Intelligent electric endoscopic flexible clamp saw system based on spectrum detection

Abstract

The invention relates to an electric endoscopic flexible clamp saw system integrating spectrum detection and intelligent control. The problems that in a traditional endoscopic operation, foreign matter material recognition precision is low, clamping force control is extensive, and the function is single are solved. The system is composed of a miniature optical fiber spectrum detection module, an intelligent control module and a multifunctional clamp saw tool head, adopts visible-near infrared dual-band spectrum analysis, quantifies the surface smoothness through a Savitzky-Golay second derivative spectrum in a visible light band and screens candidate materials through HSV chromaticity parameters. And characteristic peak parameters are extracted in an infrared band and are accurately matched with a material database, and hardness is calculated so as to dynamically set a clamping force threshold value. The intelligent control module regulates and controls the clamping force in real time through force feedback, and foreign matter fragmentation or tissue damage is avoided. Through the fusion of material identification, a force control algorithm and a multifunctional instrument, a high-precision and low-trauma solution is provided for medical minimally invasive surgery.

Description

Technical Field

[0001] This invention relates to the field of spectral analysis for identifying foreign material, and specifically to an intelligent electric endoscopic flexible clamp saw system based on spectral detection. Background Technology

[0002] An endoscope is a flexible tube with a light source. It can be inserted into the body through openings such as the esophagus or small surgical incisions to perform examinations and surgeries. In recent years, the rapid development of endoscopic technology and related technologies has led to a wide variety of devices that can be combined with endoscopes for detection and treatment.

[0003] Currently, the clamps used in conjunction with endoscopes can only perform a clamping function during operation. They cannot directly remove larger foreign objects stuck in the esophagus, such as date pits or large fish bones. Furthermore, in actual surgical procedures, endoscopes are typically held in the left hand while the right hand operates the instrument. This manual operation puts strain on the operator's hand, and prolonged use may cause hand injury. It also makes it difficult to guarantee the precision, quality, and speed of the surgery.

[0004] Traditional endoscopes rely on RGB imaging or single physical parameter detection, which cannot accurately identify foreign materials. For example, the physicochemical properties of foreign objects such as metals, plastics, and bone differ significantly, but existing systems lack spectral analysis capabilities, causing clamping strategies to depend on experience and potentially leading to tissue damage. Existing clamping tools lack intelligent feedback mechanisms, and clamping force depends on operator experience, making it difficult to dynamically adjust the threshold based on the hardness of the foreign object, easily leading to the risk of crushing the foreign object or slipping (such as a sharp date pit breaking and causing secondary injury). Most clamping tools can only perform a single function of clamping or cutting. Complex foreign objects (such as embedded foreign objects) require multiple instrument changes, prolonging operation time and increasing patient trauma. Furthermore, traditional spectral probes are fixed to the instrument surface, and during clamping, mechanical collisions or foreign object obstruction can cause spectral signal distortion, affecting the accuracy of material identification. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides an intelligent electric endoscopic flexible clamp saw system based on spectral detection, comprising a miniature fiber optic spectral detection module, a spectral data processing module, an intelligent control module, a user interaction module, and an endoscopic clamp saw.

[0006] A miniature fiber optic spectral detection module is installed at the end of the endoscopic clamp saw. It emits visible-near-infrared light through a fiber optic probe to illuminate the foreign object and collects the reflected spectrum, which is then transmitted to the spectral data processing module. The spectral data processing module analyzes the collected reflected spectrum to identify the material of the foreign object and transmits the results to the intelligent control module. Based on the spectral detection results, the intelligent control module retrieves the corresponding clamping force threshold from a preset material database. Simultaneously, the intelligent control module uses a force feedback module to monitor the clamping force in real time. The user interaction module displays the spectral detection results and clamping force information in real time, and provides a warning when the clamping force approaches the clamping force threshold.

[0007] The endoscopic clamp saw includes a flexible clamp saw tool head, a flexible cable main tube, a Y-joint, a clamp flexible cable tube, a clamp operating tool, a flexible saw flexible cable tube, and an electric flexible saw operating tool; The clamp saw head is mounted on the end of the flexible cable main tube, and the fiber optic probe is located at the end of the clamp saw head. The end of the clamp saw head is provided with a mounting hole for mounting the fiber optic probe, and the depth of the mounting hole is greater than the length of the fiber optic probe. One end of the fiber optic probe can protrude from the end of the flexible clamp saw head, and the fiber optic probe can slide in the mounting hole so that the fiber optic probe is recessed into the mounting hole. The other end of the fiber optic probe is connected to the spectral sensor through an optical fiber.

[0008] The optical fiber is reinforced with a strength-enhancing layer on the outside, which allows the optical fiber probe to slide within the mounting hole by pushing and pulling the optical fiber.

