Fine fiber bragg grating multi-dimensional force sensing system at front end of flexible endoscope

Abstract

The utility model relates to the field of medical instruments, and provides a flexible endoscope front end refined fiber grating multi-dimensional force sensing system which comprises a snake bone, a cavity penetrating through the front end and the tail end of the snake bone is formed, and at least part of the side wall of the snake bone is provided with an elastic body. The endoscope tip is connected to the front end of the snake bone; the fiber bragg grating measuring assembly comprises a plurality of fiber bragg gratings, all the fiber bragg gratings are arranged in the cavity, one end of each fiber bragg grating is connected with the endoscope tip, the other end of each fiber bragg grating is connected with the snake bone, and the fiber bragg gratings abut against the elastic body; and the upper computer is connected with the fiber bragg grating. The system provided by the utility model has the characteristics of compact volume, electromagnetic interference resistance, excellent biocompatibility and the like, and the sensing end does not need to be provided with a circuit, so that the biocompatibility is improved. In the operation process of the endoscope, the system avoids the phenomenon of electric conduction or electric leakage, and the safety of instruments is enhanced. In addition, the size of the fiber bragg grating is small, further miniaturization of the front end of the endoscope is facilitated, and operation safety is improved.

Description

Technical Field

[0001] The utility model relates to the field of medical instruments, in particular to a refined fiber grating multi-dimensional force sensing system at the front end of a flexible endoscope. Background Art

[0002] Endoscopic surgery has been widely used in clinical practice due to its advantages such as small incisions and good clinical effects. However, during the operation, the tip of the endoscope inevitably comes into contact with human tissue, especially for fragile blood vessels, nerves and brain tissues, which can withstand less force / torque. Therefore, the front end of the endoscope urgently needs to integrate multi-dimensional force sensing functions to ensure surgical safety. In recent years, multi-dimensional force sensors have been widely used in the defense and civil fields, covering medical equipment, machinery manufacturing and automation, aerospace and civil engineering.

[0003] However, traditional resistance strain gauges have deficiencies in anti-electromagnetic interference capability, linearity, and output signals. In contrast, sensors based on fiber Bragg grating design have the advantages of small size, anti-electromagnetic interference, fewer leads, no electricity, and good biocompatibility, making them more suitable for medical environments. However, at the front end of flexible endoscopes, especially in small space endoscopes, the layout space of fiber Bragg gratings is limited. In addition, the front end is usually equipped with functions such as cameras, tool channels, and LEDs, which have strict volume requirements. Therefore, during the design process, it is necessary to overcome space limitations and cleverly integrate fiber Bragg gratings to achieve accurate measurement of multi-dimensional forces / torques. Utility Model Content

[0004] The utility model provides a refined fiber grating multi-dimensional force sensing system at the front end of a flexible endoscope, which is used to overcome space limitations, skillfully integrate the fiber grating, and achieve accurate measurement of multi-dimensional force / torque.

[0005] The utility model provides a flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system, comprising:

[0006] A snake bone is formed with a cavity penetrating the front end and the rear end of the snake bone, and the side wall of the snake bone is at least partially provided with an elastic body;

[0007] an endoscope tip connected to the front end of the snake bone;

[0008] A fiber grating measurement assembly, comprising a plurality of fiber gratings, each of which is disposed in the cavity, one end of each of which is connected to the end of the endoscope, the other end of each of which is connected to the snake bone, and the fiber grating is in contact with the elastic body;

[0009] The host computer is connected to the fiber Bragg gratings. When the elastic body is deformed under pressure, the host computer reads each fiber Bragg grating to determine the wavelength offset, so as to calculate the force and / or torque applied to the elastic body according to the wavelength offset mapping.

[0010] According to the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system of the utility model, the endoscope front end is constructed with a first protrusion and a second protrusion;

[0011] A first mounting groove adapted to the first protrusion and a second mounting groove adapted to the second protrusion are constructed on the front end of the snake bone, and the tip of the endoscope is connected to the front end of the snake bone through the first protrusion, the second protrusion, the first mounting groove and the second mounting groove.

