An endoluminal palpation detection system based on visiotactile sensing

Abstract

This invention provides an intracavitary palpation detection system based on visual-tactile sensing, comprising: an insertable detection body; a visual-tactile sensor for inducing deformation through contact and acquiring multiple deformation images; a rotating scanning mechanism for driving the visual-tactile sensor to rotate around the axis of the insert to achieve circumferential scanning; a radial adjustment mechanism for adjusting the radial position and / or orientation of the visual-tactile sensor relative to the cavity wall; a displacement detection module for detecting the axial insertion depth of the insert; and a main control and data processing module configured to: acquire a target contact pressure setpoint; invert the contact pressure based on the deformation images provided by the visual-tactile sensor; calculate the difference between the target contact pressure setpoint and the contact pressure; control the radial adjustment mechanism based on the difference; construct a three-dimensional tactile map of the cavity wall tissue based on the deformation images acquired by the visual-tactile sensor, combined with the axial depth and rotation angle; and control the rotating scanning mechanism to perform circumferential scanning.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and specifically to an intracavitary palpation detection system based on visual-tactile sensing. Background Technology

[0002] Digital rectal examination (DRE) is a common basic examination method used in proctology, gastroenterology, gastrointestinal surgery, urology, and physical examinations. The doctor inserts a finger into the rectum to palpate and assess the lower rectum, anal canal, anal sphincter tone, rectal wall masses, polyps, strictures, tenderness, prostate, or adjacent pelvic structures. This method has advantages such as low cost, quick operation, and the ability to obtain tactile information, but it also has the following drawbacks: Highly subjective: Examination results depend on the doctor's experience, and different doctors have different judgments on tactile sensations such as "hardness", "softness", "mobility", and "boundaries".

[0003] Difficult to quantify and record: Traditional digital rectal examination cannot generate standardized three-dimensional morphology, pressure distribution, hardness distribution, and spatial localization data of lesions.

[0004] Participants experienced significant psychological burden: some doctors and patients felt embarrassed, resistant, or fearful of manual digital rectal examination.

[0005] Insufficient traceability: It is difficult to accurately compare changes in the location, size, and hardness of lesions during subsequent follow-up examinations.

[0006] Limited scope of examination: Doctors have limited finger length, angle, tactile sensitivity, and operating space.

[0007] Unable to provide microscopic surface information: It is difficult to quantify and collect information such as intestinal wall texture, micro-protrusions, local depressions, and changes in mucosal surface roughness.

[0008] Although colonoscopy allows direct observation of the intestinal lumen and enables biopsy or treatment, it relies heavily on visual images and is insufficient in obtaining mechanical information such as the local hardness, elasticity, tactile sensation, and deformation characteristics of the intestinal wall under pressure. Furthermore, the preparation for the examination is complex, the cost is high, and patient acceptance is somewhat limited.

[0009] Therefore, how to achieve quantification and improve accuracy during rectal examination is a focus of attention for those skilled in the art. Summary of the Invention

[0010] The purpose of this invention is to propose an intracavitary palpation detection system based on visual-tactile sensing, which can solve the problems of strong subjectivity and difficulty in quantification in digital rectal examination.

[0011] To achieve the above objectives, the present invention provides an intracavitary palpation detection system based on visual-tactile sensing, comprising: An insertable detection body includes an insertion part for entering a body cavity and a handheld part connected to the proximal end of the insertion part; A visual-tactile sensor is disposed at the distal end of the insertion part, and is used to induce deformation through contact and acquire multiple deformation images using optical principles; A rotating scanning mechanism is disposed inside the distal end of the insertion part, and its output end is connected to the visual-tactile sensor to drive the visual-tactile sensor to rotate around the axis of the insertion part in order to achieve circumferential scanning; A radial adjustment mechanism is disposed inside the distal end of the insertion part, and its output end is connected to the visual-tactile sensor. It is used to adjust the radial position and / or attitude of the visual-tactile sensor relative to the cavity wall to change the contact state between the visual-tactile sensor head and the cavity wall. A displacement detection module is used to detect the axial insertion depth of the insertion part; The main control and data processing module, which is signal-connected to the visual-tactile sensor, the rotating scanning mechanism, the radial adjustment mechanism, and the movement detection module, is configured as follows: Obtain the target contact pressure setpoint; The contact pressure is obtained by inverting the deformation image provided by the visual-tactile sensor; Calculate the difference between the target contact pressure setpoint and the contact pressure; The radial adjustment mechanism is controlled to operate according to the difference, so that the contact pressure is maintained within a preset range; Control the rotary scanning mechanism to perform a circumferential scanning action; Based on the deformation images acquired by the visual-tactile sensor, and combined with axial depth and rotation angle, a three-dimensional tactile map of the cavity wall tissue is constructed.