[0009] The spectral data processing module divides the spectrum into visible light and infrared light bands. The spectral data processing module performs color and surface smoothness analysis on the visible light band to determine the color and surface smoothness of foreign objects and select candidate material categories accordingly. The spectral data processing module performs secondary material identification in the infrared band to determine the material of the foreign object; for the determined material of the foreign object, the spectral data processing module further calculates the hardness of the foreign object based on the infrared spectrum.

[0010] Three narrowband channels—violet 450 nm, green 550 nm, and red 650 nm—were set in the visible light band of 400-700 nm. The chromaticity parameters were calculated using the reflectance ratios of the three channels, R650 / R550 and R450 / R550, and the color of the foreign object was determined by combining the HSV color space mapping. The second derivative spectrum is generated using the Savitzky-Golay convolution derivative method, and the specular reflection intensity is quantified by the peak-valley difference of the second derivative. ; The intensity of diffuse reflection is characterized by the average value of the second derivative: ; Smoothness index: ; The higher the SI, the smoother the surface; candidate material categories are selected based on the range of color and smoothness index, as well as the color and smoothness index of materials in a pre-stored database. After obtaining the infrared reflectance spectrum of the foreign object, it is first normalized, and then the signal is decomposed into multiple intrinsic mode components using empirical mode decomposition. Feature peak parameters, including position parameters, intensity parameters and peak shape parameters, are extracted. The extracted spectral features are compared with a preset material database, and a similarity algorithm is used to calculate the matching degree with the candidate material category to achieve accurate material identification. A physical correlation model between infrared spectral characteristics and material hardness is established. For each material, a characteristic peak is pre-set, and a hardness correlation parameter of the characteristic peak is associated with its hardness. The hardness correlation parameter of the characteristic peak includes: peak intensity, peak width, and peak shift. For the actual measured infrared reflectance spectrum of the accurately identified material, the characteristic peak and the corresponding hardness correlation parameter of the material are extracted, and the material hardness is calculated based on the hardness correlation parameter.

[0011] The intelligent control module has a built-in multi-dimensional material database, which stores the hardness and corresponding clamping force threshold F_max according to the material type. The intelligent control module acquires the actual clamping force F_real and compares it with F_max retrieved from the database. When F_real < 0.8F_max, the user interaction module prompts the user to bring F_real closer to 0.8F_max. When F_max ≥ F_real ≥ 0.8F_max, an early warning mechanism is triggered, and a red flashing indicator is displayed on the interactive interface. When F_real > F_max, the clamping force output is automatically locked, and the clamping force is reduced by reverse driving the motor.

[0012] The clamping tool is connected to the flexible clamp saw head via a flexible cable main tube, a Y-connector, and a clamp flexible cable tube; the electric flexible saw tool is connected to the flexible clamp saw head via a flexible cable main tube, a Y-connector, and a clamp flexible cable tube; the clamping tool controls the flexible clamp saw head to fix and remove foreign objects, and the electric flexible saw tool controls the flexible clamp saw head to cut foreign objects.

[0013] The flexible clamp saw tool head includes a fixed clamp, a flexible saw, a flexible movable clamp, a movable clamp operating cable, and a flexible saw operating cable. The movable clamp operating cable is connected to the flexible movable clamp via a connector. The movable clamp operating cable can drive the flexible movable clamp to move and fix foreign objects. The flexible saw operating cable is connected to the flexible saw via a connector. The flexible saw operating cable can drive the flexible saw to move and cut foreign objects. The fixed clamp and the flexible movable clamp are both alligator-tooth shaped, and the flexible saw is blade-shaped.

[0014] A control method for an intelligent electric endoscopic flexible clamp saw system based on spectral detection, using the aforementioned intelligent electric endoscopic flexible clamp saw system based on spectral detection, includes the following steps: Spectral detection: When the flexible clamp saw tool head approaches a foreign object, the miniature fiber optic spectral detection module emits near-infrared light to irradiate the foreign object, collects the reflected spectral signal, and transmits it to the spectral data processing module; Material identification: The spectral data processing module divides the spectrum into visible light and infrared light bands. The spectral data processing module performs color and surface smoothness analysis on the visible light band to determine the color and surface smoothness of foreign objects, and selects candidate material categories accordingly. The spectral data processing module performs secondary material identification in the infrared band to determine the material of the foreign object; based on the determined material of the foreign object, the spectral data processing module further calculates the hardness of the foreign object using the infrared spectrum. Force control: The intelligent control module has a built-in multi-dimensional material database, which stores the hardness and corresponding clamping force threshold F_max according to the material type; The intelligent control module acquires the actual clamping force F_real and compares it with F_max retrieved from the database. When F_real < 0.8F_max, the user interaction module prompts the user to bring F_real closer to 0.8F_max. When F_max ≥ F_real ≥ 0.8F_max, an early warning mechanism is triggered, and a red flashing indicator is displayed on the interactive interface. When F_real > F_max, the clamping force output is automatically locked, and the clamping force is reduced by reverse driving the motor.

