Palpation probe with adjustable force sensing function and palpation detection equipment

Abstract

The present invention relates to a palpation probe and palpation detection equipment with an adjustable force sensing function, comprising: a support assembly and a detection assembly, wherein the support assembly includes a base, an outer shell, and a first hemisphere, the outer shell being disposed outside the base, and the first hemisphere being connected to the base; the detection assembly including a second hemisphere and a sensing module, the second hemisphere being bonded to the sensing module, the sensing module being embedded in the base, and the second hemisphere being in contact with the outer shell; the sensing module including an elastic layer, a transmission layer, and a sensitive layer, the elastic layer and the sensitive layer being disposed on either side of the transmission layer, the elastic layer including a liquid metal layer, a resistance wire being disposed within the liquid metal layer, and the resistance wire being connected to a variable current. The present invention controls the liquid metal phase by adjusting the current of the resistance wire, thereby controlling the sensitivity of the varistor, ultimately achieving the purpose of adjustable force sensing of the palpation probe. This device can ensure high-precision detection while enabling wide-range detection of deep tissue, achieving multi-purpose use of a single device and improving the efficiency of palpation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical detection instruments, and in particular to a palpation probe with an adjustable force sensing function and a palpation detection device. Background Art

[0002] Palpation probes, as key tools in medical examinations, are widely used in clinical practice. They allow doctors to obtain detailed information about a patient's internal tissues, including but not limited to tissue texture, firmness, and the size and depth of tumors. This direct tactile sensation provides a non-invasive and practical means for assessing a patient's physiological condition and identifying abnormal structures or lesions, thereby supporting accurate diagnosis and treatment decisions.

[0003] Currently, the design of palpation probes for minimally invasive surgery primarily focuses on improving their appearance and structure, while innovation in force sensing capabilities is relatively lacking. Furthermore, palpation probes typically have fixed sensitivity and ranges for force sensing. Force sensing requirements vary significantly across different surgical scenarios, necessitating the use of probes with different ranges depending on the location being probed. This makes it difficult to achieve multi-purpose use with a single device, resulting in low efficiency and reliability in minimally invasive surgery. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects in the prior art that the pressure of the palpation probe cannot be adjusted, making it difficult to achieve multiple uses of one device, resulting in low efficiency and reliability of minimally invasive surgery.

[0005] In order to solve the above technical problems, the present invention provides a palpation probe with adjustable force sensing function, comprising:

[0006] A support assembly, the support assembly comprising a base, a shell and a first hemisphere, the shell cover being arranged on the outside of the base, and the first hemisphere being arranged at an end of the shell away from the base;

[0007] The detection component includes a second hemisphere and a sensing module, the end face of the second hemisphere is in contact with the sensing module, the sensing module is embedded in the base, and the second hemisphere is in contact with the shell; the sensing module includes an elastic layer, a transmission layer and a sensitive layer (force sensing chip), the elastic layer and the sensitive layer are respectively arranged on both sides of the transmission layer, the elastic layer includes a liquid metal layer, a resistance wire is arranged in the liquid metal layer, and a variable current is connected to both ends of the resistance wire; a plurality of hollow holes are opened on the surface of the sensitive layer, a cantilever beam is arranged in the hollow hole, and a piezoresistor is arranged on the surface of the cantilever beam close to the transmission layer.

[0008] In one embodiment of the present invention, a plurality of protrusions are provided on a side of the transmission layer close to the varistor, and the protrusions are pyramid-shaped.

[0009] In one embodiment of the present invention, the sensitive layer is embedded in the transmission layer, and a first mounting groove cooperating with the sensitive layer is provided on the transmission layer; a fixing hole is provided in the center of the sensitive layer, and a fixing shaft cooperating with the fixing hole is provided on the transmission layer.

[0010] In one embodiment of the present invention, the elastic layer further includes a base and an upper surface, a second mounting groove is defined in the base, the liquid metal layer is embedded in the second mounting groove, and the upper surface covers the base surface.