[0012] In an optional embodiment, the system further includes an axial propulsion mechanism disposed on the handheld part for driving the insertion part to advance or retract axially; The main control and data processing module is also used to control the axial propulsion mechanism to advance to the next preset depth position after completing the circumferential scan.

[0013] In the optional scheme, the process of constructing the tactile atlas includes: mapping each frame of tactile deformation image to a cylindrical coordinate system established with axial depth and circumferential angle, and fusing circumferential scan data from multiple axial depth positions to generate a three-dimensional tactile atlas of the cavity wall tissue.

[0014] In an optional embodiment, the main control and data processing module is further used for: Based on multiple sets of deformation images acquired by the visual-tactile sensor under different contact pressures, a pressure-deformation response curve is established. Combined with an elastic contact model or a neural network model, the local equivalent elastic modulus of the cavity wall tissue is calculated, and an elastic modulus distribution map is generated accordingly.

[0015] In an optional embodiment, the system further includes a hardness grading module; the hardness grading module determines, based on the elastic modulus distribution map, whether the difference between the elastic modulus of the suspected abnormal area and the elastic modulus of the surrounding normal tissue exceeds a preset threshold, and marks the abnormal area as a different hardness level according to the magnitude of the difference.

[0016] In an optional embodiment, the system further includes an abnormal tissue identification module, which is signal-connected to the main control and data processing module. Based on the tactile atlas, the module extracts the surface texture features of the cavity wall tissue, compares the surface texture features with a preset normal texture database, and outputs a texture abnormality region marker.

[0017] In an optional configuration, the main control and data processing module is further configured to: automatically switch to a fine scanning mode when a suspected abnormal area is detected, wherein the fine scanning mode includes at least one of reducing the rotation speed or using multi-level pressure scanning.

[0018] In an optional embodiment, the main control and data processing module is further configured to: compare the tactile atlas generated by the current examination with historical examination data over time, and output trend analysis results of lesion size changes, hardness changes and / or morphological changes.

[0019] In an optional embodiment, the visual-tactile sensor comprises the following components stacked sequentially from the contact surface downwards: A transparent elastic gel layer, with a biocompatible reflective coating or a tracer marker array coating on its interior or surface, deforms under pressure; A transparent substrate, located below the transparent elastic gel layer, is used to support the elastic gel layer; An illumination unit, mounted around the transparent substrate, provides illumination; The image acquisition unit, with its imaging surface facing the transparent substrate, is used to acquire images of the deformation of the elastic gel layer.

[0020] In an optional embodiment, a dirt-proof baffle is provided between the insertion part and the handheld part.

[0021] The beneficial effects of this invention are as follows: This invention combines visual-tactile sensing with rotational scanning to achieve the digitization, quantification, visualization, and traceability of intracavitary palpation, and constructs a three-dimensional tactile atlas containing surface morphology, pressure distribution, and elastic modulus, providing doctors with objective, recordable, and comparable tissue biomechanical information, thereby improving the lesion detection rate and diagnostic accuracy. Attached Figure Description

[0022] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally denote like parts.

[0023] Figure 1 This is a schematic diagram of the hardware structure of an intracavitary palpation detection system based on visual-tactile sensing in one embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the structure of a vision sensor in one embodiment of the present invention.

[0025] Explanation of reference numerals in the attached figures: 1- Flexible protective layer; 2- Transparent elastic gel layer; 3- Transparent substrate; 4- Illumination unit; 5- Image acquisition unit; 6- Outer shell; 7- Visual and tactile sensor; 8- Insertion part; 9- Handheld part; 10- Anti-fouling baffle; Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description and drawings. However, it should be noted that the concept of the technical solution of the present invention can be implemented in many different forms and is not limited to the specific embodiments described herein. The accompanying drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0027] It should be understood that when an element or layer is referred to as "on," "adjacent to," "connected to," or "coupled to" other elements or layers, it may be directly on, adjacent to, connected to, or coupled to other elements or layers, or there may be intervening elements or layers. Conversely, when an element is referred to as "directly on," "directly adjacent to," "directly connected to," or "directly coupled to" other elements or layers, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc., may be used to describe various elements, components, areas, layers, and / or portions, these elements, components, areas, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, area, layer, or portion from another element, component, area, layer, or portion. Therefore, without departing from the teachings of this invention, the first element, component, area, layer, or portion discussed below may be referred to as the second element, component, area, layer, or portion.