[0015] Before the spectral detection step, there is also a fiber optic probe adjustment step; since the depth of the mounting hole is greater than the length of the fiber optic probe, one end of the fiber optic probe can protrude from the end of the flexible clamp saw tool head, and the fiber optic probe can slide in the mounting hole so that the fiber optic probe is recessed into the mounting hole. Before the flexible clamp saw approaches the foreign object, the fiber optic probe protrudes from the end of the flexible clamp saw tool head. After the flexible clamp saw approaches the foreign object, the fiber optic probe is controlled to slide within the mounting hole by pulling the fiber optic cable, causing the fiber optic probe to sink into the mounting hole.

[0016] The beneficial effects of this invention are as follows: Employing visible-near-infrared dual-band spectral analysis technology, the material of foreign objects is accurately identified through material database matching. Based on the material hardness model, the clamping force threshold (F_max) is dynamically calculated, and the clamping force is adjusted in real time through a force feedback module (e.g., the motor reverses when F_real > F_max) to prevent foreign object breakage or tissue damage. Surface smoothness is quantified by Savitzky-Golay second derivative spectroscopy, and candidate materials are screened by combining HSV color space mapping. Empirical mode decomposition (EMD) is used to extract characteristic peak parameters, and a similarity algorithm is used to achieve accurate material matching.

[0017] The probe mounting hole is designed with a sliding structure, and the extension and retraction of the probe are controlled by pushing and pulling the reinforcing fiber: it protrudes forward during detection to avoid foreign objects from entering; it retracts into the hole during detection to ensure the stability of spectral data, such as light signal reduction caused by scattering, signal loss caused by probe misalignment, etc., and improves light throughput and signal-to-noise ratio, which is especially suitable for low-light scenarios in endoscopic environments.

[0018] Integrating alligator-tooth-shaped flexible clamps and a retractable saw blade, the flexible cable transmission mechanism enables coordinated operation of clamping and cutting separation, reducing the number of instrument changes and improving surgical outcomes. The flexible moving forceps adopt a modular structure to adapt to foreign objects of different sizes, expanding the application scenarios.

[0019] This invention utilizes a flexible clamp saw tool head with a fixed clamp and a flexible movable clamp, enabling the endoscope to grip foreign objects during use. When encountering slightly larger foreign objects, the flexible saw can cut them into smaller pieces, which can then be removed using the clamps. This flexible clamp saw tool head is no longer limited to a single function, overcoming the limitation of traditional clamps being unable to operate with slightly larger objects. The position of the flexible clamp saw tool head is adjusted via the fixed and movable clamp handles. When the tool head is in the appropriate position, it is secured by a flexible cable locking chuck release mechanism, a flexible cable locking spring, and a conical elastic flexible cable locking chuck, reducing the stress on medical personnel. Automatic control of the flexible saw is achieved by a DC motor driving a worm gear-crank slider mechanism within the electric flexible saw tool, successfully overcoming the drawback of prolonged operation causing hand strain and injury to the operator. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural diagram of the clamp saw of the present invention; Figure 2 This is a schematic diagram of the Y-shaped tube of the present invention; Figure 3 This is a schematic diagram of the flexible clamp saw tool head in this invention; Figure 4 This is a schematic diagram of the cross-sectional structure of the flexible clamp saw tool head when it is open in this invention; Figure 5 This is a schematic diagram of the cross-sectional structure of the flexible clamp saw tool head when clamped in this invention; Figure 6 This is an enlarged view of the flexible clamp saw fiber optic probe at the first position in this invention; Figure 7 This is an enlarged view of the flexible clamp saw fiber optic probe at the second position in this invention; Figure 8 This is a schematic diagram of the clamping tool in this invention; Figure 9 This is a cross-sectional structural diagram of the clamping tool in this invention; Figure 10 This is a schematic diagram of the structure of the electric flexible saw operating tool in this invention; Figure 11 This is a cross-sectional structural diagram of the electric flexible saw operating tool of the present invention. Detailed Implementation

[0022] Example 1: See Figures 1-11 This section will first introduce the clamp saw of the present invention in detail.

[0023] Please see the following: An electric endoscopic flexible clamp saw. Figures 1-10 It includes a flexible clamp saw tool head 1, a flexible cable main tube 2, a Y-shaped connector 3, a clamp flexible cable tube 4, a clamp operating tool 5, a flexible saw flexible cable tube 6, and an electric flexible saw operating tool 7.