[0011] In one embodiment of the present invention, a plurality of electrodes are provided on the surface of the sensitive layer, and the electrodes are electrically connected to the varistor.

[0012] In one embodiment of the present invention, a third mounting slot cooperating with the sensing module is provided on the base, a PCB board is provided in the third mounting slot, and the electrode is electrically connected to the PCB board.

[0013] In one embodiment of the present invention, the support assembly further includes a hollow bottom rod, and the base is arranged on the hollow bottom rod; a wire hole is formed on the base, and the wire hole is connected to the hollow bottom rod.

[0014] In one embodiment of the present invention, a plurality of flexible grooves are formed on the circumference of the surface of the housing.

[0015] In one embodiment of the present invention, a first axial hole is formed on the base, and a second axial hole corresponding to the position of the first axial hole is formed on the shell.

[0016] A palpation detection device comprises the palpation probe with adjustable force sensing function and a power supply, wherein the control power supply is electrically connected to the resistance wire.

[0017] The above technical solution of the present invention has the following advantages over the prior art:

[0018] The present invention describes a palpation probe and palpation detection device with adjustable force sensing. By adjusting the current flowing through the resistance wire, the liquid metal phase is controlled, thereby controlling the Young's modulus of the elastic layer and, consequently, the sensitivity of the piezoresistor. This ultimately achieves adjustable force sensing in the palpation probe. This device ensures both high-precision detection of surface tissues and wide-range detection of deep tissues, achieving multi-purpose use, improving palpation efficiency, and ensuring patient safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a cross-sectional view of the overall structure of the present invention;

[0022] Figure 3 It is an exploded view of the overall structure of the present invention;

[0023] Figure 4 for Figure 3 Schematic diagram of the structure of the middle base;

[0024] Figure 5 for Figure 3 Schematic diagram of the structure of the middle shell;

[0025] Figure 6 for Figure 3 Exploded diagram of the structure of the sensing module;

[0026] Figure 7 for Figure 6 Exploded diagram of the structure of the middle elastic layer;

[0027] Figure 8 for Figure 6 Schematic diagram of the structure of the transfer layer;

[0028] Figure 9 for Figure 6 Schematic diagram of the structure of the middle sensitive layer;

[0029] Figure 10 for Figure 6 Wiring diagram of the middle sensitive layer;

[0030] Explanation of the reference numerals in the specification: 1. Support assembly; 2. Detection assembly; 11. Base; 12. Housing; 13. First hemisphere; 14. Hollow bottom rod; 21. Second hemisphere; 22. Sensing module; 23. PCB board; 111. Third mounting slot; 112. Wire hole; 113. First axial hole; 121. Flexible slot; 122. Second axial hole; 221. Elastic layer; 222. Transfer layer; 223. Sensitive layer; 2211. Liquid metal layer; 2212. Resistance wire; 2213. Base; 2214. Upper surface; 2215. Second mounting slot; 2221. Protrusion; 2222. Fixed shaft; 2223. First mounting slot; 2231. Hollow hole; 2232. Cantilever beam; 2233. Piezoresistor; 2234. Electrode; 2235. Fixing hole. DETAILED DESCRIPTION

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0032] Example 1

[0033] Reference Figures 1-10 As shown, the present invention discloses a palpation probe with adjustable force sensing function, comprising:

[0034] A support assembly 1, comprising a base 11, a housing 12, and a first hemisphere 13, wherein the housing 12 is disposed outside the base 11, and the first hemisphere 13 is disposed at an end of the housing 12 away from the base 11;

[0035] The detection component 2 includes a second hemisphere 21 and a sensing module 22. The end face of the second hemisphere 21 is fitted with the sensing module 22. The sensing module 22 is embedded in the base 11, and the second hemisphere 21 is in contact with the shell 12. The sensing module 22 includes an elastic layer 221, a transmission layer 222 and a sensitive layer 223 (force sensing chip). The elastic layer 221 and the sensitive layer 223 are respectively arranged on both sides of the transmission layer 222. The elastic layer 221 includes a liquid metal layer 2211. A resistance wire 2212 is arranged in the liquid metal layer 2211, and a variable current is connected to both ends of the resistance wire 2212. A plurality of hollow holes 2231 are opened on the surface of the sensitive layer 223. A cantilever beam 2232 is arranged in the hollow hole 2231. A piezoresistor 2233 is arranged on the surface of the cantilever beam 2232 close to the transmission layer 222.