[0028] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein for convenience of description to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms are intended to also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, then the element or feature described as “below” or “under” the other element or feature will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or otherwise) and the spatial descriptive terms used herein will be interpreted accordingly.

[0029] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and / or “including,” when used in this specification, identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0030] Example Reference Figure 1 This embodiment provides an intracavitary palpation detection system based on visual-tactile sensing, comprising: An insertable detection body includes an insertion part 8 for entering a body cavity and a handheld part 9 connected to the proximal end of the insertion part; a dirt-proof baffle 10 is provided between the insertion part and the handheld part; A visual-tactile sensor is disposed at the distal end of the insertion part, and is used to induce deformation through contact and acquire multiple deformation images using optical principles; A rotating scanning mechanism is disposed inside the distal end of the insertion part, and its output end is connected to the visual-tactile sensor to drive the visual-tactile sensor to rotate around the axis of the insertion part in order to achieve circumferential scanning; A radial adjustment mechanism is disposed inside the distal end of the insertion part, and its output end is connected to the visual-tactile sensor. It is used to adjust the radial position and / or attitude of the visual-tactile sensor relative to the cavity wall to change the contact state between the visual-tactile sensor head and the cavity wall. A displacement detection module is used to detect the axial insertion depth of the insertion part; The main control and data processing module, which is signal-connected to the visual-tactile sensor, the rotating scanning mechanism, the radial adjustment mechanism, and the movement detection module, is configured as follows: Obtain the target contact pressure setpoint; The contact pressure is obtained by inverting the deformation image provided by the visual-tactile sensor; Calculate the difference between the target contact pressure setpoint and the contact pressure; The radial adjustment mechanism is controlled to operate according to the difference, so that the contact pressure is maintained within a preset range; Control the rotary scanning mechanism to perform a circumferential scanning action; Based on the deformation images acquired by the visual-tactile sensor, and combined with axial depth and rotation angle, a three-dimensional tactile map of the cavity wall tissue is constructed.

[0031] Specifically, the insertable detection body includes an insertion part and a handheld part. The insertion part is a slender rod-shaped or flexible tubular structure with an outer diameter of 8mm to 25mm, preferably 10mm to 18mm, for insertion into a body cavity (rectum or vagina) through a natural cavity. The distal end of the insertion part is equipped with the visual-tactile sensing head, and its proximal end is fixedly connected to the handheld part. The handheld part is the part held by the operator and has an operation button. The outer surface of the insertion part has depth markings, and the insertion part is covered with a disposable sterile protective sleeve. The insertion part is a hollow tubular structure, and its interior contains power supply lines and signal transmission lines.

[0032] A rotating scanning mechanism is located inside the distal end of the insertion section. It includes a front-mounted micro-drive motor and a rotating support. The front-mounted micro-drive motor can be a micro-stepper motor or a MEMS micro-actuator. The output shaft of the front-mounted micro-drive motor is connected to the rotating support via a transmission gear set or coupling. The visual-tactile sensor is fixedly mounted on the rotating support. The front-mounted micro-drive motor drives the rotating support, causing the visual-tactile sensor head to rotate around the axis of the insertion section to achieve circumferential scanning. The insertion section itself remains stationary during the rotating scan. The rotating scanning mechanism also includes an angle encoder for detecting the rotation angle of the visual-tactile sensor head and feeding it back to the main control and data processing module.

