Omnidirectional stress sensing system for assisting transesophageal echocardiography examination operation

Abstract

An omni-directional stress sensing system for assisting transesophageal echocardiography examination operation comprises an esophagus omni-directional stress sensing and collecting subsystem, an esophagus omni-directional stress sensing and executing subsystem, an esophagus stress collecting and sensing executing control subsystem and a software module based on the three subsystems. The three subsystems are connected through cables, and the software module is installed in a microcontroller of the control subsystem for esophagus stress collection and sensing execution. The pressure of the head of the ultrasonic probe on the esophagus of the examined person can be collected in an omnidirectional and real-time manner, and the pressure is fed back to fingers of an operator in real time, so that the operator can directly sense the stress of the esophagus of the examined person in an omnidirectional and whole-process manner. An operator can dynamically optimize and adjust the inspection operation according to the stress change sensed by fingers, and the safety and comfort in the inspection process are guaranteed. The device is suitable for assisting transesophageal echocardiography examination operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an omnidirectional force perception system for assisting in the operation of transesophageal echocardiography examination. Background Art

[0002] Transesophageal echocardiography examination is a key cardiovascular imaging approach. Since most of the structures in the heart and large blood vessels are adjacent to the esophagus, placing the ultrasonic probe in the esophagus can avoid the interference of tissues such as the chest wall and lungs, and scan closely behind the heart. Compared with transthoracic echocardiography examination, transesophageal echocardiography examination can provide more accurate and clear ultrasonic images. Transesophageal echocardiography examination is an invasive examination that requires inserting the ultrasonic probe from the oropharynx into the esophagus and scanning the heart structures at different depths in the esophagus. Moreover, the angle of the probe needs to be adjusted in real time. There is a risk of esophageal injury throughout the process from inserting the ultrasonic probe into the esophagus to completing the examination and removing the ultrasonic probe, which is likely to cause complications such as esophageal mucosal injury and pyriform fossa perforation. During transesophageal echocardiography examination, the throat of the subject is in a state of local anesthesia and a mouthguard is placed in the mouth. It is difficult for the subject to provide perceptual feedback on the force on the esophagus to the operator during the examination process. The operator inserts blindly based on experience, and the entire examination operation process highly depends on the operator's experience.

[0003] Currently, there are mainly two technical solutions in the technical field of assisting in the operation of transesophageal echocardiography examination: First, a visual solution with an endoscope camera configured at the front end of the esophageal ultrasonic probe, which can only provide images near the front end of the ultrasonic probe, and the operator cannot perceive the force on the esophagus of the subject; Second, several pressure sensors are configured around the ultrasonic transducer of the esophageal ultrasonic probe. When the probe reaches the target position in the esophagus, if the pressure on the esophagus from the side of the ultrasonic transducer approaches the limit value during the operator's operation of the probe angle through the operating mechanism, a large resistance will be generated on the operating mechanism of the ultrasonic probe to limit the operation or provide acoustic and optical warnings, and the operator cannot omnidirectionally, throughout the process, and directly perceive the force on the esophagus of the subject. Summary of the Invention

[0004] The purpose of the present invention is to provide an omnidirectional force perception system for assisting in the operation of transesophageal echocardiography examination in view of the deficiencies of the prior art, enabling the operator to omnidirectionally, throughout the process, and directly perceive the force on the esophagus of the subject, thereby assisting the operator to adjust in real time to optimize the operation and avoid complications for the subject.

[0005] The present invention is achieved through the following technical solutions.

[0006] An omnidirectional force sensing system for assisting the operation of transesophageal echocardiography examination according to the present invention includes three subsystems: an esophageal omnidirectional force sensing acquisition subsystem; an esophageal omnidirectional force sensing execution subsystem; and a control subsystem for esophageal force acquisition and sensing execution. The present invention is the added part based on the existing ultrasonic probe, and components such as the existing probe head, insertion catheter, operation control part of the ultrasonic probe do not belong to the scope of the present invention.

