Multi-sensing function flexible tactile sensor, endoscope and state detection method

By installing a multi-sensory flexible tactile sensor at the end of the endoscope, combined with a sensing structure consisting of a flexible conductive layer and a sensing layer, the problems of single sensing function and insufficient structural adaptability in endoscopic operation are solved. This enables simultaneous sensing of touch and hardness, identification of continuous pressing states, and improves the safety and accuracy of the operation.

CN122306272APending Publication Date: 2026-06-30SUZHOU UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SUZHOU UNIV
Filing Date
2026-03-26
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

Existing endoscopes have limited sensing capabilities during operation, making it difficult to simultaneously acquire tactile and hardness information, identify continuous pressure states, have insufficient structural adaptability, and face challenges in end-effector integration, thus affecting operational safety and accuracy.

Method used

The system employs a multi-sensory flexible tactile sensor, comprising a flexible cap base, a tactile sensing unit, and wires. Utilizing a sensing structure composed of a flexible conductive layer and a sensing layer, combined with a charge accumulation circuit to process signals, it achieves multi-directional tactile and hardness sensing, and identifies instantaneous collisions and continuous pressure.

Benefits of technology

It improves the stability and safety of endoscopic operation, enables timely adjustment of operating posture, reduces the risk of damage to the tissue being tested, enhances operating accuracy and flexibility, and adapts to the bending and movement of the endoscope within the tissue being tested.

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Abstract

This invention discloses a multi-sensory flexible tactile sensor, comprising a flexible cap base, multiple tactile sensing units, and multiple wires. The multiple tactile sensing units are circumferentially spaced on the outer peripheral surface of the flexible cap base. Each tactile sensing unit includes a flexible conductive layer and a flexible sensing layer. The flexible conductive layer is embedded in the flexible cap base, and the flexible sensing layer covers the flexible conductive layer and protrudes from the outer peripheral surface of the flexible cap base. The wires connect to the tactile sensing units and extend along the length of the flexible cap base. This invention also discloses an endoscope including a multi-sensory flexible tactile sensor and its state detection method. The flexible tactile sensor of this invention has multi-directional tactile sensing, instantaneous collision and continuous pressure differentiation sensing, hardness sensing, and other multi-sensory functions. Its good flexibility and conformability can adapt to the bending and movement requirements of the endoscope within the tissue being measured.
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