[0033] The radial adjustment mechanism can be either a telescopic adjustment mechanism or a swing adjustment mechanism. Taking the telescopic adjustment mechanism as an example, its structure is a miniature electric push rod mechanism, including a drive motor, a transmission screw, and a push rod. The rotational motion of the drive motor is converted into the linear displacement of the push rod via the transmission screw, and the output end of the push rod is connected to the visual-tactile sensor. The swing adjustment mechanism can include a miniature motor, a swing arm, and a rotating shaft. One end of the swing arm is connected to the rotating shaft, and the other end is connected to the visual-tactile sensor. The miniature motor drives the rotating shaft to rotate, causing the swing arm to drive the visual-tactile sensor to swing around the rotating shaft, thereby changing the radial position and contact angle of the visual-tactile sensor head relative to the cavity wall. This radial adjustment mechanism operates according to the control signal output by the main control and data processing module, maintaining the contact pressure between the visual-tactile sensor head and the cavity wall within a preset range.

[0034] In this embodiment, the system further includes an axial propulsion mechanism, disposed on the handheld part, for driving the insertion part to advance or retract axially; the main control and data processing module is also used to control the axial propulsion mechanism to advance to the next preset depth position after completing the circumferential scan. The axial propulsion mechanism includes a driving wheel, a driven wheel, a preload spring, and a feed motor. The driving wheel is driven to rotate by the feed motor, and the driven wheel presses against the outer wall of the insertion part through the preload spring, so that the insertion part is clamped between the driving wheel and the driven wheel. When the feed motor drives the driving wheel to rotate, the insertion part is driven to advance axially through friction. The displacement detection component is used to detect the axial insertion depth of the insertion part. It includes a roller and a rotary encoder. The outer circle of the roller contacts the outer surface of the insertion part and rotates accordingly when the insertion part moves axially. The rotary encoder is connected to the rotation shaft of the roller and outputs an electrical signal characterizing the amount and direction of rotation of the roller. The main control and data processing module calculates the axial insertion depth of the insertion part relative to the cavity opening based on the circumference of the roller and the signal output by the rotary encoder.

[0035] Reference Figure 2 In this embodiment, the visual-tactile sensor comprises the following components stacked sequentially from the contact surface downwards: Flexible protective layer 1, which has good wear resistance.

[0036] The transparent elastic gel layer 2, made of transparent polydimethylsiloxane (PDMS) elastomer, is 5-8 mm thick and has a Shore hardness of A5-A10, enabling it to produce precise elastic deformation under minute pressure. Embedded within it is a tracer array marker layer; this marker layer contains regularly distributed micron-sized circular markers, 50-100 μm in diameter and spaced 200-300 μm apart, located 2 mm from the lower surface of the flexible protective layer.

[0037] A transparent substrate 3 is located below the elastic gel layer and is used to support the elastic gel layer; the transparent substrate is made of high-strength acrylic sheet with a thickness of 5-10mm.

[0038] The lighting unit 4 is installed around the transparent substrate or transparent elastic gel layer to provide illumination. The lighting module can be an LED lighting array to provide illumination at different angles.

[0039] Image acquisition unit 5, with its imaging surface facing the transparent substrate, acquires multiple images of the transparent elastic gel layer; the image acquisition unit can be multiple miniature CMOS cameras.

[0040] The visual-tactile sensor also has a housing 6, which is made of ABS engineering plastic and has good strength and durability. The housing 6 is used to protect the image acquisition unit 5 and the illumination unit 4.

[0041] When an object comes into contact with the flexible protective layer, the pressure causes microscopic deformation of the transparent elastic gel layer. By tracking the displacement vectors of the marked points, the contact pressure in the contact area can be quantitatively calculated. Specifically, feature matching is performed on the marked layer images of adjacent frames to obtain a two-dimensional displacement vector field for each marked point; based on the mapping relationship between the displacement vector field and the elastic model, the local deformation of the elastic gel layer and the contact pressure are calculated, and a spatial pressure distribution image is output. The pressure detection range of the flexible pressure sensing surface is 0.1 kPa-10 kPa, the spatial resolution is ≤1 mm, the depth accuracy is ≤5 μm, the response time is ≤30 ms, and the sampling frequency is 30 Hz.

[0042] The number of visual-tactile sensors can be one or more. Multiple visual-tactile sensors are distributed along the circumference of the insertion tube, for example, two or three. Each visual-tactile sensor acquires tactile images of its corresponding circumferential region. During detection, the device only needs to rotate at a small angle, without requiring a full 360° rotation, to obtain approximately full-circumference intestinal wall tactile data. This embodiment can shorten detection time and reduce discomfort caused by rotation.