[0007] The described esophageal omnidirectional force sensing acquisition subsystem includes.

[0008] A plurality of pressure sensors are arranged in an array on the probe head of the ultrasonic probe for transesophageal echocardiography examination, covering 5 surfaces where the ultrasonic probe may contact the esophagus, namely: the left side, the front side, the right side, the back side, and the front side surface. No pressure sensor is arranged in the ultrasonic transducer area of the front side.

[0009] The pressure sensor is of the resistive type, and its resistance changes with the pressure value. A resistive voltage division circuit is used to convert the change in resistance into a voltage signal. The voltage signals converted by the array of multiple pressure sensors are connected to a multiplexed analog switch module, and the corresponding channel is selected by controlling the signal of the channel selection port. The voltage signal of the corresponding pressure sensor is output from the POUT port.

[0010] The signal of the channel selection port is controlled by the control subsystem for esophageal force acquisition and sensing execution. The voltage signal of the pressure sensor output from the POUT port is collected by the control subsystem for esophageal force acquisition and sensing execution. The power supply is provided by the control subsystem for esophageal force acquisition and sensing execution. The corresponding control cable is laid along the insertion catheter and is connected to the control subsystem for esophageal force acquisition and sensing execution through a pluggable electrical signal interface at the operation control part.

[0011] The described esophageal omnidirectional force sensing execution subsystem includes.

[0012] Adopt a finger - sleeve structure. Its inner wall is made of a flexible material with good wrapping property, and pressure - feedback actuators are arranged on the inner wall. It is divided into 5 inner walls according to the direction of wrapping the finger, namely: the left - hand inner wall, the dorsal - side inner wall, the right - hand inner wall, the ventral - side inner wall, and the fingertip - side inner wall. Several pressure - feedback actuators are arranged in an array on the 5 inner walls and correspond one - to - one with the pressure sensors of the esophageal omnidirectional force - sensing subsystem. The number of pressure - feedback actuators is the same as that of the pressure sensors, and the spatial arrangement pitch of the pressure - feedback actuators is in proportion to that of the pressure sensors. Specifically, several pressure - feedback actuators on the left - hand inner wall correspond one - to - one with several pressure sensors on the left side, several pressure - feedback actuators on the dorsal - side inner wall correspond one - to - one with several pressure sensors on the front side, several pressure - feedback actuators on the right - hand inner wall correspond one - to - one with several pressure sensors on the right side, several pressure - feedback actuators on the ventral - side inner wall correspond one - to - one with several pressure sensors on the back side, and several pressure - feedback actuators on the fingertip - side inner wall correspond one - to - one with several pressure sensors on the front - side surface.

[0013] Adopt pulse - width modulation (PWM) to control the pressure output of the pressure - feedback actuators. Each PWM output channel of the driving module of the pressure - feedback actuator controls the pressure output of 1 pressure - feedback actuator. The driving module of the pressure - feedback actuator receives the control signal of the control subsystem of the esophageal force acquisition and perception execution through a communication bus, and the power supply is provided by the control subsystem of the esophageal force acquisition and perception execution. The corresponding control cable is connected to the control subsystem of the esophageal force acquisition and perception execution through a plug - and - unplug interface.

[0014] The described control subsystem of the esophageal force acquisition and perception execution includes.

[0015] It includes 1 controller and 1 independent micro - chassis. The controller is installed in the independent micro - chassis. The controller is composed of a micro - processor and peripheral circuits. There are 2 plug - and - unplug electrical signal interfaces on the controller chassis, which are connected to the esophageal omnidirectional force - sensing acquisition subsystem and the esophageal omnidirectional force - sensing execution subsystem through cables respectively; there is 1 power - supply interface to provide working power for the controller body, the esophageal omnidirectional force - sensing subsystem, and the esophageal omnidirectional force - sensing execution subsystem; in addition, there is also a start - stop switch.

[0016] The IO port of the micro - processor inside the controller is connected to the channel - selection port of the esophageal omnidirectional force - sensing acquisition subsystem, and the ADC port is connected to the POUT port of the esophageal omnidirectional force - sensing acquisition subsystem.