[0012] According to the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system of the utility model, a plurality of fiber optic arrangement holes are arranged on the front end of the endoscope;

[0013] The plurality of optical fiber arrangement holes are used to connect the optical fiber gratings.

[0014] According to the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system of the utility model, the front end of the endoscope is provided with a first light source mounting hole and a second light source mounting hole;

[0015] The first light source mounting hole and the second light source mounting hole are used to place the light source.

[0016] According to the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system of the utility model, a camera mounting hole and a tool channel mounting hole are provided on the front end of the endoscope; the camera mounting hole is used to place a camera, and the tool channel mounting hole is used to place an endoscope tool.

[0017] According to the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system of the utility model, a first fiber through hole pressing groove and a second fiber through hole pressing groove are provided in the cavity;

[0018] The other end of a portion of the fiber Bragg gratings is fixed in the first fiber through hole pressed groove, and the other end of another portion of the fiber Bragg gratings is fixed in the second fiber through hole pressed groove.

[0019] According to the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system of the utility model, a plurality of guide wire pressing grooves are provided in the cavity;

[0020] The plurality of guide wire pressing grooves are respectively used for welding and fixing guide wires to drive the snake bone to move.

[0021] According to the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system of the utility model, it also includes:

[0022] A multi-lumen tube, wherein a tool channel cavity, a guide wire channel cavity and a fiber grating channel cavity are formed in the multi-lumen tube;

[0023] The tool channel cavity is used for arranging an endoscopy tool, the guide wire channel cavity is used for arranging a guide wire, and the fiber grating channel cavity is used for arranging a fiber grating.

[0024] According to the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system of the utility model, the guide wire channel cavity and the fiber Bragg grating channel cavity are each provided with a plurality of;

[0025] The plurality of guide wire channel cavities are centrally symmetrically arranged along the axis of the multi-lumen tube, and the fiber grating channel cavity is arranged between adjacent guide wire channel cavities.

[0026] According to the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system of the utility model, it also includes:

[0027] A fiber Bragg grating demodulator, wherein the input end of the fiber Bragg grating demodulator is electrically connected to each of the fiber Bragg gratings, and the output end of the fiber Bragg grating demodulator is electrically connected to the host computer.

[0028] The utility model discloses a refined fiber Bragg grating multi-dimensional force sensing system for the front end of a flexible endoscope. The fiber Bragg grating measurement component designed based on the fiber Bragg grating has the advantages of small size, no electromagnetic interference, fewer leads, no electricity, good biocompatibility, etc. It is more suitable for medical environments and the measurement results are more stable. Secondly, the system provided by the utility model does not need to arrange circuits at the sensing end, has good biocompatibility, does not cause conductivity or leakage during endoscope operation, and improves the safety of the instrument. In addition, the fiber Bragg grating is small in size, which can facilitate further miniaturization of the front end of the endoscope and improve the safety of operation. In addition, the refined fiber Bragg grating multi-dimensional force sensing system for the front end of the flexible endoscope can realize multi-dimensional force measurement and intelligent early warning feedback at the front end of the endoscope, which helps to improve the safety of the doctor's operation, and can be integrated with a robot to provide feedback information for the robot's human-computer interaction, thereby realizing intelligent and precise control of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0030] Figure 1 It is a schematic diagram of a flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system provided by an embodiment of the utility model;

[0031] Figure 2 It is one of the schematic diagrams of the tip of the endoscope provided by the embodiment of the utility model;

[0032] Figure 3 This is the second schematic diagram of the endoscope tip provided by the embodiment of the utility model;

[0033] Figure 4 It is one of the schematic diagrams of the endoscope snake bone part and the integrated fiber grating measurement assembly provided by the embodiment of the utility model;

[0034] Figure 5 This is the second schematic diagram of the endoscope snake bone part and the integrated fiber grating measurement assembly provided by the embodiment of the utility model;

[0035] Figure 6 This is the third schematic diagram of the endoscope snake bone part and the integrated fiber grating measurement assembly provided by the embodiment of the utility model;

[0036] Figure 7 This is one of the schematic diagrams of the fiber Bragg grating arrangement provided by the embodiment of the utility model;

[0037] Figure 8 This is the second schematic diagram of the fiber Bragg grating arrangement provided by the embodiment of the utility model;