[0024] Flexible clamp saw head: The flexible clamp saw tool head is used in conjunction with an endoscope to grasp and cut foreign objects in the esophagus, thereby achieving a therapeutic purpose. The flexible clamp saw tool head includes a fixed clamp 11, a flexible saw 12, a flexible movable clamp 13, a movable clamp operating cable 14, and a flexible saw operating cable 15. The fixed clamp 11 in the flexible clamp saw tool head 1 is fixed in place. The flexible movable clamp 13 has a hole on its inner side, which can be connected to the movable clamp operating cable 14, which has an internal hole at its end, via a connector. Both the fixed clamp and the flexible movable clamp are alligator-tooth shaped. The clamp operating cable drives the flexible movable clamp to move up and down, achieving an opening and closing state. Together with the fixed clamp, it completes the fixation of the foreign object. One end of the flexible saw 12 is a rectangular block with a hole and no teeth. The saw blade is toothed and is connected to the flexible saw operating cable 15, which has a through hole at its end, via a connector. The flexible saw operating cable 15 can drive the flexible saw 12 to move, thereby completing the cutting of the foreign object.

[0025] Rousseau Supervisor The main flexible cable is a hollow cylinder made of a special material that can be inserted into the human body. Inside the main flexible cable are the moving pliers operating cable 14 and the flexible saw operating cable 15, which are used to store and protect the moving pliers operating cable 14 and the flexible saw operating cable 15, and connect the flexible clamp saw tool head 1 and the Y-shaped connector 3.

[0026] Y-connector The Y-shaped connector is used to connect the flexible cable main tube 2 to the clamp flexible cable tube 4 and the flexible saw flexible cable tube 6. At the same time, the two flexible cables in the flexible cable main tube 2 separate, so that the moving clamp operating cable 14 enters into the clamp flexible cable tube 4 and the flexible saw operating cable 15 enters into the flexible saw flexible cable tube 6.

[0027] Clamping cable tube The clamp flexible cable tube is a hollow cylinder made of a special material. Inside, there is a movable clamp operating cable 14 separated by a Y-shaped connector 3, which serves to store and protect it. The clamp flexible cable tube 4 is also used to connect the Y-shaped connector 3 and the clamp operating tool 5.

[0028] Soft saw and flexible cable tube The flexible saw cable tube is a hollow cylinder made of a special material. Inside, there is a flexible saw operating cable 15 separated by a Y-shaped connector 3, which serves to store and protect it. The flexible saw cable tube 6 is also used to connect the Y-shaped connector 3 and the electric flexible saw operating tool 7.

[0029] Clamping tools The clamping tool is used to adjust and fix the position of the flexible clamp saw tool head 1. The clamping tool includes a flexible cable 501, a flexible cable tube connector 502, a conical elastic flexible cable locking chuck 503, a flexible cable fixed end 504, a clamping operating handle 505, a clamping handle pivot 506, a clamping handle torsion spring 507, a clamping operating fixed handle 508, a flexible cable locking spring 509, and a flexible cable locking chuck release mechanism 510. The flexible cable 501 connects to the movable clamping cable 14, and the flexible cable fixed end 504 is fixed to the clamping operating handle 505. The flexible cable tube connector 502 connects the flexible saw cable tube 6 to the clamping tool 5, and the position of the flexible clamp saw tool head 1 can be adjusted by pressing the clamping operating handle 505, thereby adjusting the flexible cable 501. The clamping handle pivot 506 and the clamping handle torsion spring 507 connect the clamping operating handle 505 and the clamping operating fixed handle 508. The press-and-release mechanism 510 can lock or release the conical elastic flexible cable locking chuck 503 via the flexible cable locking spring 509, which is used to fix or adjust the position of the flexible clamp saw tool head 1.

[0030] Electric flexible saw operating tools The electric flexible saw operating tool includes a flexible cable 71, a flexible cable tube connector 72, a flexible cable fixing slider 73, an operating handle housing 74, a worm gear-crank slider mechanism 75, a DC motor 76, a battery 77, a contact switch 78, and an operating trigger mechanism 79. The flexible cable tube connector 72 connects the flexible saw cable tube 6 to the electric flexible saw operating tool 7. The flexible cable fixing slider 73 is the slider in the worm gear-crank slider mechanism 75, connected to the operating handle housing 74. The contact switch 78 is mounted on the operating handle housing 74. The operating trigger mechanism 79 has a threaded hole and is connected to the operating handle housing 74 via a spring and bolt. The battery 77, DC motor 76, and worm gear-crank slider mechanism 75 are all fixedly installed inside the operating handle housing. By pressing the trigger mechanism 79 to contact the contact switch 78, the power supply to the DC motor 76 and the battery 77 is controlled, thereby driving the movement of the worm gear-crank slider mechanism 75. The movement of the slider is then controlled by the flexible cable, which in turn drives the forward and backward movement of the flexible cable, thereby controlling the movement of the flexible saw 12, thus achieving the effect of cutting foreign objects.