[0017] The communication bus of the micro - processor inside the controller is connected to the communication bus of the esophageal omnidirectional force - sensing execution subsystem, communicates with the driving module of the pressure - feedback actuator, and controls the duty cycle of each PWM output channel of the driving module of the pressure - feedback actuator.

[0018] The input power supply of the controller is simultaneously connected to the power input ports of the omnidirectional esophageal force perception acquisition subsystem and the omnidirectional esophageal force perception execution subsystems 1-2 to provide operating power for them.

[0019] The start / stop signal of the controller start / stop switch is connected to the microprocessor IO port for controlling the start / stop of the controller.

[0020] The software module of the technical solution of the present invention mainly consists of 11 program steps. The software module is installed in the microcontroller of the control subsystem for esophageal force acquisition and perception execution 1-3. The 11 program steps are as follows.

[0021] Step 1: Read the status of the IO port to which the start / stop switch is connected, and determine whether the user's inspection operation has started. If the inspection starts, proceed to Step 2; otherwise, wait.

[0022] Step 2: Initialize the pressure sensor selection number k =1, and proceed to Step 3.

[0023] Step 3: Send a channel selection k instruction to the multiplexed analog switch (omnidirectional esophageal force perception acquisition subsystem) through the IO port, wait for an appropriate delay for the channel switching of the multiplexed analog switch to stabilize, and proceed to Step 4.

[0024] Step 4: Sample the voltage value at the POUT port of the multiplexed analog switch (omnidirectional esophageal force perception acquisition subsystem) through the ADC port, and proceed to Step 5.

[0025] Step 5: Convert the voltage value obtained by the ADC sampling in Step 4 into a pressure value, and proceed to Step 6.

[0026] Step 6: Convert the pressure value obtained in Step 5 into a PWM duty cycle instruction for controlling the pressure feedback actuator.

[0027] Step 7: Communicate with the pressure feedback actuator drive module to control the PWM duty cycle of its Out k port to the value obtained in Step 6, and proceed to Step 8.

[0028] Step 8: The pressure sensor selection number k = k +1.

[0029] Step 9: Judge whether k is greater than K , K being the total number of pressure sensors. If so, proceed to Step 10; otherwise, return to Step 3.

[0030] Step 10: Read the IO port status of the access start / stop switch to determine whether the user's inspection operation is completed. If so, proceed to Step 11; otherwise, return to Step 2.

[0031] Step 11: Communicate with the pressure feedback actuator drive module, reset the PWM duty cycle of all Out ports, and control the pressure output of the pressure feedback actuator to 0.

[0032] The present invention has the following characteristics: Omnidirectionally and real-time collect the pressure of the front end of the ultrasonic probe on the esophagus, and real-time feedback the pressure to the operator's finger, enabling the operator to omnidirectionally, throughout the process, and directly perceive the force on the esophagus of the examinee. The operator can adjust and optimize the inspection operation in real time according to the force feeling on the finger, ensuring the safety and comfort of the inspection process. Brief Description of the Drawings

[0033] Figure 1 It is an overview diagram of the omnidirectional force perception system for assisting transesophageal echocardiography examination operations of the present invention, where: 1-1 is the omnidirectional force perception acquisition subsystem of the esophagus, 1-2 is the omnidirectional force perception execution subsystem of the esophagus, and 1-3 is the omnidirectional force perception control subsystem of the esophagus.

[0034] Figure 2 It is a layout diagram of the pressure sensors of the omnidirectional force perception acquisition subsystem of the esophagus. (a) is a three-dimensional view of the front end of the ultrasonic probe, and (b) is an exploded view of the 5 side faces where the head of the ultrasonic probe contacts the esophagus. Among them: 2-1 is the left side face of the head of the ultrasonic probe, 2-2 is the front face of the head of the ultrasonic probe, 2-3 is the right side face of the head of the ultrasonic probe, 2-4 is the back face of the head of the ultrasonic probe, and 2-5 is the front side face of the head of the ultrasonic probe.