[0038] Fig. 9 This is a schematic diagram of the multi-lumen tube and channel distribution provided by the embodiment of the utility model;

[0039] Reference numerals:

[0040] 2. Endoscope tip; 22. Tool channel mounting hole; 23. Camera mounting hole; 211. First light source mounting hole; 212. Second light source mounting hole; 241. First protrusion; 242. Second protrusion; 51. First guide wire groove; 52. Second guide wire groove; 53. Third guide wire groove; 61. First optical fiber through hole groove; 62. Second optical fiber through hole groove; 81. First mounting groove; 82. Second mounting groove; 10. Multi-lumen tube; 1022. Tool channel cavity; 1051. First guide wire channel cavity; 1052. Second guide wire channel cavity; 10 53. The third guide wire channel cavity; 11. The first optical fiber arrangement hole; 12. The second optical fiber arrangement hole; 13. The third optical fiber arrangement hole; 14. The fourth optical fiber arrangement hole; 111. The first optical fiber grating; 121. The second optical fiber grating; 131. The third optical fiber grating; 141. The fourth optical fiber grating; 10121. The second optical fiber grating channel cavity; 10141. The fourth optical fiber grating channel cavity; 10111. The first optical fiber grating channel cavity; 10131. The third optical fiber grating channel cavity; 71. The first Z-type elastomer; 72. The second Z-type elastomer; 9. Snake bone. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] In the description of the embodiments of the present utility model, it should be noted that the terms "upper", "lower", "front", "back", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The traditional multi-dimensional force measurement system is based on resistance strain gauges, which has disadvantages such as weak anti-electromagnetic interference ability, poor linearity, and weak output signal, and is not suitable for medical surgical environments.

[0045] Moreover, at present, most flexible endoscope tip force measurement methods use model estimation or other indirect measurement methods, which have cumulative errors, large errors and low precision compared with the previous multi-dimensional force / torque measurement. The medical front-end multi-dimensional force / torque measurement system based on fiber Bragg grating is not integrated with the endoscope tip, but is an independent closed measurement unit, which has low integration and single function.

[0046] In order to solve the above problems, the present utility model provides a flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system. Figure 1-9 The invention describes a flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system provided by an embodiment of the invention.

[0047] like Figures 1 to 9As shown, the flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system 1 of the present application includes: a snake bone 9, an endoscope tip 2, a fiber Bragg grating measurement component and a host computer.

[0048] In this embodiment, the snake bone 9 forms a cavity that passes through the front end and the rear end of the snake bone, and the side wall of the snake bone 9 is at least partially provided with an elastic body. The endoscope tip 2 is connected to the front end of the snake bone 9; the fiber grating measurement assembly includes a plurality of fiber gratings, each of which is arranged in the cavity, one end of each fiber grating is connected to the endoscope tip 2, and the other end of each fiber grating is connected to the snake bone 9, and the fiber grating is in contact with the elastic body; the host computer is connected to the fiber grating, and in the process of the elastic body being compressed and deformed, the host computer reads each fiber grating to determine the wavelength offset, so as to calculate the force and / or torque on the elastic body according to the wavelength offset mapping.

[0049] Specifically, in this embodiment, the elastic body is two Z-shaped elastic bodies, namely a first Z-shaped elastic body 71 and a second Z-shaped elastic body 72, which are respectively located on both sides of the snake bone 9, and are used to generate deformation under force to improve the sensitivity of measurement. The multiple fiber gratings are respectively a first fiber grating 111, a second fiber grating 121, a third fiber grating 131 and a fourth fiber grating 141.

[0050] Multiple fiber gratings are arranged in parallel by two-point pasting and fixing, and the first fiber grating 111 and the third fiber grating 131 form a pair, and the second fiber grating 121 and the fourth fiber grating 141 form a pair. The two ends of the first fiber grating 111, the second fiber grating 121, the third fiber grating 131 and the fourth fiber grating 141 are respectively connected to the endoscope tip 2 and the snake bone 9. The first fiber grating 111 and the third fiber grating 131 are in contact with the first Z-type elastic body 71, and the second fiber grating 121 and the fourth fiber grating 141 are in contact with the second Z-type elastic body 72.