[0043] In this embodiment, the process of constructing a tactile atlas includes: mapping each frame of tactile deformation image to a cylindrical coordinate system established with axial depth and circumferential angle, and fusing circumferential scan data from multiple axial depth positions to generate a three-dimensional tactile atlas of the cavity wall tissue.

[0044] In this embodiment, the main control and data processing module uses photometric stereo vision algorithm or image tracking vision technology to calculate the normal vector of each pixel based on multiple deformation images, thereby reconstructing high-precision three-dimensional topography data. Surface texture data is extracted from the local gradient or normal vector distribution features in multiple deformation images. Multiple local measurement results are initially registered using the iterative nearest point algorithm. Registration is performed using the overlapping part of adjacent scanning areas. Then, the splicing gaps are eliminated using the Poisson fusion algorithm to obtain a three-dimensional model of the cavity wall tissue.

[0045] The main control and data processing module is also used to: establish pressure-deformation response curves based on multiple sets of deformation images acquired by the visual-tactile sensor under different contact pressures, and calculate the local equivalent elastic modulus of the cavity wall tissue by combining an elastic contact model or a neural network model, and generate an elastic modulus distribution map accordingly. The hardness grading module, based on the elastic modulus distribution map, determines whether the difference between the elastic modulus of a suspected abnormal area and the elastic modulus of the surrounding normal tissue exceeds a preset threshold, and marks the abnormal area as having different hardness levels based on the magnitude of the difference.

[0046] In this embodiment, the system further includes an abnormal tissue identification module, which is signal-connected to the main control and data processing module. Based on the tactile atlas, the module extracts surface texture features of the cavity wall tissue and compares these features with a preset normal texture database, outputting a mark indicating an abnormal texture area. When a suspected abnormal area (abnormal texture or abnormal hardness) is detected, the system automatically switches to a fine scanning mode, which includes at least one of reducing the rotation speed or using multi-level pressure scanning.

[0047] The main control and data processing module is also used to: compare the tactile atlas generated by the current examination with historical examination data over time, and output trend analysis results of lesion size changes, hardness changes and / or morphological changes.

[0048] During the test, the operator gradually inserts the insertion device along the anus to the first preset depth. The operator presses the scan button on the handle, and the rotating scanning mechanism drives the visual-tactile sensor to rotate circumferentially. During rotation, the visual-tactile sensor is controlled to adhere to the intestinal wall with a preset contact pressure, acquiring images of the elastomer deformation and the contact pressure. If the pressure is abnormal, the pressure is automatically reduced or the rotation is stopped. After completing one scan, the insertion device is further advanced to the next preset depth via the axial advancement mechanism or manually, and the scan button is pressed again. The above process is repeated until the test is completed within the predetermined rectal length.

[0049] The main control and data processing module generates a rectal wall unfolding diagram based on data collected at various depths and angles: the system sequentially contacts the rectal wall at multiple preset pressure levels, such as light touch, standard palpation, and enhanced palpation. The system acquires elastomer deformation images at each pressure level. Based on pressure and deformation changes, a pressure-displacement response curve is established, and combined with an elastic contact model or a trained neural network model, the equivalent elastic modulus of the region is calculated. The hardness grading module marks areas with abnormal hardness and their hardness levels, while the abnormal tissue identification module marks areas with abnormal texture.

[0050] This embodiment uses images of the elastomer contact layer deformation to infer tactile information, providing a more intuitive view of the contact morphology and pressure distribution. It can capture subtle bulges, depressions, and roughness changes on the intestinal wall surface. It covers the circumferential area of ​​the rectal wall, reducing missed detections. Each frame of the tactile image has spatial coordinates, allowing for the establishment of a spatial mapping relationship of tactile data within the rectal lumen. It not only displays surface morphology but also further reflects tissue mechanical properties, facilitating the detection of nodules, masses, or suspicious lesions.