[0035] Figure 3 It is a circuit diagram of the omnidirectional force perception acquisition subsystem of the esophagus, where P1~ K is K pressure sensors, R1~ K is K pressure sensors' voltage-dividing resistors, 1~ K is the K channel ports of the multiplexed analog switch module. A~E are the channel selection ports of the multiplexed analog switch module, and POUT is the output port of the multiplexed analog switch module.

[0036] Figure 4It is the layout diagram of the pressure feedback actuator of the invented omnidirectional force perception and execution subsystem for the esophagus. (a) is the three-dimensional perspective view of this subsystem, and the pressure feedback actuator is arranged on its inner wall. (b) is the exploded view of 5 side walls of the inner wall. In the figure: 4-1 is the left inner wall, 4-2 is the dorsal inner wall of the finger, 4-3 is the right inner wall, 4-4 is the ventral inner wall of the finger, 4-5 is the fingertip side inner wall, and 4-6 is the control cable.

[0037] Figure 5 It is the circuit diagram of the pressure feedback actuator of the invented omnidirectional force perception and execution subsystem for the esophagus. In the figure: A1~ K is K pressure feedback actuators, Out 1~ K is the K channel ports of the pressure feedback actuator drive module. CS, SCLK, MOSI, and MISO are the 4 control signal ports of the control bus of the pressure feedback actuator drive module.

[0038] Figure 6 It is the circuit diagram of the invented omnidirectional force perception control subsystem for the esophagus. In the figure: CS, SCLK, MOSI, and MISO are the control bus ports communicating with the pressure feedback actuator drive module of the omnidirectional force perception and execution subsystem for the esophagus. A~E are the ports for controlling the channel selection of the multiplexed analog switch module of the omnidirectional force perception acquisition subsystem for the esophagus. POUT is the port for receiving the output signal of the multiplexed analog switch module of the omnidirectional force perception acquisition subsystem for the esophagus. OP is the port for receiving the start-stop switch signal of the controller. 6-1 is the start-stop switch of the controller.

[0039] Figure 7 It is the program step diagram of the software module of the invented omnidirectional force perception system for assisting transesophageal echocardiography examination operation.

[0040] Figure 8 It is the usage example diagram of the invented omnidirectional force perception system for assisting transesophageal echocardiography examination operation. In the figure: 8-1 is the operator's hand, and 1-2 is the omnidirectional force perception and execution subsystem. Specific embodiments

[0041] The following further elaborates on the present invention in detail in conjunction with the accompanying drawings and specific embodiments.

[0042] The hardware module of the technical solution of the present invention mainly consists of three subsystems: the omnidirectional force perception acquisition subsystem 1-1 for the esophagus; the omnidirectional force perception and execution subsystem for the esophagus 1-2; the control subsystem 1-3 for esophagus force acquisition and perception execution. The present invention is the added part based on the existing ultrasonic probe, and components such as the existing probe head, insertion catheter, and operation control part of the ultrasonic probe do not fall within the scope of the present invention.

[0043] The described all-round force perception and acquisition subsystem 1-1 of the esophagus includes.

[0044] Several pressure sensors are arranged in an array on the head of the ultrasonic probe during transesophageal echocardiography, covering five surfaces where the ultrasonic probe may contact the esophagus, namely: the left side 2-1, the front side 2-2, the right side 2-3, the back side 2-4, and the front side 2-5. No pressure sensor is arranged in the ultrasonic transducer area of the front side 2-2. The array-type pressure sensors and their circuits on the five surfaces are prepared by flexible printed circuit boards to miniaturize the pressure sensors, so that the pressure sensors can be arranged densely on a small area of the head of the ultrasonic probe. In the embodiment ( Figure 2 shown), 4, 7, 4, 14, and 3 pressure sensors are arranged on the five surfaces of the left side 2-1, the front side 2-2, the right side 2-3, the back side 2-4, and the front side 2-5 respectively, and a total of 32 pressure sensors are arranged.