[0051] In the process of using the refined fiber grating multi-dimensional force sensing system at the front end of the flexible endoscope, if the first Z-type elastomer 71 and / or the second Z-type elastomer 72 on the snake bone are compressed and deformed, the first Z-type elastomer 71 and / or the second Z-type elastomer 72 pushes the first fiber grating 111, the second fiber grating 121, the third fiber grating 131 and the fourth fiber grating 141 to move, so that the wavelength of the fiber grating is shifted, and the host computer reads each fiber grating to determine the wavelength offset. Through calibration, the calibration matrix can be obtained to realize the mapping of the wavelength offset of the fiber grating to the force / torque, so as to calculate the force and / or torque exerted on the elastomer according to the wavelength offset mapping.

[0052] The utility model discloses a refined fiber Bragg grating multi-dimensional force sensing system for the front end of a flexible endoscope. The fiber Bragg grating measurement component designed based on the fiber Bragg grating has the advantages of small size, no electromagnetic interference, fewer leads, no electricity, good biocompatibility, etc. It is more suitable for medical environments and the measurement results are more stable. Secondly, the system provided by the utility model does not need to arrange circuits at the sensing end, has good biocompatibility, does not cause conductivity or leakage during endoscope operation, and improves the safety of the instrument. In addition, the fiber Bragg grating is small in size, which can facilitate further miniaturization of the front end of the endoscope and improve the safety of operation. In addition, the refined fiber Bragg grating multi-dimensional force sensing system for the front end of the flexible endoscope can realize multi-dimensional force measurement and intelligent early warning feedback at the front end of the endoscope, which helps to improve the safety of the doctor's operation, and can be integrated with a robot to provide feedback information for the robot's human-computer interaction, thereby realizing intelligent and precise control of the robot.

[0053] In some embodiments, Figure 3 and Figure 4 As shown, a first protrusion 241 and a second protrusion 242 are constructed on the tip 2 of the endoscope; a first mounting groove 81 adapted to the first protrusion 241 and a second mounting groove 82 adapted to the second protrusion 242 are constructed on the front end of the snake bone 9, and the tip 2 of the endoscope is connected to the front end of the snake bone 9 through the first protrusion 241, the second protrusion 242, the first mounting groove 81 and the second mounting groove 82.

[0054] In this connection mode, the endoscope tip 2 and the front end of the snake bone 9 are stably and firmly connected. This not only helps the endoscope to have better flexibility when examining inside the patient's body, but also enables the doctor to obtain higher accuracy and control when manipulating the endoscope. In addition, this connection mode also makes the positioning of the endoscope during the operation more accurate, thereby improving the success rate and efficiency of the operation.

[0055] In some embodiments, the materials of the endoscope tip 2 and the snake bone 9 are also different. The endoscope tip 2 is usually made of medical-grade high-strength plastic or metal material, which has good biocompatibility and corrosion resistance. The snake bone 9 can be made of a material with good elasticity, such as a medical-grade polymer material, to achieve better bending performance and tensile strength.

[0056] In addition, if Figure 2 and Figure 3 As shown, a first light source mounting hole 211, a second light source mounting hole 212, and a plurality of optical fiber arrangement holes are provided on the endoscope tip 2; the first light source mounting hole 211 and the second light source mounting hole 212 are used to place LED light sources, and the plurality of optical fiber arrangement holes are used to connect various optical fiber gratings.

[0057] Specifically, the first light source mounting hole 211 and the second light source mounting hole 212 are respectively arranged on both sides of the endoscope tip 2, and the plurality of optical fiber arrangement holes are respectively the first optical fiber arrangement hole 11, the second optical fiber arrangement hole 12, the third optical fiber arrangement hole 13 and the fourth optical fiber arrangement hole 14. The first optical fiber arrangement hole 11, the second optical fiber arrangement hole 12, the third optical fiber arrangement hole 13 and the fourth optical fiber arrangement hole 14 are respectively used to connect the first optical fiber grating 111, the second optical fiber grating 121, the third optical fiber grating 131 and the fourth optical fiber grating 141.

