Vagina tactile imaging device based on flexible ionizing pressure sensor

Abstract

The invention discloses a vagina tactile imaging device based on flexible ionizing pressure sensors. The vagina tactile imaging device comprises a multidirectional vagina probe, a flexible ionizing pressure sensor array, a directional gyroscope sensor, an internal micro-control unit module, an external display or data receiving module and a power supply. The multidirectional vagina probe is provided with multidirectional bulges, the top shape is chamfered, and the middle part is in parallel transition; the flexible ionizing pressure sensor array is arranged on the surface of the multidirectional vagina probe and transmits pressure acquisition data to the internal micro-control unit module; the direction gyroscope sensor transmits angle acquisition data to the internal micro-control unit module; the internal micro-control unit module performs post-processing on the data to obtain tactile data; and the external display or data receiving module is connected with the internal micro-control unit module and is used for displaying the tactile data or receiving the tactile data to draw a vagina tactile data cloud picture, so that efficient, accurate, objective and comprehensive vagina test evaluation is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a vaginal tactile imaging device based on a flexible ionization pressure sensor. Background Art

[0002] Vaginal Laxity Syndrome (VLS) is an early symptom of female pelvic floor dysfunction and has attracted increasing attention in recent years. In a domestic statistical study on vaginal laxity, the prevalence of VLS in adult women reached 59%, and sexual dysfunction was common in women in the VLS group. If VLS is accompanied by pelvic organ prolapse (POP) and stress urinary incontinence (SUI), it will cause inconvenience in normal life. Although traditional quantitative grading methods for pelvic organ prolapse, pelvic floor three-dimensional ultrasound, pelvic floor magnetic resonance imaging and other detection methods can assist in staging and guide diagnosis and treatment, they cannot determine the elastic properties of vaginal tissue. Vaginal tactile imaging technology can detect multiple biomechanical information such as vaginal wall elasticity, tissue pressure at different locations and depths, and comprehensively evaluate vaginal relaxation and the severity of pelvic floor dysfunction, which is more objective than the subjective judgment of vaginal wall elasticity by clinical physicians. Therefore, in order to solve the problem of objectively evaluating vaginal relaxation, vaginal tactile imaging technology came into being.

[0003] At present, Advanced Tactile Imaging is conducting research on vaginal tactile imaging technology, making significant progress in the field of vaginal tactile imaging and bringing innovative products such as vaginal tactile imagers to the market. Since the company's equipment can not only map the biomechanics of the female pelvic floor into visual images, but also provide valuable information for the diagnosis and treatment of various related health conditions, the company's series of vaginal tactile imaging equipment has been widely used in Europe and the United States.

[0004] The company's U.S. patent "Method and device for measuring vaginal tactile contour" with publication number US20130144191A1 discloses a method and device for measuring vaginal tactile contour, which uses a vaginal probe equipped with a tactile sensor to separate two opposite vaginal walls to obtain the vaginal tactile contour. Although the vaginal tactile imaging device can obtain the vaginal tactile contour, due to the design of the probe shape, two tests are required to obtain the data of the upper and lower inner walls and the left and right inner walls of the vagina during the test, which takes a long time and the subject experience is not good.

[0005] In tactile imaging, tactile sensors are an important component. The sensing mechanisms of traditional tactile sensors are mainly divided into piezoresistive, parallel plate capacitive, piezoelectric, and triboelectric. The Chinese patent "System and method for measuring tissue parameters by using capacitive tactile sensors" with publication number CN114423491A discloses a method for measuring soft tissue parameters using tactile sensors. The method describes a device and method for detecting, recording, measuring, and marking the size, shape, and position of damage to the subsurface layer of the skin or other soft tissue of a subject by using a capacitive tactile sensor to measure changes in tactile pressure on the surface of the skin or other tissue being studied. However, the tactile sensor used in this method is a traditional capacitive pressure sensor. The capacitive pressure sensor has the problem of being difficult to resist the influence of external noise and human parasitic capacitance, which will bring a certain degree of error in determining the properties of soft tissues, and has problems such as low sensitivity and susceptibility to external noise interference. Summary of the invention

[0006] In view of the above, the purpose of the present invention is to provide a vaginal tactile imaging device based on a flexible ion-type pressure sensor, which adopts a vaginal probe containing multi-directional protrusions and a flexible ion-type pressure sensor array for tactile sensing imaging, which has the effect of improving test efficiency and sensitivity and effectively resisting external noise interference, and combines a directional gyroscope sensor and an internal microcontroller unit module to realize a comprehensive and objective test and evaluation of the inner wall of the vagina.