[0045] The pressure sensor is of the resistive type, and its resistance changes with the pressure value. A resistive voltage division circuit is used to convert the change in resistance into a voltage signal. The voltage signals converted by the array of multiple pressure sensors are connected to a multiplexed analog switch module, and the corresponding channel is selected by controlling the signal of the channel selection port. The voltage signal of the corresponding pressure sensor is output from the POUT port. Since a total of 32 pressure sensors are arranged in the embodiment ( Figure 2 shown), the multiplexed analog switch module used in the embodiment ( Figure 3 shown) also has 32 channels, and the corresponding channel selection ports are A, B, C, D, and E, that is, one of the 32 channels is selected by controlling with a 5-bit binary number.

[0046] The signal of the channel selection port is controlled by the control subsystem of the esophagus force acquisition and perception execution. The voltage signal of the pressure sensor output from the POUT port is collected by the control subsystem of the esophagus force acquisition and perception execution, and the power supply is provided by the control subsystem of the esophagus force acquisition and perception execution. The corresponding control cable is laid along the insertion catheter and is connected to the control subsystem of the esophagus force acquisition and perception execution through a pluggable electrical signal interface at the operation control part.

[0047] The described all-round force perception and execution subsystem 1-2 of the esophagus includes.

[0048] Adopt a finger - sleeve structure. Its inner wall is made of a flexible material with good wrapping property, and pressure - feedback actuators are arranged on the inner wall. It is divided into 5 inner walls according to the direction of wrapping the finger, namely: the left - hand inner wall 4 - 1, the dorsal - side inner wall 4 - 2, the right - hand inner wall 4 - 3, the ventral - side inner wall 4 - 4, and the fingertip - side inner wall 4 - 5. A number of pressure - feedback actuators are arranged in an array on the 5 inner walls. In this embodiment, a micro - pneumatic pressure - feedback actuator is adopted, and an array of micro - pneumatic pressure - feedback actuators and their circuits for the 5 inner walls are prepared through flexible printed circuit boards. Each pressure - feedback actuator corresponds one - to - one with the pressure sensor of the omnidirectional force - sensing subsystem 1 - 1 of the esophagus. The number of pressure - feedback actuators is the same as the number of pressure sensors, and the spatial arrangement pitch of the pressure - feedback actuators is in proportion to the spatial arrangement pitch of the pressure sensors. Specifically, a number of pressure - feedback actuators on the left - hand inner wall 4 - 1 correspond one - to - one with a number of pressure sensors on the left side 2 - 1, a number of pressure - feedback actuators on the dorsal - side inner wall 4 - 2 correspond one - to - one with a number of pressure sensors on the front side 2 - 2, a number of pressure - feedback actuators on the right - hand inner wall 4 - 3 correspond one - to - one with a number of pressure sensors on the right side 2 - 3, a number of pressure - feedback actuators on the ventral - side inner wall 4 - 4 correspond one - to - one with a number of pressure sensors on the back side 2 - 4, and a number of pressure - feedback actuators on the fingertip - side inner wall 4 - 5 correspond one - to - one with a number of pressure sensors on the front - side 2 - 5. In the embodiment ( Figure 4 shown), 4, 7, 4, 14, and 3 pressure - feedback actuators are respectively arranged on the 5 inner walls: the left - hand inner wall 4 - 1, the dorsal - side inner wall 4 - 2, the right - hand inner wall 4 - 3, the ventral - side inner wall 4 - 4, and the fingertip - side inner wall 4 - 5, corresponding one - to - one with the pressure sensors on the 5 surfaces of the omnidirectional force - sensing subsystem ( Figure 2 shown).