[0031] The working principle of this electric endoscopic flexible clamp saw is as follows: Medical staff use a power flexible saw in their left hand and a clamp in their right to remove and cut foreign objects. The flexible clamp saw head is inserted into the esophagus through the flexible cable main tube. The staff presses the clamp operating handle with their right hand, moving the flexible cable within the clamp operating tool, which in turn moves the flexible cable inside the clamp cable tube. Since the flexible cable inside the clamp cable tube is connected to the moving clamp operating cable in the flexible cable main tube via a Y-shaped connector, this moves the fixed clamp in the flexible clamp saw head, clamping and securing the date pit in the esophagus. Then, the staff uses their right fingers to press the flexible cable locking chuck release mechanism. This mechanism, through a flexible cable locking spring, clamps the conical elastic flexible cable locking chuck, thus controlling the flexible cable to fix the fixed clamp in place. At this point, the right hand can release the pressure on the clamp operating handle. If the position of the flexible clamp needs to be readjusted, the conical elastic flexible cable locking chuck should be released by pressing the flexible cable locking chuck release mechanism, thereby releasing the flexible clamp. Then, the position of the flexible clamp can be readjusted by pressing the clamp operating handle. After the fixed clamp and the flexible clamp have secured the date pit, the medical staff presses the operating trigger mechanism with their left hand. After the operating trigger mechanism touches the contact switch, the battery supplies power to the DC motor. The DC motor drives the worm gear-crank slider mechanism. Since the worm gear-crank slider mechanism is connected to the flexible cable, its movement drives the flexible cable, which in turn drives the flexible cable inside the flexible saw's flexible cable tube. Because the flexible cable inside the flexible saw's flexible cable tube is connected to the flexible saw operating cable inside the flexible cable main tube through a Y-shaped connector, it drives the flexible saw to move, thus completing the cutting of the fixed date pit in the esophagus. After cutting is complete, the trigger mechanism is operated again to stop the battery from supplying power to the DC motor. Finally, the date pit, cut into small pieces, is removed from the esophagus using the clamp.

[0032] Example 2: This embodiment further introduces an intelligent electric endoscopic flexible clamp saw system based on spectral detection, including a miniature fiber optic spectral detection module, a spectral data processing module, an intelligent control module, a user interaction module, and an endoscopic clamp saw.

[0033] A miniature fiber optic spectral detection module is installed at the end of the endoscopic clamp saw. It emits visible-near-infrared light through a fiber optic probe to illuminate the foreign object and collects the reflected spectrum, which is then transmitted to the spectral data processing module. The spectral data processing module analyzes the collected reflected spectrum to identify the material of the foreign object and transmits the results to the intelligent control module. Based on the spectral detection results, the intelligent control module retrieves the corresponding clamping force threshold from a preset material database. Simultaneously, the intelligent control module uses a force feedback module to monitor the clamping force in real time. The user interaction module displays the spectral detection results and clamping force information in real time, and provides a warning when the clamping force approaches the clamping force threshold.

[0034] The endoscopic clamp saw includes a flexible clamp saw tool head, a flexible cable main tube, a Y-joint, a clamp flexible cable tube, a clamp operating tool, a flexible saw flexible cable tube, and an electric flexible saw operating tool; The clamp saw head is mounted on the end of the flexible cable main tube, and the fiber optic probe is located at the end of the clamp saw head. The end of the clamp saw head is provided with a mounting hole for mounting the fiber optic probe, and the depth of the mounting hole is greater than the length of the fiber optic probe. One end of the fiber optic probe can protrude from the end of the flexible clamp saw head, and the fiber optic probe can slide in the mounting hole so that the fiber optic probe is recessed into the mounting hole. The other end of the fiber optic probe is connected to the spectral sensor through an optical fiber.

[0035] The optical fiber is reinforced with a strength-enhancing layer on the outside, which allows the optical fiber probe to slide within the mounting hole by pushing and pulling the optical fiber.

[0036] The spectral data processing module divides the spectrum into visible light and infrared light bands. The spectral data processing module performs color and surface smoothness analysis on the visible light band to determine the color and surface smoothness of foreign objects and select candidate material categories accordingly. The spectral data processing module performs secondary material identification in the infrared band to determine the material of the foreign object; for the determined material of the foreign object, the spectral data processing module further calculates the hardness of the foreign object based on the infrared spectrum.

[0037] Three narrowband channels—violet 450 nm, green 550 nm, and red 650 nm—were set in the visible light band of 400-700 nm. The chromaticity parameters were calculated using the reflectance ratios of the three channels, R650 / R550 and R450 / R550, and the color of the foreign object was determined by combining the HSV color space mapping. The second derivative spectrum is generated using the Savitzky-Golay convolution derivative method, and the specular reflection intensity is quantified by the peak-valley difference of the second derivative. ; The intensity of diffuse reflection is characterized by the average value of the second derivative: ; Smoothness index: ; The higher the SI, the smoother the surface; candidate material categories are selected based on the range of color and smoothness index, as well as the color and smoothness index of materials in a pre-stored database. After obtaining the infrared reflectance spectrum of the foreign object, it is first normalized, and then the signal is decomposed into multiple intrinsic mode components using empirical mode decomposition. Characteristic peak parameters, including position parameters, intensity parameters and peak shape parameters, are extracted. For example: the C=O stretching vibration peak of polymer materials Aromatic CH bending vibration peak The methylene group of polyethylene (PE) Symmetrical stretching vibration peak The difference between the broad peaks of polyester materials and the sharp peaks of polypropylene (PP).