[0007] In order to achieve the above-mentioned invention object, the technical solution provided by the present invention is as follows:

[0008] A vaginal tactile imaging device based on a flexible ion-type pressure sensor comprises a multi-directional vaginal probe, a flexible ion-type pressure sensor array, a directional gyroscope sensor, an internal microcontroller unit module, an external display or data receiving module and a power supply;

[0009] The flexible ion-type pressure sensor array includes a plurality of flexible ion-type pressure sensors arranged on the surface of the multi-directional vaginal probe, all of which are connected to the data bus of the internal micro-control unit module, and each flexible ion-type pressure sensor detects the pressure data of the inner wall of the vagina at the corresponding position and transmits the data to the internal micro-control unit module;

[0010] The directional gyro sensor is connected to the internal micro control unit module data bus, and the angle acquisition data is obtained through the directional gyro sensor and transmitted to the internal micro control unit module;

[0011] The internal micro control unit module receives the pressure acquisition data and the angle acquisition data, and performs post-processing to obtain tactile data;

[0012] The external display or data receiving module is connected to the internal micro control unit module to display the tactile data or receive the tactile data to draw a vaginal tactile data cloud map;

[0013] The power supply is used to power the vaginal tactile imaging device.

[0014] Preferably, the multi-directional vaginal probe is a multi-directional protrusion. Preferably, the multi-directional protrusion is a four-directional cross-shaped or six-directional M-shaped protrusion extending axially, the four-directional or six-directional protrusion is a radial protrusion, and the multi-directional protrusion at the top insertion end is chamfered.

[0015] Preferably, the flexible ion-type pressure sensor array is composed of 2 to 500 flexible ion-type pressure sensors.

[0016] Preferably, the flexible ion-type pressure sensor comprises upper and lower electrodes and an ion gel layer between the upper and lower electrodes, forming a double-layer capacitance structure. The capacitance value of the ion-type pressure sensor corresponds to the pressure value received, and the pressure value is obtained by measuring the capacitance value.

[0017] Preferably, the upper and lower electrode materials are one of copper, gold, silver, aluminum and titanium metals or an alloy of at least two metals deposited on a flexible polyimide film, the thickness of the deposited metal layer is 10nm to 2mm, and the upper and lower electrode arrays are electrically connected to the internal micro control unit module.

[0018] Preferably, the ion gel layer is made of a solid electrolyte selected from polyvinylidene fluoride, polydimethylsiloxane, thermoplastic polyurethane and polyvinyl alcohol and an ion solution selected from phosphoric acid, sulfuric acid, potassium hydroxide and sodium chloride, and the thickness of the ion gel layer is 1 nm to 1 mm.

[0019] Preferably, the directional gyro sensor is a directional gyro sensor with a built-in three-axis accelerometer, a three-axis angular velocity meter and a magnetometer.

[0020] Preferably, the internal micro control unit module includes a signal processing module, a pressure acquisition module and an angle acquisition module;

[0021] The pressure acquisition module is used to receive the pressure acquisition data collected in real time, and convert it into a voltage signal through a signal amplification unit, and obtain the pressure value after analog-to-digital conversion;

[0022] The angle acquisition module is used to receive angle acquisition data acquired in real time, and process and calculate the pitch angle and the roll angle;

[0023] The signal processing module is used to process the output values ​​of the pressure acquisition module and the angle acquisition module to obtain tactile data, and send data information to an external display or data receiving module.

[0024] Preferably, the external display or data receiving module is an electronic computer equipped with matlab or python data processing software, which can visualize the mechanical properties and elastic properties of the inner wall of the vagina of the subject.

[0025] Preferably, the power source includes an external power source connected to a wire, a wireless charging device or an energy storage battery, which is used to power the flexible off-line pressure sensor array, the directional gyroscope sensor and the internal micro control unit module.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] (1) The use of a multi-directional vaginal probe can more easily adapt to the natural curve of the vagina, preventing the insertion from being too deep or too deep, thereby more accurately measuring the vaginal pressure; it can better reach different parts of the vaginal inner wall, improve the comprehensiveness and accuracy of the measurement, and improve the efficiency of the test, thereby improving the experience of the subjects; for subjects with vaginal relaxation, it can better judge the pressure conditions in various areas, thereby better guiding rehabilitation training.