[0049] Adopt pulse - width modulation (PWM) to control the pressure output of the pressure - feedback actuators. Each PWM output channel of the driving module of the pressure - feedback actuator controls the pressure output of 1 pressure - feedback actuator. The driving module of the pressure - feedback actuator receives the control signal of the control subsystem 1 - 3 of the esophagus force acquisition and perception execution through a communication bus, and the power supply is provided by the control subsystem 1 - 3 of the esophagus force acquisition and perception execution. The corresponding control cable is connected to the control subsystem 1 - 3 of the esophagus force acquisition and perception execution through a plug - and - play interface. In the embodiment ( Figure 5 shown), it contains K pressure - feedback actuators, namely A1~A K , and the driving module of the pressure - feedback actuator contains a total of K PWM output channels from Out 1 to K, among which KEqual to 32; The communication bus uses the SPI bus, which includes 4 control signals: CS, SCLK, MOSI, and MISO. The drive module of the pressure feedback actuator operates in the slave mode of SPI bus communication.

[0050] The control subsystems 1-3 for esophageal force acquisition and perception execution include.

[0051] It includes 1 controller and 1 independent micro chassis. The controller is installed inside the independent micro chassis and is composed of a microprocessor and peripheral circuits. There are 2 pluggable electrical signal interfaces on the controller chassis, which are connected to the omnidirectional esophageal force perception acquisition subsystem 1-1 and the omnidirectional esophageal force perception execution subsystem 1-2 through cables respectively; there is 1 power interface to provide working power for the controller itself, the omnidirectional esophageal force sensing subsystem 1-1, and the omnidirectional esophageal force perception execution subsystem 1-2; in addition, there is also a start-stop switch.

[0052] The IO port of the microprocessor inside the controller is connected to the channel selection port of the omnidirectional esophageal force perception acquisition subsystem 1-1. In the embodiment ( Figure 6 shown), 5 IO ports are occupied and are connected to the channel selection ports A, B, C, D, and E of the omnidirectional esophageal force perception acquisition subsystem 1-1; the ADC port is connected to the POUT port of the omnidirectional esophageal force perception acquisition subsystem 1-1.

[0053] The communication bus of the microprocessor inside the controller is connected to the communication bus of the omnidirectional esophageal force perception execution subsystem 1-2. In the embodiment ( Figure 6 shown), the SPI communication bus is adopted, which includes 4 control signals: CS, SCLK, MOSI, and MISO. The microprocessor inside the controller operates in the master mode of SPI bus communication, communicates with the drive module of the slave pressure feedback actuator, and controls the duty cycle of each PWM output channel of the pressure feedback actuator drive module.

[0054] The input power supply of the controller is simultaneously connected to the power input ports of the omnidirectional esophageal force perception acquisition subsystem 1-1 and the omnidirectional esophageal force perception execution subsystem 1-2 to provide working power for them.

[0055] The start-stop signal of the controller start-stop switch is connected to the microprocessor IO port, and by reading Figure 6 the status of the OP port shown, it is used for the start-stop control of the controller.

[0056] The software module of the technical solution of the present invention is mainly composed of 11 program steps. The software module is installed in the microcontroller of the control subsystem 1-3 for esophageal force acquisition and perception execution. The 11 program steps are as follows.

[0057] Step 1: Read the status of the IO port of the access start / stop switch, and determine whether the user's inspection operation has started. If the inspection starts, proceed to Step 2; otherwise, wait. In the embodiment, a high level of 1 at the start / stop switch IO port indicates working, and a low level of 0 indicates stopping.

[0058] Step 2: Initialize the pressure sensor selection number k = 1, and proceed to Step 3.

[0059] Step 3: Send an instruction to select a channel to the multiplexed analog switch (esophageal omnidirectional force sensing acquisition subsystem 1-1). k In the embodiment, it is controlled through the IO port Figure 2 at the A, B, C, D, and E ports shown. After appropriate delay to wait for the channel switching of the multiplexed analog switch to stabilize, proceed to Step 4.

[0060] Step 4: Sample the voltage value at the POUT port of the multiplexed analog switch (esophageal omnidirectional force sensing acquisition subsystem 1-1) through the ADC port, and proceed to Step 5.

[0061] Step 5: Convert the voltage value obtained from the ADC sampling in Step 4 into a pressure value, and proceed to Step 6.

