a mounting base. One end of the mounting base is fixedly connected to the other side of the elastic component base, and the other end of the mounting base is detachably connected to the mounting assembly. This facilitates the installation of the force sensing structure in different flexible end-controllable medical devices to achieve collision sensing and detection, thereby enhancing the applicability of the force sensing structure.

[0089] In some embodiments, the flexible end-effector controllable medical device 200 further includes a bellows 160, which is sleeved on the sidewall of the force sensing structure 100, and the deformation of the bellows 160 is associated with the deformation of the elastic component 120 of the force sensing structure 100.

[0090] In this embodiment, the corrugated pipe 160 can be sealed with the mounting base 140 and top plate 150 of the force sensing structure 100 to ensure the waterproof performance of the force sensing module and to prevent interference from the internal environment of the human body to the light sensor 131.

[0091] In this embodiment, the bellows 160 changes shape as the elastic element 120 deforms, so as to ensure the normal use of the force sensing structure 100.

[0092] Figure 3 This is the second structural schematic diagram of the force sensing structure 100 provided by the present invention. Figure 3 In the embodiment shown, the bellows 160 is sleeved on the four sides of the force sensing structure 100. One end of the bellows 160 is close to the top plate 150 of the force sensing structure 100, and the other end is close to the mounting base 140. By sleeved with the bellows 160, the force sensing structure 100 is sealed and encapsulated, which can prevent human body fluids and blood from entering the sensor. It can also prevent disinfectant liquid from entering the force sensing module and causing damage during sterilization after surgery.

[0093] The flexible end-effector controllable medical device provided in this embodiment of the invention, by setting a corrugated tube sleeve on the side wall of the force sensing structure, can ensure that the force sensing structure is not damaged by the external environment, thereby improving the service life of the force sensing structure.

[0094] In some embodiments, the second mounting plate 130 is a PCB board.

[0095] In this embodiment, by deploying multiple photosensors 131 on the PCB board, the force sensing capability of the flexible end controllable medical device in three directions can be detected, thereby improving the accuracy of the measurement results and realizing multi-dimensional detection of collisions of the flexible end controllable medical device inside the human body.

[0096] Figure 4 This is a schematic diagram of the structure of the second mounting plate 130 provided by the present invention. Figure 4 In the embodiment shown, the upper surface of the PCB board is provided with three evenly distributed light sensors 131, each light sensor 131 being used to detect the real-time distance on the corresponding axis.

[0097] The force sensing structure provided in this embodiment of the invention improves the accuracy of real-time distance acquisition by the photosensor by setting the second mounting plate as a PCB board.

[0098] In some embodiments, the second mounting plate 130 is provided with a plurality of support columns 132, which are fixedly connected to the elastic component 120.

[0099] In this embodiment, a plurality of light sensors 131 are provided on one side of the second mounting plate 130, and a plurality of support columns 132 are provided on the other side. The plurality of support columns 132 are connected to the elastic component base 122 of the elastic component fixing 120.

[0100] exist Figure 4 In the embodiment shown, the lower surface of the PCB board is provided with three evenly distributed support columns 132, and the PCB board is fixedly connected to the elastic component base 122 to improve the stability of the PCB board installation.

[0101] The force sensing structure provided in this embodiment of the invention improves the stability of the connection between the second mounting plate and the base of the elastic component by setting multiple support columns on the second mounting plate and fixing the multiple support columns to the elastic component.

[0102] The flexible end-effector controllable medical device provided by the present invention is described below. The flexible end-effector controllable medical device described below can be referred to in correspondence with the force sensing structure described above.

[0103] Figure 5 This is a schematic diagram of the structure of the force-sensing flexible end-effector controllable medical device provided by the present invention, as shown below. Figure 5 As shown, the force-sensing flexible end-effector controllable medical device includes: a force-sensing structure 100.

[0104] The force sensing structure 100 includes: a first mounting plate, a second mounting plate, an elastic component, and at least one photosensor.