[0036] Specifically, the support assembly 1 is positioned outside the entire palpation probe. One end of the first hemisphere 13 is the use end, which directly contacts the patient during testing. The base 11 is used to mount the testing assembly 2. The outer shell 12 is positioned outside the base 11. The first hemisphere 13 transmits the testing pressure to the testing assembly 2 through the outer shell 12. The arc-shaped end of the second hemisphere 21 in the testing assembly 2 abuts the outer shell 12. After the second hemisphere 21 is deformed by the force, it transmits the pressure to the sensing module 22 attached to it, which then detects the pressure.

[0037] In the present invention, the sensing module 22 comprises an elastic layer 221, a transmission layer 222, and a sensitive layer 223. Pressure passes through the elastic layer 221, the transmission layer 222, and the sensitive layer 223 in sequence, with the piezoresistor 2233 on the sensitive layer 223 detecting changes in the signal. A resistance wire 2212 in the elastic layer 221 is embedded within the liquid metal layer 2211. During use, the resistance wire 2212 is connected to a power source, and the temperature of the resistance wire 2212 is controlled by controlling the current. Increasing the current increases the temperature of the resistance wire 2212, causing the liquid metal layer 2211 to melt. Reducing the current returns the liquid metal layer 2211 to a solid state, thereby changing the phase of the entire elastic layer 221. The elastic layer 221 has different Young's moduli in different states. When an external force is applied to elastic layers 221 with different Young's moduli, the elastic layer 221 with the higher Young's modulus, due to its inherent physical properties, is more resistant to deformation due to the applied force, resulting in relatively less deformation. This smaller deformation will be transmitted to the force-sensitive layer 223, causing the signal output generated by the force-sensitive layer 223 to decrease accordingly. Therefore, under the action of the same force, the elastic layer 221 with a higher Young's modulus will reduce the overall detection sensitivity. Conversely, the elastic layer 221 with a lower Young's modulus has a weaker ability to resist deformation under the applied force, and thus will produce a relatively larger deformation. This larger deformation, when transmitted to the force-sensitive layer 223, will increase the signal output generated by the force-sensitive layer 223. Therefore, under the action of the same force, the elastic layer 221 with a lower Young's modulus will increase the sensitivity of the piezoresistive sensor.

[0038] As a preferred embodiment of the present invention, in the above structure, the material of the transmission layer 222 is PDMS (polydimethylsiloxane), which is a high-grade elastomer with a low Young's modulus. The second hemisphere 21 is made of a softer material and will deform when subjected to force. The resistance wire 2212 is an enameled resistance wire 2212 to avoid direct contact with the liquid metal layer 2211. The resistance wire 2212 is distributed in a zigzag shape in the liquid metal layer 2211 to ensure that the resistance wire 2212 is evenly distributed in the liquid metal layer 2211. Secondly, the piezoresistor 2233 of the sensitive layer 223 is a cantilever beam 2232 type sensor. Specifically, a cantilever beam 2232 is installed in the hollow hole 2231 opened on the sensitive layer 223. The piezoresistor 2233 on the cantilever beam 2232 will generate a specific electrical signal according to the deformation of the cantilever beam 2232, thereby improving the accuracy of detection. Finally, the first hemisphere 13 and the shell 12 are connected by a slot. A groove is provided on the first hemisphere 13, and a protrusion 2221 is provided on the top of the shell 12 for matching connection.