[0051] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. An intracavitary palpation detection system based on visual-tactile sensing, characterized in that, include: An insertable detection body includes an insertion part for entering a body cavity and a handheld part connected to the proximal end of the insertion part; A visual-tactile sensor is disposed at the distal end of the insertion part, and is used to induce deformation through contact and acquire multiple deformation images using optical principles; A rotating scanning mechanism is disposed inside the distal end of the insertion part, and its output end is connected to the visual-tactile sensor to drive the visual-tactile sensor to rotate around the axis of the insertion part in order to achieve circumferential scanning; A radial adjustment mechanism is disposed inside the distal end of the insertion part, and its output end is connected to the visual-tactile sensor. It is used to adjust the radial position and / or attitude of the visual-tactile sensor relative to the cavity wall to change the contact state between the visual-tactile sensor head and the cavity wall. A displacement detection module is used to detect the axial insertion depth of the insertion part; The main control and data processing module, which is signal-connected to the visual-tactile sensor, the rotating scanning mechanism, the radial adjustment mechanism, and the movement detection module, is configured as follows: Obtain the target contact pressure setpoint; The contact pressure is obtained by inverting the deformation image provided by the visual-tactile sensor; Calculate the difference between the target contact pressure setpoint and the contact pressure; The radial adjustment mechanism is controlled to operate according to the difference, so that the contact pressure is maintained within a preset range; Control the rotary scanning mechanism to perform a circumferential scanning action; Based on the deformation images acquired by the visual-tactile sensor, and combined with axial depth and rotation angle, a three-dimensional tactile map of the cavity wall tissue is constructed.

2. The intracavitary palpation detection system based on visual-tactile sensing as described in claim 1, characterized in that, The system also includes an axial propulsion mechanism disposed on the handheld part, for driving the insertion part to advance or retract axially; The main control and data processing module is also used to control the axial propulsion mechanism to advance to the next preset depth position after completing the circumferential scan.

3. The intracavitary palpation detection system based on visual-tactile sensing as described in claim 1, characterized in that, The process of constructing a tactile atlas includes mapping each frame of tactile deformation image onto a cylindrical coordinate system established with axial depth and circumferential angle, and fusing circumferential scan data from multiple axial depth positions to generate a three-dimensional tactile atlas of the cavity wall tissue.

4. The intracavitary palpation detection system based on visual-tactile sensing as described in claim 3, characterized in that, The main control and data processing module is also used for: Based on multiple sets of deformation images acquired by the visual-tactile sensor under different contact pressures, a pressure-deformation response curve is established. Combined with an elastic contact model or a neural network model, the local equivalent elastic modulus of the cavity wall tissue is calculated, and an elastic modulus distribution map is generated accordingly.

5. The intracavitary palpation detection system based on visual-tactile sensing as described in claim 4, characterized in that, The system also includes a hardness grading module; the hardness grading module determines, based on the elastic modulus distribution map, whether the difference between the elastic modulus of the suspected abnormal area and the elastic modulus of the surrounding normal tissue exceeds a preset threshold, and marks the abnormal area as a different hardness level according to the magnitude of the difference.

6. The intracavitary palpation detection system based on visual-tactile sensing as described in claim 1, characterized in that, The system also includes an abnormal tissue identification module, which is signal-connected to the main control and data processing module. Based on the tactile atlas, it extracts the surface texture features of the cavity wall tissue, compares the surface texture features with a preset normal texture database, and outputs a texture abnormality region marker.

7. The intracavitary palpation detection system based on visual-tactile sensing as described in claim 5 or 6, characterized in that, The main control and data processing module is also used to: automatically switch to fine scanning mode when a suspected abnormal area is detected, the fine scanning mode including at least one of reducing the rotation speed or using multi-level pressure scanning.

8. The intracavitary palpation detection system based on visual-tactile sensing as described in claim 1, characterized in that, The main control and data processing module is also used to: compare the tactile atlas generated by the current examination with historical examination data over time, and output trend analysis results of lesion size changes, hardness changes and / or morphological changes.

9. The intracavitary palpation detection system based on visual-tactile sensing as described in claim 1, characterized in that, The visual-tactile sensor comprises layers stacked sequentially from the contact surface downwards: A transparent elastic gel layer, with a biocompatible reflective coating or a tracer marker array coating on its interior or surface, deforms under pressure; A transparent substrate, located below the transparent elastic gel layer, is used to support the elastic gel layer; An illumination unit, mounted around the transparent substrate, provides illumination; The image acquisition unit, with its imaging surface facing the transparent substrate, is used to acquire images of the deformation of the elastic gel layer.

10. The intracavitary palpation detection system based on visual-tactile sensing as described in claim 1, characterized in that, A dirt-proof baffle is provided between the insertion part and the handheld part.

Images