[0038] The extracted spectral features are compared with a preset material database, and a similarity algorithm is used to calculate the matching degree with the candidate material category to achieve accurate material identification. For example: polyethylene terephthalate (PET) needs to be matched , Characteristic peaks; Nylon needs to be matched and (Amide bond) characteristics.

[0039] A physical correlation model between infrared spectral characteristics and material hardness is established. For each material, a characteristic peak is pre-set, and a hardness correlation parameter of the characteristic peak is associated with its hardness. The hardness correlation parameter of the characteristic peak includes: peak intensity, peak width, and peak shift. For the actual measured infrared reflectance spectrum of the accurately identified material, the characteristic peak and the corresponding hardness correlation parameter of the material are extracted, and the material hardness is calculated based on the hardness correlation parameter.

[0040] For example, in plastic materials, the vibrational frequency shift of the CH bond is related to crystallinity, and crystallinity directly affects hardness. For instance, in polyethylene (PE)... Peak shift is positively correlated with Shore hardness.

[0041] For rubber-like materials, the degree of sulfur crosslinking can be measured by the characteristic peak of the CS bond. Strength calculation, which in turn relates to rebound hardness.

[0042] The intelligent control module has a built-in multi-dimensional material database, which stores the hardness and corresponding clamping force threshold F_max according to the material type. The intelligent control module acquires the actual clamping force F_real and compares it with F_max retrieved from the database. When F_real < 0.8F_max, the user interaction module prompts the user to bring F_real closer to 0.8F_max. When F_max ≥ F_real ≥ 0.8F_max, an early warning mechanism is triggered, and a red flashing indicator is displayed on the interactive interface. When F_real > F_max, the clamping force output is automatically locked, and the clamping force is reduced by reverse driving the motor.

[0043] The clamping tool is connected to the flexible clamp saw head via a flexible cable main tube, a Y-connector, and a clamp flexible cable tube; the electric flexible saw tool is connected to the flexible clamp saw head via a flexible cable main tube, a Y-connector, and a clamp flexible cable tube; the clamping tool controls the flexible clamp saw head to fix and remove foreign objects, and the electric flexible saw tool controls the flexible clamp saw head to cut foreign objects.

[0044] The flexible clamp saw tool head includes a fixed clamp, a flexible saw, a flexible movable clamp, a movable clamp operating cable, and a flexible saw operating cable. The movable clamp operating cable is connected to the flexible movable clamp via a connector. The movable clamp operating cable can drive the flexible movable clamp to move and fix foreign objects. The flexible saw operating cable is connected to the flexible saw via a connector. The flexible saw operating cable can drive the flexible saw to move and cut foreign objects. The fixed clamp and the flexible movable clamp are both alligator-tooth shaped, and the flexible saw is blade-shaped.

[0045] Example 3: A control method for an intelligent electric endoscopic flexible clamp saw system based on spectral detection, using the aforementioned intelligent electric endoscopic flexible clamp saw system based on spectral detection, includes the following steps: Spectral detection: When the flexible clamp saw tool head approaches a foreign object, the miniature fiber optic spectral detection module emits near-infrared light to irradiate the foreign object, collects the reflected spectral signal, and transmits it to the spectral data processing module; Material identification: The spectral data processing module divides the spectrum into visible light and infrared light bands. The spectral data processing module performs color and surface smoothness analysis on the visible light band to determine the color and surface smoothness of foreign objects, and selects candidate material categories accordingly. The spectral data processing module performs secondary material identification in the infrared band to determine the material of the foreign object; based on the determined material of the foreign object, the spectral data processing module further calculates the hardness of the foreign object using the infrared spectrum. Force control: The intelligent control module has a built-in multi-dimensional material database, which stores the hardness and corresponding clamping force threshold F_max according to the material type; The intelligent control module acquires the actual clamping force F_real and compares it with F_max retrieved from the database. When F_real < 0.8F_max, the user interaction module prompts the user to bring F_real closer to 0.8F_max. When F_max ≥ F_real ≥ 0.8F_max, an early warning mechanism is triggered, and a red flashing indicator is displayed on the interactive interface. When F_real > F_max, the clamping force output is automatically locked, and the clamping force is reduced by reverse driving the motor.

[0046] Before the spectral detection step, there is also a fiber optic probe adjustment step; since the depth of the mounting hole is greater than the length of the fiber optic probe, one end of the fiber optic probe can protrude from the end of the flexible clamp saw tool head, and the fiber optic probe can slide in the mounting hole so that the fiber optic probe is recessed into the mounting hole. Before the flexible clamp saw approaches the foreign object, the fiber optic probe protrudes from the end of the flexible clamp saw tool head. After the flexible clamp saw approaches the foreign object, the fiber optic probe is controlled to slide within the mounting hole by pulling the fiber optic cable, causing the fiber optic probe to sink into the mounting hole.