[0105] In this embodiment, a plurality of metal screws are provided on one side of the first mounting plate.

[0106] In this embodiment, the first mounting plate includes a metal screw mounting plate. Multiple metal screws can be provided on one side of the first mounting plate. For example, the first mounting plate has three screw holes, which can be used to install three metal screws respectively.

[0107] In this embodiment, one end of the elastic component is fixedly connected to the flexible end controllable medical device 200 and the first mounting plate, respectively. The elastic component is used to undergo elastic deformation when the flexible end controllable medical device 200 is subjected to pressure.

[0108] In this embodiment, the second mounting plate can be a metal plate or a circuit board, for example, the second mounting plate is a PCB board.

[0109] In this embodiment, one end of the flexible end controllable medical device 200 enters the human body for detection, and the other end of the flexible end controllable medical device 200 is connected to an elastic component. When one end of the flexible end controllable medical device 200 touches the inner wall of the human body or other obstacles, resistance is easily generated. This resistance is transmitted to the elastic component through the flexible end controllable medical device 200, causing the elastic component to deform.

[0110] The second mounting plate has at least one photosensitive sensor on the side near the multiple metal screws, and the side of the second mounting plate away from the multiple metal screws is fixedly connected to the other end of the elastic part; at least one photosensitive sensor is used to collect the real-time distance between the metal screw above the photosensitive sensor and the photosensitive sensor, and send the real-time distance to the host computer.

[0111] In this embodiment, the second mounting plate is used to fix the detection position of a photosensitive sensor. For example, the relative position of the metal screws 111 on the first mounting plate 110 and the corresponding photosensitive sensor 131 on the second mounting plate 130 can be adjusted by adjusting the up and down positions of the multiple metal screws 111 on the first mounting plate 110.

[0112] In this embodiment, the photosensitive sensor includes a photoelectric sensor, which obtains the real-time distance between the metal screw and the corresponding photosensitive device by the change in the transmission time of the light signal or the change in the light intensity.

[0113] In this embodiment, the photosensitive device sends the acquired real-time distance to the host computer. As long as the real-time distance acquired by the photosensitive device changes at the current moment, it can be determined that the flexible end controllable medical device 200 has collided with the human body at the current moment.

[0114] In this embodiment, the degree of collision between the controllable medical device 200 and the human body is related to the change in the real-time distance from the initial set distance. For example, if the host computer detects that the real-time distance is less than the preset distance, the resistance experienced by the flexible end controllable medical device 200 inside the human body at the current moment exceeds the tolerance of the human body, which may easily cause damage to the human body.

[0115] In this embodiment, the preset distance can be set according to user needs; for example, the distance threshold can be 2 mm.

[0116] In this embodiment, if the real-time distance between the metal screw 111 and the photosensor 131 at time t (t is a positive number greater than 1) is 1 mm, then the flexible end-controlled medical device 200 does not collide with the human body at time t; if the real-time distance between the metal screw 111 and the photosensor 131 at time t-1 is 3 mm, then the flexible end-controlled medical device 200 collides at time t-1 and is likely to cause damage to the human body.

[0117] In this embodiment, the number of light sensors on the second mounting plate can be determined according to the user's actual needs, and the number of metal screws on the first mounting plate is the same as the number of light sensors.

[0118] For example, if the number of light sensors on the second mounting plate is set to three, then the corresponding number of metal screws on the first mounting plate is three, which can detect the collision of the flexible end controllable medical device 200 in three different directions.

[0119] In this embodiment, the second mounting plate has an opening at its center, and the elastic component includes: a movable end, which is fixedly connected to the flexible end controllable medical device 200 and the first mounting plate respectively through the opening, and the inner diameter of the opening is larger than the outer diameter of the movable end; and an elastic component base, one side of which is fixedly connected to the second mounting plate.

[0120] In this embodiment, the movable end can be a columnar structure, for example, the movable end can be a cylindrical structure.