[0028] (2) The use of a flexible ion-type pressure sensor array reduces the impact of human parasitic capacitance and environmental noise on the collected signal, improves the reliability of the test data, and combines the directional gyroscope sensor and the internal microcontroller unit module to objectively and comprehensively characterize the condition of the vaginal wall from multiple data dimensions. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 It is an overall schematic diagram of a vaginal tactile imaging device based on a flexible ionization pressure sensor provided by an embodiment of the present invention;

[0031] Figure 2 is a schematic diagram of a four-directional vaginal probe provided by an embodiment of the present invention;

[0032] Figure 3 is a curve diagram showing the change of capacitance value of the flexible ionization pressure sensor as a function of pressure value provided by an embodiment of the present invention;

[0033] Figure 4 is a schematic diagram of the structure of an internal micro control unit module provided by an embodiment of the present invention;

[0034] Figure 5It is a position diagram of two flexible ion-type pressure sensors at the top insertion end of the four-way vaginal probe provided by an embodiment of the present invention;

[0035] Figure 6 It is a curve diagram of data collected by two flexible ion-type pressure sensors at the top insertion end of the four-way vaginal probe provided by an embodiment of the present invention;

[0036] Figure 7 is a data curve diagram of pitch angle and roll angle of the directional gyro sensor in a static state provided by an embodiment of the present invention;

[0037] Figure 8 is a vaginal tactile data cloud map of a vaginal tactile imaging device provided by an embodiment of the present invention;

[0038] The specific symbols in the accompanying drawings are:

[0039] 10. Multi-directional vaginal probe; 20. Flexible ion-type pressure sensor array; 21. Flexible ion-type pressure sensor; 22. Flexible ion-type pressure sensor; 30. Directional gyroscope sensor; 40. Internal microcontroller unit module; 41. Signal processing module; 42. Pressure acquisition module; 43. Angle acquisition module; 50. External display or data receiving module; 60. Power supply. DETAILED DESCRIPTION

[0040] To make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific implementation methods described herein are only used to explain the present invention and do not limit the scope of protection of the present invention.

[0041] The inventive concept of the present invention is: in response to the problems of low testing efficiency, low sensitivity and susceptibility to external noise in vaginal tactile imaging equipment in the prior art, an embodiment of the present invention provides a vaginal tactile imaging device based on a flexible ion-type pressure sensor to achieve efficient, accurate, objective and comprehensive vaginal test evaluation.

[0042] The ion-type pressure sensor is a new type of pressure sensing technology based on the principle of the electric double layer (EDL) of the interface. For the same type of ionic materials, the interface capacitance is mainly positively correlated with the contact area between the electrode and the ionic material, and the ion-type pressure sensor is based on this point. Under the action of pressure, the contact area between the ionic material and the electrode increases, and the sensor capacitance also increases accordingly. Since the distance between the EDL electrode and the ionic electrolyte is at the nanometer level, the capacitance value of the ion-type pressure sensor is several times or even thousands of times larger than the capacitance value of the traditional parallel plate capacitor of the same size. The capacitance value of the ion-type pressure sensor can vary from a few pF to hundreds of nF, or even μF level. This sensing mechanism can well resist environmental noise and reduce the influence of human parasitic capacitance, which is crucial for pressure sensors in wearable applications on the human body. The present invention designs an ion-type pressure sensor array based on double-layer capacitance to obtain high-sensitivity tactile sensing capabilities. And the present invention is the first to use an ion-type pressure sensor for tactile sensing imaging.

[0043] Figure 1 FIG. 1 is an overall schematic diagram of a vaginal tactile imaging device based on a flexible ionization pressure sensor provided by an embodiment of the present invention. Figure 1 As shown, an embodiment provides a vaginal tactile imaging device based on a flexible ion-type pressure sensor, including a multi-directional vaginal probe 10, a flexible ion-type pressure sensor array 20, a directional gyroscope sensor 30, an internal microcontroller unit module 40 (internal MCU module), an external display or data receiving module 50 and a power supply 60.