[0047] Thus far, the description of the above embodiments has been provided for illustrative and descriptive purposes. This is not intended to be exhaustive or limiting of the present disclosure. Individual elements or features of particular embodiments are generally not limited to those particular embodiments, but may be interchanged and used in selected embodiments where applicable, even if not specifically shown or described. In many respects, the same elements or features may also be varied. Such variations are not considered a departure from this disclosure, and all such modifications are intended to be included within the scope of this disclosure.

[0048] Example embodiments are provided so that this disclosure will become thorough and will fully convey the scope to those skilled in the art. Numerous details, such as examples of specific parts, apparatus, and methods, are set forth to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that the specific details are not required, and the example embodiments may be implemented in many different forms, neither of which should be construed as limiting the scope of this disclosure. In some example embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.

[0049] Technical terms are used herein for the purpose of describing specific exemplary embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a” and “the” as used herein may also refer to the plural forms. The terms “comprising” and “having” are inclusive and therefore specify the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or additional having of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. Unless expressly indicated in order of execution, the method steps, processes, and operations described herein are not to be construed as necessarily requiring performance in the specific order discussed and shown. It should also be understood that additional or optional steps may be employed.

Claims

1. A smart electric endoscopic flexible clamp saw system based on spectral detection, comprising a miniature fiber optic spectral detection module, a spectral data processing module, an intelligent control module, a user interaction module, and an endoscopic clamp saw; characterized in that: A miniature fiber optic spectral detection module is installed at the end of the endoscopic clamp saw. It emits visible-near-infrared light through a fiber optic probe to illuminate the foreign object and collects the reflected spectrum, which is then transmitted to the spectral data processing module. The spectral data processing module analyzes the collected reflected spectrum to identify the material of the foreign object and transmits the results to the intelligent control module. Based on the spectral detection results, the intelligent control module retrieves the corresponding clamping force threshold from a preset material database. Simultaneously, the intelligent control module uses a force feedback module to monitor the clamping force in real time. The user interaction module displays the spectral detection results and clamping force information in real time, and provides a warning when the clamping force approaches the clamping force threshold.

2. The intelligent electric endoscopic flexible clamp saw system based on spectral detection according to claim 1, characterized in that: The endoscopic clamp saw includes a flexible clamp saw tool head, a flexible cable main tube, a Y-joint, a clamp flexible cable tube, a clamp operating tool, a flexible saw flexible cable tube, and an electric flexible saw operating tool; The clamp saw head is mounted on the end of the flexible cable main tube, and the fiber optic probe is located at the end of the clamp saw head. The end of the clamp saw head is provided with a mounting hole for mounting the fiber optic probe, and the depth of the mounting hole is greater than the length of the fiber optic probe. One end of the fiber optic probe can protrude from the end of the flexible clamp saw head, and the fiber optic probe can slide in the mounting hole so that the fiber optic probe is recessed into the mounting hole. The other end of the fiber optic probe is connected to the spectral sensor through an optical fiber.

3. The intelligent electric endoscopic flexible clamp saw system based on spectral detection according to claim 2, characterized in that: The optical fiber is reinforced with a strength-enhancing layer on the outside, which allows the optical fiber probe to slide within the mounting hole by pushing and pulling the optical fiber.

4. The intelligent electric endoscopic flexible clamp saw system based on spectral detection according to claim 1, characterized in that: The spectral data processing module divides the spectrum into visible light and infrared light bands. The spectral data processing module performs color and surface smoothness analysis on the visible light band to determine the color and surface smoothness of foreign objects and select candidate material categories accordingly. The spectral data processing module performs secondary material identification in the infrared band to determine the material of the foreign object; for the determined material of the foreign object, the spectral data processing module further calculates the hardness of the foreign object based on the infrared spectrum.

5. The intelligent electric endoscopic flexible clamp saw system based on spectral detection according to claim 4, characterized in that: Three narrowband channels—violet 450 nm, green 550 nm, and red 650 nm—were set in the visible light band of 400-700 nm. The chromaticity parameters were calculated using the reflectance ratios of the three channels, R650 / R550 and R450 / R550, and the color of the foreign object was determined by combining the HSV color space mapping. The second derivative spectrum is generated using the Savitzky-Golay convolution derivative method, and the specular reflection intensity is quantified by the peak-valley difference of the second derivative. ； The intensity of diffuse reflection is characterized by the average value of the second derivative: ； Smoothness index: ； The higher the SI, the smoother the surface; candidate material categories are selected based on the range of color and smoothness index, as well as the color and smoothness index of materials in a pre-stored database. After obtaining the infrared reflectance spectrum of the foreign object, it is first normalized, and then the signal is decomposed into multiple intrinsic mode components using empirical mode decomposition. Feature peak parameters, including position parameters, intensity parameters and peak shape parameters, are extracted. The extracted spectral features are compared with a preset material database, and a similarity algorithm is used to calculate the matching degree with the candidate material category to achieve accurate material identification. A physical correlation model between infrared spectral characteristics and material hardness is established. For each material, a characteristic peak is pre-set, and a hardness correlation parameter of the characteristic peak is associated with its hardness. The hardness correlation parameter of the characteristic peak includes: peak intensity, peak width, and peak shift. For the actual measured infrared reflectance spectrum of the accurately identified material, the characteristic peak and the corresponding hardness correlation parameter of the material are extracted, and the material hardness is calculated based on the hardness correlation parameter.