[0121] In this embodiment, the movable end can be a spring structure.

[0122] In this embodiment, the elastic component base can be a disc or an open disc. The elastic component base is used to support the movable end. The stability of the force sensing structure 100 and the mounting assembly 300 can be ensured by the fixed connection between the lower surface of the elastic component base and the frustum of the mounting base.

[0123] In this embodiment, the movable end passes through the opening in the center of the second mounting plate, but does not contact the edge of the opening, thus avoiding additional friction caused by the side of the movable end contacting the cross section of the opening, which would interfere with the real-time distance detection of the photosensor.

[0124] In this embodiment, the movable end is a columnar structure, the elastic part base is an open disc, the movable end passes through the opening on the second mounting plate and is tightly closed to one side of the second mounting plate, the upper surface of the elastic part base is fixedly connected to the second mounting plate, and the lower surface of the elastic part base is fixedly connected to the upper surface of the frustum of the mounting base.

[0125] In this embodiment, a plurality of locking nuts are provided on the other side of the first mounting plate.

[0126] In this embodiment, the number of locking nuts on the first mounting plate is the same as the number of metal screws, that is, the locking nuts and metal screws are used together.

[0127] In this embodiment, a locking nut is used to fix a metal screw to one side of the first mounting plate, and the initial distance between the metal screw and the corresponding photosensitive sensor 131 is adjusted by adjusting the relative distance between the metal screw and the second mounting plate.

[0128] In this embodiment, during the actual operation of the flexible end-effector 200, the sensitivity of the photosensor is affected by the ambient light intensity, and the use of a corrugated pipe can isolate the influence of the external environment.

[0129] In this embodiment, multiple metal screws are evenly distributed.

[0130] In this embodiment, the multiple metal screws on the first mounting plate are symmetrically distributed, for example, the mounting positions of the multiple metal screws are axially symmetrical or centrally symmetrical.

[0131] In this embodiment, by setting multiple metal screws evenly distributed on the first mounting plate, the elastic parts are subjected to uniform gravity from the first mounting plate, thereby ensuring that the initial distance between each group of metal screws and the corresponding photosensor is the same, and the real-time distance results collected by the photosensor are more reliable.

[0132] In this embodiment, the device further includes a top plate, which is attached to the side of the first mounting plate near the locking nut, and the top plate is connected to the flexible end controllable medical device 200.

[0133] In this embodiment, the top plate can be a sheet structure. One side of the top plate is used to adhere the flexible end controllable medical device 200 to fix the flexible end controllable medical device 200 to the force sensing structure 100. The other side of the top plate is used to fix and connect with the first mounting plate.

[0134] In this embodiment, the top plate can be a cover-like structure, and the top plate can be sleeved on the side of the first mounting plate near the locking nut. The outer side of the top plate is used to bond the flexible end controllable medical device 200, and fix the flexible end controllable medical device 200 to the force sensing structure 100. The inner side of the top plate is bonded to the outer wall of the first mounting plate.

[0135] In this embodiment, the top plate can protect the components on the first mounting plate and the components below the first mounting plate from environmental influences.

[0136] In this embodiment, the device further includes a mounting base, one end of which is fixedly connected to the other side of the elastic component base, and the other end of which is detachably connected to the mounting assembly 300.

[0137] In this embodiment, the force sensing structure 100 can be detachably connected to the mounting component 300 of the flexible end controllable medical device 200 via the mounting base, which facilitates the placement of the force sensing structure 100 on different flexible end controllable medical devices 200 to achieve collision sensing and detection; disassembly is convenient and simplifies user operation.

[0138] In this embodiment, the mounting base includes a frustum and an insertion structure, wherein the frustum is fixedly connected to the base of the elastic part, and the insertion structure is used for detachable connection with the mounting assembly 300.