[0044] When using the vaginal tactile imaging device for testing, the tester inserts the multi-directional vaginal probe 10 into the inner wall of the subject's vagina, the flexible ion-type pressure sensor array 20 obtains pressure acquisition data, and the directional gyroscope sensor 30 obtains angle acquisition data. The pressure acquisition data and the angle acquisition data are input into the internal micro control unit module 40 for data processing to obtain tactile data and transmitted to the external display or data receiving module 50 for visual display of the results.

[0045] In the embodiment, the multi-directional vaginal probe 10 is multi-directionally protruded. Preferably, the multi-directional protrusion is a four-directional cross or a six-directional cross extending along the axial direction, and the four-directional or six-directional protrusion is a radial protrusion. The multi-directional protrusion at the top insertion end is chamfered. Figure 2 As shown, the multi-directional vaginal probe 10 is a four-directional vaginal probe, having four-directional protrusions in the upper, lower, left and right directions, with a top shape of a conical head and a middle shape transitioning to a parallel shape. During testing, the multi-directional vaginal probe 10 forms a uniform support on the inner wall of the vagina.

[0046] In the embodiment, the flexible ion-type pressure sensor array 20 is composed of 200 ion-type pressure sensors. Figure 2 As shown, the flexible ion-type pressure sensor array 20 is arranged on the surface of the multi-directional vaginal probe 10, and all the ion-type pressure sensors in the flexible ion-type pressure sensor array 20 are connected to the data bus of the internal micro-control unit module 40. Each flexible ion-type pressure sensor detects the pressure of the inner wall of the vagina at the corresponding position, collects data and transmits it to the internal micro-control unit module 40.

[0047] The flexible ion-type pressure sensor includes an upper and lower electrode and an ion gel layer between the upper and lower electrodes, forming a double-layer capacitance structure. The capacitance value of the flexible ion-type pressure sensor corresponds to the pressure value received, and the pressure value is obtained by measuring the capacitance value. In the embodiment, the upper and lower electrode materials are gold deposited on a flexible polyimide film, the thickness of the deposited metal layer is 20μm, and the upper and lower electrode arrays are electrically connected to the internal microcontrol unit module 40. Among them, the ion gel layer is made of polyvinyl alcohol solution and phosphoric acid solution in a ratio of 9:1, and the thickness of the ion gel layer is 160μm.

[0048] like Figure 3 As shown, the capacitance value of the flexible ionization pressure sensor array 20 increases with the increase of pressure, and when the pressure increases in the range of 0 kPa to 347.5 kPa, the capacitance value increases in the range of 785 pF to 282 nF.

[0049] In the embodiment, Figure 4 As shown, the internal micro control unit module 40 includes:

[0050] The signal processing module 41 is used to process the output values ​​of the pressure acquisition module 42 and the angle acquisition module 43 to obtain tactile data, and send the data information to the external display or data receiving module 50;

[0051] The pressure acquisition module 42 is used to receive the pressure acquisition data collected in real time, and convert it into a voltage signal through a signal amplification unit, and obtain the pressure value after analog-to-digital conversion;

[0052] The angle acquisition module 43 is used to receive angle acquisition data acquired in real time, and process and calculate the pitch angle and the roll angle.

[0053] Specifically, the pressure acquisition module 42 acquires the real-time capacitance value of the flexible ion-type pressure sensor array 20, and converts it into a voltage signal through the signal amplification unit, and obtains the pressure value after analog-to-digital conversion; the signal processing module 41 performs post-processing calculations on the pressure value acquired by the pressure acquisition module 42 to obtain tactile data, including but not limited to elastic modulus. And the internal micro control unit module 40 can transmit the real-time collected sensor data and post-processing data to the external display or data receiving module 50.

[0054] Specifically, when the multi-directional vaginal probe 10 is inserted into the inner wall of the vagina, the flexible ion-type pressure sensor array 20 on the multi-directional protrusions of the multi-directional vaginal probe 10 collects pressure values; as the multi-directional vaginal probe 10 is inserted, the inner wall of the vagina produces different degrees of strain and stress under a certain degree of strain due to the protrusion shape of the conical head. The signal processing module 41 in the internal micro-control unit module 40 can process and calculate the stress and strain data to obtain the elastic properties of the inner wall of the vagina. The calculation formula for the elastic modulus is E=σ / ε, where E is the elastic modulus, σ is the stress, and ε is the strain.