6. The intelligent electric endoscopic flexible clamp saw system based on spectral detection according to claim 1, characterized in that: The intelligent control module has a built-in multi-dimensional material database, which stores the hardness and corresponding clamping force threshold F_max according to the material type. The intelligent control module acquires the actual clamping force F_real and compares it with F_max retrieved from the database. When F_real < 0.8F_max, the user interaction module prompts the user to bring F_real closer to 0.8F_max. When F_max ≥ F_real ≥ 0.8F_max, an early warning mechanism is triggered, and a red flashing indicator is displayed on the interactive interface. When F_real > F_max, the clamping force output is automatically locked, and the clamping force is reduced by reverse driving the motor.

7. The intelligent electric endoscopic flexible clamp saw system based on spectral detection according to claim 1, characterized in that: The clamping tool is connected to the flexible clamp saw head via a flexible cable main tube, a Y-connector, and a clamp flexible cable tube; the electric flexible saw tool is connected to the flexible clamp saw head via a flexible cable main tube, a Y-connector, and a clamp flexible cable tube; the clamping tool controls the flexible clamp saw head to fix and remove foreign objects, and the electric flexible saw tool controls the flexible clamp saw head to cut foreign objects.

8. The intelligent electric endoscopic flexible clamp saw system based on spectral detection according to claim 7, characterized in that: The flexible clamp saw tool head includes a fixed clamp, a flexible saw, a flexible movable clamp, a movable clamp operating cable, and a flexible saw operating cable. The movable clamp operating cable is connected to the flexible movable clamp via a connector. The movable clamp operating cable can drive the flexible movable clamp to move and fix foreign objects. The flexible saw operating cable is connected to the flexible saw via a connector. The flexible saw operating cable can drive the flexible saw to move and cut foreign objects. The fixed clamp and the flexible movable clamp are both alligator-tooth shaped, and the flexible saw is blade-shaped.

9. A control method for an intelligent electric endoscopic flexible clamp saw system based on spectral detection, using the intelligent electric endoscopic flexible clamp saw system based on spectral detection as described in any one of claims 1-8; comprising the following steps: Spectral detection: When the flexible clamp saw tool head approaches a foreign object, the miniature fiber optic spectral detection module emits near-infrared light to irradiate the foreign object, collects the reflected spectral signal, and transmits it to the spectral data processing module; Material identification: The spectral data processing module divides the spectrum into visible light and infrared light bands. The spectral data processing module performs color and surface smoothness analysis on the visible light band to determine the color and surface smoothness of foreign objects, and selects candidate material categories accordingly. The spectral data processing module performs secondary material identification in the infrared band to determine the material of the foreign object; based on the determined material of the foreign object, the spectral data processing module further calculates the hardness of the foreign object using the infrared spectrum. Force control: The intelligent control module has a built-in multi-dimensional material database, which stores the hardness and corresponding clamping force threshold F_max according to the material type; The intelligent control module acquires the actual clamping force F_real and compares it with F_max retrieved from the database. When F_real < 0.8F_max, the user interaction module prompts the user to bring F_real closer to 0.8F_max. When F_max ≥ F_real ≥ 0.8F_max, an early warning mechanism is triggered, and a red flashing indicator is displayed on the interactive interface. When F_real > F_max, the clamping force output is automatically locked, and the clamping force is reduced by reverse driving the motor.

10. The control method for an intelligent electric endoscopic flexible clamp saw system based on spectral detection according to claim 9, characterized in that: Before the spectral detection step, there is also a fiber optic probe adjustment step; since the depth of the mounting hole is greater than the length of the fiber optic probe, one end of the fiber optic probe can protrude from the end of the flexible clamp saw tool head, and the fiber optic probe can slide in the mounting hole so that the fiber optic probe is recessed into the mounting hole. Before the flexible clamp saw approaches the foreign object, the fiber optic probe protrudes from the end of the flexible clamp saw tool head. After the flexible clamp saw approaches the foreign object, the fiber optic probe is controlled to slide within the mounting hole by pulling the fiber optic cable, causing the fiber optic probe to sink into the mounting hole.

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