[0062] Step 6: Convert the pressure value obtained in Step 5 into a PWM duty cycle instruction for controlling the pressure feedback actuator.

[0063] Step 7: Communicate with the pressure feedback actuator drive module to control the PWM duty cycle at its Out k port to the value obtained in Step 6, and proceed to Step 8.

[0064] Step 8: The pressure sensor selection number k = k + 1.

[0065] Step 9: Determine whether k is greater than K , K where K is the total number of pressure sensors. In the embodiment,

[0066] is 32. If so, proceed to Step 10; otherwise, return to Step 3.

[0067] Step 10: Read the status of the IO port of the access start / stop switch, and determine whether the user's inspection operation has ended. If so, proceed to Step 11; otherwise, return to Step 2. In this embodiment, a low level of 0 at the start / stop switch IO port indicates the end of the user's inspection operation.

[0068] Figure 8 The figure shows an example of the use of the omnidirectional force sensing system for assisting in transesophageal echocardiography examinations. The operator (taking the right hand holding the control part and the left hand holding the insertion catheter as an example) puts the esophageal omnidirectional force sensing execution subsystem on the right ring finger. The operator inserts the insertion catheter into the esophagus of the examinee with the left hand, and performs the examination operation with the right thumb and index finger through the operating mechanism. During the whole process of the examination from "catheter insertion - examination operation - catheter removal", the omnidirectional force of the examinee's esophagus is fed back to the right ring finger of the operator in real time. The operator dynamically optimizes and adjusts the examination operation according to the omnidirectional force of the examinee's esophagus sensed by the right ring finger in real time, so as to ensure the safety and comfort of the examination process.

Claims

1. An omnidirectional force sensing system for assisting in the operation of transesophageal echocardiography, characterized in that It includes three subsystems: the omni-directional force sensing and acquisition subsystem for the esophagus; the omni-directional force sensing and execution subsystem for the esophagus; the control subsystem for esophagus force acquisition, sensing and execution; The aforementioned omni-directional force sensing and acquisition subsystem for the esophagus includes: Several pressure sensors are arranged in an array on the probe head of the ultrasonic probe during transesophageal echocardiography, covering 5 surfaces where the ultrasonic probe may contact the esophagus: the left side, the front side, the right side, the back side, and the front lateral side; The pressure sensors are resistive, and a resistive voltage division circuit is used to convert the change in resistance into a voltage signal; the voltage signals converted by the array of multiple pressure sensors are connected to a multiplexed analog switch module, and the corresponding channel is selected by controlling the signal of the channel selection port, and the voltage signal of the corresponding pressure sensor is output from the POUT port; The signal of the channel selection port is controlled by the control subsystem for esophagus force acquisition, sensing and execution, the voltage signal of the pressure sensor output from the POUT port is collected by the control subsystem for esophagus force acquisition, sensing and execution, and the power supply is provided by the control subsystem for esophagus force acquisition, sensing and execution; the corresponding control cable is laid along the insertion catheter and is connected to the control subsystem for esophagus force acquisition, sensing and execution through a pluggable electrical signal interface at the operation control part; The aforementioned omni-directional force sensing and execution subsystem for the esophagus includes: It adopts a finger cot structure, the inner wall of which is made of a flexible material with good wrapping property, and pressure feedback actuators are arranged on the inner wall; it is divided into 5 inner walls according to the direction of wrapping the finger: the left inner wall, the dorsal inner wall, the right inner wall, the ventral inner wall, and the fingertip inner wall; several pressure feedback actuators are arranged in an array on the 5 inner walls and correspond one-to-one with the pressure sensors of the omni-directional force sensing subsystem for the esophagus. The number of pressure feedback actuators is the same as the number of pressure sensors, and the spatial arrangement pitch of the pressure feedback actuators is in proportion to the spatial arrangement pitch of the pressure sensors; among them, several pressure feedback actuators on the left inner wall correspond one-to-one with several pressure sensors on the left side, several pressure feedback actuators on the dorsal inner wall correspond one-to-one with several pressure sensors on the front side, several pressure feedback actuators on the right inner wall correspond one-to-one with several pressure sensors on the right side, several pressure feedback actuators on the ventral inner wall correspond one-to-one with several pressure sensors on the back side, and several pressure feedback actuators on the fingertip inner wall correspond one-to-one with several pressure sensors on the front lateral side; Pulse width modulation (PWM) is used to control the pressure output of the pressure feedback actuators. Each PWM output channel of the drive module of the pressure feedback actuators controls the pressure output of 1 pressure feedback actuator. The drive module of the pressure feedback actuators receives the control signal of the control subsystem for esophagus force acquisition, sensing and execution through a communication bus, and the power supply is provided by the control subsystem for esophagus force acquisition, sensing and execution; the corresponding control cable is connected to the control subsystem for esophagus force acquisition, sensing and execution through a pluggable interface; The aforementioned control subsystem for esophagus force acquisition, sensing and execution includes: 1 controller and 1 independent micro chassis, the controller is installed inside the independent micro chassis, and the controller is composed of a microprocessor and peripheral circuits; there are 2 pluggable electrical signal interfaces on the controller chassis, which are respectively connected to the omni-directional force sensing and acquisition subsystem of the esophagus and the omni-directional force sensing and execution subsystem of the esophagus through cables; there is 1 power interface to provide working power for the controller body, the omni-directional force sensing subsystem of the esophagus, and the omni-directional force sensing and execution subsystem of the esophagus; in addition, there is also a start-stop switch; The IO port of the microprocessor inside the controller is connected to the channel selection port of the omni-directional force sensing and acquisition subsystem of the esophagus, and the ADC port is connected to the POUT port of the omni-directional force sensing and acquisition subsystem of the esophagus; The communication bus of the microprocessor inside the controller is connected to the communication bus of the omni-directional force sensing and execution subsystem of the esophagus, communicates with the drive module of the pressure feedback actuator, and controls the duty cycle of each PWM output channel of the pressure feedback actuator drive module; The start-stop signal of the controller start-stop switch is connected to the microprocessor IO port for controlling the start and stop of the controller.