[0055] like Figure 5 As shown, the vertical distance between the flexible ion-type pressure sensor 21 and the flexible ion-type pressure sensor 22 is d. During the test, the multi-directional vaginal probe 10 is inserted into the inner wall of the subject's vagina, and the strain determined by the flexible ion-type pressure sensor 21 and the flexible ion-type pressure sensor 22 is fixed to d.

[0056] like Figure 6 As shown, the internal micro control unit module 40 can calculate the elastic modulus of the site according to the elastic modulus calculation formula based on the stress difference collected by the flexible ion-type pressure sensor 21 and the flexible ion-type pressure sensor 22 at the same site, and the fixed strain value d of the flexible ion-type pressure sensor 21 and the flexible ion-type pressure sensor 22.

[0057] In the embodiment, the directional gyro sensor 30 is connected to the internal micro control unit module 40 via a data bus, and the angle acquisition data is obtained through the directional gyro sensor 30 and transmitted to the internal micro control unit module 40 .

[0058] Specifically, the model of the directional gyro sensor 30 is MPU9250, which has a built-in three-axis accelerometer, a three-axis angular velocity meter and a magnetometer. The directional gyro sensor 30 collects the original data of the three-axis acceleration, uses the IIC protocol to read the original data stored in the three-axis acceleration register in the directional gyro sensor 30, and transmits it to the internal micro control unit module 40. The angle acquisition module 43 in the internal micro control unit module 40 calculates and processes the original data in the directional gyro sensor 30 to obtain the pitch angle and roll angle of the multi-directional vaginal probe 10.

[0059] The formula for calculating the pitch angle and roll angle using the three-axis acceleration values ​​of the directional gyro sensor 30 is as follows:

[0060] Angle x =(arctan(acc y / acc z ))×180 / 3.14;

[0061] Angle y=(arctan(acc x / acc z ))×180 / 3.14;

[0062] Where Angle x is the pitch angle value, Angle y is the rolling angle value, acc x is the x-axis acceleration value, acc y is the acceleration value of the y-axis, acc z is the acceleration value of the z-axis, and arctan(·) is the inverse tangent function.

[0063] like Figure 7 As shown, the data collected by the directional gyro sensor 30 in a stationary state, the channel 1 data in the figure is the pitch angle data of the directional gyro sensor 30, and the channel 2 data is the roll angle data of the directional gyro sensor 30.

[0064] In the embodiment, the external display or data receiving module 50 is connected to the internal micro control unit module 40 to display the tactile data or receive the tactile data to draw the vaginal tactile data cloud map. The external display or data receiving module 50 is an electronic computer equipped with matlab or python data processing software, which displays the real-time acquisition, sensing data and the vaginal tactile data cloud map after data processing, including but not limited to the vaginal three-dimensional elastic modulus cloud map, visually representing the mechanical properties and elastic properties of the inner wall of the subject's vagina.

[0065] like Figure 8 As shown, when the vaginal tactile imaging device provided by the embodiment of the present invention is used to detect vaginal pressure, the external display or data receiving module 50 draws a vaginal tactile data cloud map. The vaginal tactile data cloud map drawing process includes the following steps: obtaining data and processing it into a set of data; setting cloud map drawing parameters in the environment, including but not limited to color, size, shape, etc., as well as the location and range of cloud map display; drawing a vaginal tactile data cloud map based on the obtained data and cloud map drawing parameters.

[0066] In the embodiment, the power source 60 uses an external power source via wires, wireless charging or an energy storage battery to power the flexible off-line pressure sensor array 20, the directional gyro sensor 30 and the internal micro control unit module 40.

[0067] In summary, a vaginal tactile imaging device based on a flexible ionizing pressure sensor uses a multi-directional vaginal probe 10 to improve test efficiency, form uniform support on the inner wall of the vagina, and improve the subject experience; at the same time, a flexible ionizing pressure sensor array 20 based on the double electrical layer principle is used to effectively resist external interference and improve the reliability of test data; in addition, a directional gyroscope sensor 30 and an internal microcontroller unit module 40 are used to achieve an objective and comprehensive characterization of the inner wall conditions of the vagina in multiple data dimensions, which has application and promotion value.