[0139] In this embodiment, by setting a mounting base and fixing one end of the mounting base to the other side of the elastic part base, and detachably connecting the other end of the mounting base to the mounting assembly 300, it is convenient to set the force sensing structure 100 in different flexible end controllable medical devices 200 to realize collision sensing detection, thereby enhancing the applicability of the force sensing structure 100.

[0140] In this embodiment, the second mounting plate is a PCB board. By deploying multiple photosensors on the PCB board, the force sensing capability of the flexible end controllable medical device in three directions can be detected, thereby improving the accuracy of the measurement results and realizing multi-dimensional detection of internal resistance of the human body.

[0141] In this embodiment, the second mounting plate is provided with multiple support columns, which are fixedly connected to the elastic parts.

[0142] In this embodiment, a plurality of light sensors are provided on one side of the second mounting plate, and a plurality of support columns 132 are provided on the other side. The plurality of support columns 132 are connected to the elastic component base 122 of the elastic component fixing 120.

[0143] In this embodiment, by providing multiple support columns on the second mounting plate, and fixing the multiple support columns to the elastic component, the stability of the connection between the second mounting plate and the base of the elastic component can be improved.

[0144] The force-sensing flexible end-effector controllable medical device provided in this embodiment of the invention uses multiple metal screws on a first mounting plate. One end of an elastic component is fixedly connected to both the flexible end-effector controllable medical device and the first mounting plate through an opening in a second mounting plate. The other end of the elastic component is fixedly connected to the second mounting plate. By placing at least one photosensor on the side of the second mounting plate near the multiple metal screws, the device can collect the real-time distance between the metal screws above the photosensor and the photosensor when the elastic component undergoes elastic deformation. This real-time distance is then sent to a host computer, enabling real-time detection of collisions between the flexible end-effector controllable medical device and the human body in different directions, thus improving the safety of the flexible end-effector controllable medical device control process.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A force-sensing structure, characterized in that, include: A first mounting plate, one side of which is provided with a plurality of metal screws; An elastic component, one end of which is fixedly connected to the flexible end controllable medical device and the first mounting plate, respectively, and the elastic component is used to undergo elastic deformation when the flexible end controllable medical device is subjected to pressure; The second mounting plate has a plurality of corresponding photosensors on the side of the second mounting plate near the plurality of metal screws, and the side of the second mounting plate away from the plurality of metal screws is fixedly connected to the other end of the elastic part; the photosensors are used to collect the real-time distance between the metal screws above the photosensors and the photosensors, and send the real-time distance to the host computer. The host computer is used to detect whether the flexible end-effector collidees with the human body based on the real-time distance; the second mounting plate has an opening at its center, and the elastic component includes: The movable end is fixedly connected to the flexible end controllable medical device and the first mounting plate respectively through the opening, and the inner diameter of the opening is larger than the outer diameter of the movable end. An elastic component base, one side of which is fixedly connected to the second mounting plate; The force sensing structure also includes: A bellows is fitted onto the sidewall of the force-sensing structure, and the deformation of the bellows is related to the deformation of the elastic component of the force-sensing structure. The second mounting plate is a PCB board.

2. The force-sensing structure according to claim 1, characterized in that, The other side of the first mounting plate is provided with multiple locking nuts.

3. The force-sensing structure according to claim 1, characterized in that, The plurality of metal screws are evenly distributed.

4. The force-sensing structure according to claim 1, characterized in that, The force sensing structure also includes: The top plate is attached to the side of the first mounting plate near the locking nut, and the top plate is connected to the flexible end controllable medical device.

5. The force-sensing structure according to claim 1, characterized in that, The force sensing structure also includes: The mounting base has one end fixedly connected to the other side of the elastic component base, and the other end detachably connected to the mounting assembly.

6. The force-sensing structure according to claim 1, characterized in that, The second mounting plate is provided with multiple support columns, which are fixedly connected to the elastic component.

7. A force-sensing flexible end-effector controllable medical device, characterized in that, Including the force-sensing structure as described in any one of claims 1-6.

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