[0039] In the present invention, when the first hemisphere 13 is not subjected to force, the second hemisphere 21 does not deform, the cantilever beam 2232 within the sensing module 22 does not deform, and the piezoresistor 2233 on the cantilever beam 2232 does not change. When the probe is operating, the second hemisphere 21 deforms, pressing against the elastic layer 221. This causes the cantilever beam 2232 within the sensing module 22 to deform, and the signal of the piezoresistor 2233 on the cantilever beam 2232 changes. The resistance wire 2212 within the elastic layer 221 generates different amounts of heat depending on the current passing through it, resulting in different phases of the liquid metal layer 2211. When the current is high, the resistance wire 2212 generates high amounts of heat, causing the liquid metal layer 2211 to melt and become liquid. The elastic layer 221 has a low Young's modulus, making it more susceptible to deformation and capable of transmitting larger deformations to the sensor chip. This results in a higher sensor sensitivity to force, a higher force sensing sensitivity, and a smaller force sensing range, making it suitable for detecting superficial nodules. When the current is small, the heat generated is low, the liquid metal layer 2211 is solid, the Young's modulus of the elastic layer 221 is large, and the ability to deform is weak. The sensitivity of the piezoresistor 2233 to force will become smaller. The measuring range of the entire detection component 2 is relatively large, and the force sensing range of the palpation probe is large, which is suitable for detecting deep nodules.

[0040] By adjusting the current of the resistance wire 2212, the present invention can control the phase of the liquid metal layer 2211, thereby controlling the Young's modulus of the elastic layer 221, and further controlling the sensitivity of the piezoresistor 2233, ultimately achieving the purpose of adjustable force sensing function of the palpation probe.

[0041] Furthermore, a plurality of protrusions 2221 are provided on a side of the transmission layer 222 close to the varistor 2233 , and the protrusions 2221 are pyramid-shaped.

[0042] Specifically, during use, the transmission layer 222 is deformed after being subjected to force, and contacts the cantilever beam 2232 through the multiple protrusions 2221, thereby improving the sensitivity of detection.

[0043] Furthermore, the sensitive layer 223 (force sensing chip) is embedded in the transmission layer 222, and a first mounting groove 2223 cooperating with the sensitive layer 223 is provided on the transmission layer 222; a fixing hole 2235 is provided in the center of the sensitive layer 223, and a fixing shaft 2222 cooperating with the fixing hole 2235 is provided on the transmission layer 222.

[0044] Specifically, the size of the sensitive layer 223 is equal to that of the first mounting groove 2223 , so that the sensitive layer 223 is completely embedded in the transmission layer 222 ; the sensitive layer 223 is sleeved on the fixed axis 2222 of the transmission layer 222 through the fixing hole 2235 , so that the transmission layer 222 and the sensitive layer 223 are just in contact.

[0045] As a preferred embodiment of the present invention, the fabrication of the transmission layer 222 requires first preparing a reverse mold. The micro-contact structure and the central fixed axis 2222 hole are etched on the front surface of the silicon wafer through wet / dry etching. The protrusion 2221 is a pyramidal structure. A predetermined thickness of PDMS is then spin-coated on the surface using a spin-coating method. After the PDMS solidifies, it is removed to form the force transmission layer 222.

[0046] Furthermore, the elastic layer 221 also includes a base 2213 and an upper surface 2214 . A second mounting groove 2215 is defined in the base 2213 . The liquid metal layer 2211 is embedded in the second mounting groove 2215 , and the upper surface 2214 covers the surface of the base 2213 .

[0047] Specifically, the second mounting groove 2215 in the base 2213 is used to place the liquid metal layer 2211, and the top surface 2214 is used to seal the liquid metal layer 2211. As a preferred embodiment of the present invention, the base 2213 and the top surface 2214 are both made of PDMS.