[0058] In the configuration of the endoscope tip 2, the light sources arranged on the first light source mounting hole 211 and the second light source mounting hole 212 are like eyes, illuminating the lesion and providing a clear field of vision. The first fiber grating 111, the second fiber grating 121, the third fiber grating 131 and the fourth fiber grating 141 connected to the plurality of fiber arrangement holes can quickly and accurately detect the force condition, so that the doctor can grasp the condition in real time.

[0059] At the same time, Figure 3 As shown, the endoscope tip 2 is provided with a camera mounting hole 23 and a tool channel mounting hole 22. The camera mounting hole 23 is used to place the camera, and the tool channel mounting hole 22 is used to place the endoscope tool.

[0060] The camera mounting hole 23 is located at the top of the endoscope tip 2, which is convenient for the camera to capture clear images during the operation, thereby improving the accuracy and safety of the operation. The tool channel mounting hole 22 is located at the center of the endoscope tip 2, which can conveniently place various endoscopic tools, such as scalpels, scissors, tweezers, etc. During the operation, medical staff can choose appropriate tools as needed and deliver them to the lesion through the tool channel mounting hole 22. The design of the tool channel mounting hole 22 also focuses on humanization, and its size and shape can be adjusted according to the needs of different tools, making the operation more flexible.

[0061] Based on the above embodiments, in one example, a first fiber through hole groove 61 and a second fiber through hole groove 62 are provided in the cavity; the other end of a portion of the fiber grating is fixed in the first fiber through hole groove 61, and the other end of another portion of the fiber grating is fixed in the second fiber through hole groove 62.

[0062] For example, in the case where the multiple fiber gratings are respectively the first fiber grating 111, the second fiber grating 121, the third fiber grating 131 and the fourth fiber grating 141, the first fiber grating 111 and the third fiber grating 131 are arranged and fixed in the first fiber through hole groove 61, and the second fiber grating 121 and the fourth fiber grating 141 are arranged and fixed in the second fiber through hole groove 62.

[0063] Specifically, the first fiber grating 111 and the third fiber grating 131 form a pair, and the second fiber grating 121 and the fourth fiber grating 141 form a pair. One end of the first fiber grating 111 is fixed to the first fiber arrangement hole 11 of the endoscope tip 2, and the other end is fixed to the first fiber through hole groove 61 of the snake bone 9. One end of the second fiber grating 121 is fixed to the second fiber arrangement hole 12 of the endoscope tip 2, and the other end is fixed to the second fiber through hole groove 62 of the snake bone 9. One end of the third fiber grating 131 is fixed to the third fiber arrangement hole 13 of the endoscope tip 2, and the other end is fixed to the first fiber through hole groove 61 of the snake bone 9. One end of the fourth fiber grating 141 is fixed to the fourth fiber arrangement hole 14 of the endoscope tip 2, and the other end is fixed to the second fiber through hole groove 62 of the snake bone 9. Thus, through subsequent calibration, a calibration matrix can be obtained to achieve mapping of the wavelength offset of the fiber grating to force / torque. The specific conversion formula is:

[0064]

[0065] where Δλ 111 , Δλ 121 , Δλ 131 and Δλ 141 represent the wavelength drift of the fiber Bragg gratings 111, 121, 131 and 141 respectively, C represents the calibration matrix obtained by calibration of the measurement component, and F x 、F y 、F z and M z They represent the forces in the x, y, and z directions and the torque in the z direction on the flexible endoscope.

[0066] Accordingly, if Figure 5 and Figure 6 As shown, a plurality of guide wire pressing grooves are provided in the cavity; the plurality of guide wire pressing grooves are respectively used for welding and fixing the guide wires to drive the snake bone 9 to move.

[0067] In this embodiment, the plurality of guide wire pressing grooves are respectively a first guide wire pressing groove 51, a second guide wire pressing groove 52 and a third guide wire pressing groove 53. The three first guide wire pressing grooves 51, the second guide wire pressing grooves 52 and the third guide wire pressing grooves 53 are used to weld and fix different guide wires to drive the snake bone 9.