2. An omni-directional force sensing system for assisting the operation of transesophageal echocardiography according to claim 1, characterized in that the software module is installed in the microcontroller of the control subsystem for esophagus force acquisition and sensing execution, and the program steps are as follows: Step 1: Read the status of the IO port connected to the start-stop switch to determine whether the user's inspection operation has started. If the inspection starts, go to Step 2; otherwise, wait; Step 2: Initialize the pressure sensor selection number k = 1, and proceed to Step 3; Step 3: Send a channel selection instruction to the multiplexed analog switch of the esophageal omnidirectional force sensing acquisition subsystem through the IO port, and after appropriate delay to wait for the channel switching of the multiplexed analog switch to stabilize, and enter Step 4; k and enter Step 4 after appropriate delay to wait for the channel switching of the multiplexed analog switch to stabilize; Step 4: Sample the voltage value of the POUT port of the multiplexed analog switch through the ADC port and enter Step 5; Step 5: Convert the voltage value obtained by the ADC sampling in Step 4 into a pressure value and enter Step 6; Step 6: Convert the pressure value obtained in Step 5 into a PWM duty cycle command for controlling the pressure feedback actuator; Step 7: Communicate with the pressure feedback actuator drive module to control the PWM duty cycle of its Out k port to the value obtained in Step 6, and proceed to Step 8; Step 8: Select the number for the pressure sensor k = k + 1; Step 9: Determine k whether it is greater than K , K which is the total number of pressure sensors. If so, proceed to Step 10; otherwise, return to Step 3. Step 10: Read the status of the IO port connected to the start-stop switch to determine whether the user's inspection operation has ended. If so, go to Step 11; otherwise, return to Step 2; Step 11: Communicate with the pressure feedback actuator drive module, reset the PWM duty cycle of all Out ports, and control the pressure output of the pressure feedback actuator to 0.

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