[0048] Furthermore, a plurality of electrodes 2234 are provided on the surface of the sensitive layer 223, and the electrodes 2234 are electrically connected to the varistor 2233; a third mounting groove 111 is provided on the base 11 to cooperate with the sensing module 22, and a PCB board 23 is provided in the third mounting groove 111, and the electrodes 2234 are electrically connected to the PCB board 23.

[0049] Specifically, the sensitive chip is manufactured using a MEMS silicon micromachining process on an SOI silicon wafer using an ion implantation process combined with metal plating, etching, and deep reactive ion etching techniques. The connection between the varistor 2233 and the PCB board 23 is made via wires. The varistor 2233 has metal pins, which are connected to corresponding contacts on the PCB board 23 via wires using a wire bonding machine. The transfer layer 222 is bonded to the PCB board 23 using silicone. The transfer layer 222 holds the sensitive layer 223 (force sensing chip) within it, not only transmitting force information but also protecting the internal sensitive resistor. The elastic layer 221 is bonded to the force transfer layer 222 using silicone. As a preferred embodiment of the present invention, the PCB board 23 is a flexible PCB board 23.

[0050] Furthermore, the support assembly 1 further includes a hollow bottom rod 14 , and the base 11 is disposed on the hollow bottom rod 14 ; a wire hole 112 is formed on the base 11 , and the wire hole 112 is connected to the hollow bottom rod 14 .

[0051] Specifically, the hollow bottom rod 14 is used to install the base 11. Secondly, during operation, the hollow bottom rod 14 serves as a handheld portion for easy operation. The wire hole 112 on the base 11 is connected to the hollow bottom rod 14. The connection harness is passed through the wire hole 112 to the hollow bottom rod 14, and then connected to the power supply and the host computer.

[0052] Furthermore, a plurality of flexible grooves 121 are provided on the circumferential surface of the shell 12. Specifically, during use, one end of the first hemisphere 13 is in direct contact with the patient and is transmitted to the second hemisphere 21 through the shell 12. In the present application, by providing a flexible groove 121 on the surface of the transmission shell, the shell 12 is made into a low-rigidity flexible microstructure. As a preferred embodiment of the present invention, the structure of two adjacent flexible grooves 121 maintains the characteristics of the parallelogram mechanism, inherits its advantages of force deformation, and realizes a good transmission function between force and deformation. In addition, the flexible structure can achieve miniaturized size. Through the design and optimization of these miniaturized sizes, the effect of its force transmission can be changed, thereby selecting a suitable force sensing effect. The material selected is AL7075 alloy with an elastic modulus of 71.7 GPa and a tensile yield strength of 503 MPa, high strength and good biocompatibility.

[0053] Furthermore, a first axial hole 113 is defined on the base 11 , and a second axial hole 122 corresponding to the position of the first axial hole 113 is defined on the housing 12 .

[0054] Specifically, a fixing pin is used to connect the base 11 and the housing 12. After aligning the first axial hole 113 and the second axial hole 122, the fixing pin is inserted. Secondly, in the present invention, the second hemisphere 21 and the sensing module 22, the sensing module 22 and the base 11, and the base 11 and the hollow bottom rod 14 are all fixed with silicone adhesive.

[0055] Example 2

[0056] A palpation detection device includes the palpation probe with adjustable force sensing function described above, and also includes a power supply (not shown in the drawings), which is electrically connected to the resistance wire 2212. As a preferred embodiment of the present invention, the power supply is a variable DC power supply, and the temperature change of the resistance wire 2212 is controlled by changing the DC power supply.

[0057] In actual operation, the current is adjusted for nodules of different depths. Specifically, when detecting surface nodules, the current is increased, the Young's modulus of the elastic layer 221 is small, it is more likely to deform, and a large deformation can be transmitted to the sensing module 22, resulting in a higher sensitivity of the sensing module 22 to force, a higher sensitivity of the palpation probe to force perception, a smaller force perception range, and more accurate detection. When detecting deep nodules, a larger force is required to contact the nodules, and a larger range needs to be ensured at this time. Therefore, it is necessary to reduce the amount of current, the heat generated by the resistance wire 2212 is low, the liquid metal layer 2211 is solid, the Young's modulus of the entire elastic layer 221 is large, the ability to deform is weak, the sensitivity of the piezoresistor 2233 to force will become smaller, the range of the entire detection component 2 is relatively large, and the force perception range of the palpation probe is large.