[0068] The specific implementation methods described above provide a detailed description of the technical solutions and beneficial effects of the present invention. It should be understood that the above is only the most preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, supplements and equivalent substitutions made within the scope of the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vaginal tactile imaging device based on a flexible ionization pressure sensor, characterized in that: It includes a multi-directional vaginal probe, a flexible ionizing pressure sensor array, a directional gyro sensor, an internal microcontroller unit module, an external display or data receiving module, and a power supply; The flexible ion-type pressure sensor array includes a plurality of flexible ion-type pressure sensors arranged on the surface of the multi-directional vaginal probe, all of which are connected to the data bus of the internal micro-control unit module, and each flexible ion-type pressure sensor detects the pressure data of the inner wall of the vagina at the corresponding position and transmits the data to the internal micro-control unit module; The directional gyro sensor is connected to the internal micro control unit module data bus, and the angle acquisition data is obtained through the directional gyro sensor and transmitted to the internal micro control unit module; The internal micro control unit module receives the pressure acquisition data and the angle acquisition data, and performs post-processing to obtain tactile data; The external display or data receiving module is connected to the internal micro control unit module to display the tactile data or receive the tactile data to draw a vaginal tactile data cloud map; The power supply is used to power the vaginal tactile imaging device.

2. The vaginal tactile imaging device based on a flexible ionization pressure sensor according to claim 1, characterized in that: The multi-directional vaginal probe has multi-directional protrusions. Preferably, the multi-directional protrusions are in a four-directional cross shape or a six-directional M-shape extending axially, the four-directional or six-directional protrusions are in a radial direction, and the multi-directional protrusions at the top insertion end are chamfered.

3. The vaginal tactile imaging device based on a flexible ionization pressure sensor according to claim 1, characterized in that: The flexible ion-type pressure sensor array is composed of 2 to 500 flexible ion-type pressure sensors.

4. The vaginal tactile imaging device based on a flexible ionization pressure sensor according to claim 1, characterized in that: The flexible ion-type pressure sensor includes upper and lower electrodes and an ion gel layer between the upper and lower electrodes to form a double-layer capacitance structure. The capacitance value of the ion-type pressure sensor corresponds to the pressure value received, and the pressure value is obtained by measuring the capacitance value.

5. The vaginal tactile imaging device based on a flexible ionization pressure sensor according to claim 4, characterized in that: The upper and lower electrode materials are one of copper, gold, silver, aluminum and titanium metals or an alloy of at least two metals deposited on a flexible polyimide film. The thickness of the deposited metal layer is 10nm to 2mm. The upper and lower electrode arrays are electrically connected to the internal micro control unit module.

6. The vaginal tactile imaging device based on a flexible ionization pressure sensor according to claim 4, characterized in that: The ion gel layer is made of a solid electrolyte selected from polyvinylidene fluoride, polydimethylsiloxane, thermoplastic polyurethane and polyvinyl alcohol and an ion solution selected from phosphoric acid, sulfuric acid, potassium hydroxide and sodium chloride. The thickness of the ion gel layer is 1nm-1mm.

7. The vaginal tactile imaging device based on a flexible ionization pressure sensor according to claim 1, characterized in that: The directional gyro sensor is a directional gyro sensor with a built-in three-axis accelerometer, a three-axis angular velocity meter and a magnetometer.

8. The vaginal tactile imaging device based on a flexible ionization pressure sensor according to claim 1, characterized in that: The internal micro control unit module includes a signal processing module, a pressure acquisition module and an angle acquisition module; The pressure acquisition module is used to receive the pressure acquisition data collected in real time, and convert it into a voltage signal through a signal amplification unit, and obtain the pressure value after analog-to-digital conversion; The angle acquisition module is used to receive angle acquisition data acquired in real time, and process and calculate the pitch angle and the roll angle; The signal processing module is used to process the output values ​​of the pressure acquisition module and the angle acquisition module to obtain tactile data, and send data information to an external display or data receiving module.

9. The vaginal tactile imaging device based on a flexible ionization pressure sensor according to claim 1, characterized in that: The external display or data receiving module is an electronic computer equipped with matlab or python data processing software, which can visualize the mechanical properties and elastic properties of the inner wall of the vagina of the subject.

10. The vaginal tactile imaging device based on a flexible ionization pressure sensor according to claim 1, characterized in that: The power source includes an external power source connected by wires, a wireless charging or an energy storage battery, and is used to supply power to the flexible off-line pressure sensor array, the directional gyroscope sensor and the internal micro control unit module.

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