[0058] This invention introduces a palpation probe and palpation detection device with adjustable force sensing. This device, through its built-in sensor module 22, can sense the force applied to the probe, enabling precise palpation. Because of its adjustable force sensing function, it is suitable for detecting superficial nodules requiring a small range, as well as those requiring a large range, achieving multi-purpose use. This invention can help surgeons perform surgeries more efficiently. Physicians can quickly adjust the force based on force feedback and better control the force applied during surgery, thereby improving surgical efficiency and success rates and reducing medical costs. It can also reduce the risk of surgical complications, thereby lowering patient treatment costs. The present invention allows for the appropriate adjustment of the sensitivity and force range of the piezoresistor 2233 based on the specific application and operational requirements of the palpation probe. This device ensures high-precision detection of superficial tissues while enabling wide-range detection of deeper tissues, achieving multi-purpose use, improving palpation efficiency, and ensuring patient safety.

[0059] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A palpation probe with adjustable force sensing function, characterized in that: include: A support assembly comprising a base, a housing, and a first hemisphere, wherein the housing is disposed outside the base, and the first hemisphere is disposed at an end of the housing away from the base; a plurality of flexible grooves are circumferentially formed on the surface of the housing, and a parallelogram structure is formed between any two adjacent flexible grooves; The detection component includes a second hemisphere and a sensing module, the end face of the second hemisphere is in contact with the sensing module, the sensing module is embedded in the base, and the second hemisphere is in contact with the shell; the sensing module includes an elastic layer, a transmission layer and a sensitive layer, the elastic layer and the sensitive layer are respectively arranged on both sides of the transmission layer, the elastic layer includes a liquid metal layer, a resistance wire is arranged in the liquid metal layer, and a variable current is connected to both ends of the resistance wire; a plurality of hollow holes are provided on the surface of the sensitive layer, a cantilever beam is provided in the hollow hole, and a piezoresistor is provided on the surface of the cantilever beam close to the transmission layer; the sensitive layer is embedded in the transmission layer, and a first mounting groove cooperating with the sensitive layer is provided on the transmission layer; the elastic layer also includes a base and an upper surface, a second mounting groove is provided in the base, the liquid metal layer is embedded in the second mounting groove, and the upper surface covers the surface of the base.

2. The palpation probe with adjustable force sensing function according to claim 1, characterized in that: A plurality of protrusions are provided on one side of the transmission layer close to the varistor, and the protrusions are pyramid-shaped.

3. The palpation probe with adjustable force sensing function according to claim 1, characterized in that: A fixing hole is provided at the center of the sensitive layer, and a fixing shaft matched with the fixing hole is provided on the transmission layer.

4. The palpation probe with adjustable force sensing function according to claim 1, characterized in that: A plurality of electrodes are provided on the surface of the sensitive layer, and the electrodes are electrically connected to the varistor.

5. The palpation probe with adjustable force sensing function according to claim 4, characterized in that: The base is provided with a third mounting groove matched with the sensing module, a PCB board is provided in the third mounting groove, and the electrode is electrically connected to the PCB board.

6. The palpation probe with adjustable force sensing function according to claim 1, characterized in that: The support assembly further includes a hollow bottom rod, and the base is arranged on the hollow bottom rod; a wire hole is formed on the base, and the wire hole is connected to the hollow bottom rod.

7. The palpation probe with adjustable force sensing function according to claim 1, characterized in that: The base is provided with a first axial hole, and the shell is provided with a second axial hole corresponding to the position of the first axial hole.

8. A palpation detection device, characterized in that: The invention comprises a palpation probe with an adjustable force sensing function as described in any one of claims 1 to 7.

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