[0068] like Figure 1 and Fig. 9 As shown, the refined fiber Bragg grating multi-dimensional force sensing system at the front end of the flexible endoscope also includes: a multi-lumen tube 10, in which a tool channel cavity 1022, a guide wire channel cavity and a fiber Bragg grating channel cavity are formed; the tool channel cavity 1022 is used to arrange the endoscopic tool, the guide wire channel cavity is used to arrange the guide wire, and the fiber Bragg grating channel cavity is used to arrange the fiber Bragg grating.

[0069] There are multiple guidewire channel cavities and fiber grating channel cavities; the multiple guidewire channel cavities are centrally symmetrically arranged along the axis of the multi-cavity tube, and the fiber grating channel cavities are arranged between adjacent guidewire channel cavities.

[0070] Specifically, the multi-lumen tube 10 adopts a slender structure, and is provided with a plurality of through-hole cavities inside, including a tool channel cavity 1022 for arranging endoscopic tools, and three equally divided 120-degree first guidewire channel cavities 1051, second guidewire channel cavities 1052, and third guidewire channel cavities 1053, which correspond to the first guidewire pressing groove 51, second guidewire pressing groove 52, and third guidewire pressing groove 53 on the snake bone, for passing the guidewire. In the middle of the first guidewire channel cavity 1051 and the second guidewire channel cavity 1052, there are two smaller cavities, the second fiber grating channel cavity 10121 and the fourth fiber grating channel cavity 10141, equally divided 40 degrees, for passing the second fiber grating 121 and the fourth fiber grating 141. Between the first guide wire channel cavity 1051 and the third guide wire channel cavity 1053 , there are two smaller cavities, the first fiber grating channel cavity 10111 and the third fiber grating channel cavity 10131 , evenly distributed at 40 degrees for passing the first fiber grating 111 and the third fiber grating 131 .

[0071] Based on the above embodiment, in one example, Figure 1 As shown, the refined fiber Bragg grating multi-dimensional force sensing system at the front end of the flexible endoscope also includes: a fiber Bragg grating demodulator, the input end of the fiber Bragg grating demodulator is electrically connected to each fiber Bragg grating, and the output end of the fiber Bragg grating demodulator is electrically connected to the host computer.

[0072] The first fiber grating 111, the second fiber grating 121, the third fiber grating 131 and the fourth fiber grating 141 are connected to a fiber grating demodulator through a multi-cavity tube 10 to demodulate their wavelength signals, and the signals are displayed through a host computer.

[0073] The system uses 4 fiber Bragg gratings to measure Fx, Fy, Fz and Mz. The idea of ​​measurement is that the 4 fiber Bragg gratings are divided into 2 groups by the central axis, and then suspended in the middle layer between the snake bone and the end of the endoscope in a two-point parallel pasting arrangement. The multi-lumen tube 10 is designed with 8 through holes, of which 1 larger through hole is used as a tool channel hole, 4 holes are used as fiber through holes, and 3 holes are used as drive rope holes. The multi-channel fiber Bragg grating demodulator used in the system adopts a tunable FP filter method for wavelength demodulation, has 8-channel signals, and uses a frequency of 200HZ. The host computer of the system adopts serial communication, and the UI interface is designed with a wavelength display area, a force value display area, and a warning display area.

[0074] The above described embodiments are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments. Those skilled in the art may understand and implement the embodiments without creative effort.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system, characterized in that: include: A snake bone is formed with a cavity penetrating the front end and the rear end of the snake bone, and the side wall of the snake bone is at least partially provided with an elastic body; an endoscope tip connected to the front end of the snake bone; A fiber grating measurement assembly, comprising a plurality of fiber gratings, each of which is disposed in the cavity, one end of each of which is connected to the end of the endoscope, the other end of each of which is connected to the snake bone, and the fiber grating is in contact with the elastic body; The host computer is connected to the fiber Bragg gratings. When the elastic body is deformed under pressure, the host computer reads each fiber Bragg grating to determine the wavelength offset, so as to calculate the force and / or torque applied to the elastic body according to the wavelength offset mapping.

2. The flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system according to claim 1 is characterized in that: The endoscope has a first protrusion and a second protrusion on its front end; A first mounting groove adapted to the first protrusion and a second mounting groove adapted to the second protrusion are constructed on the front end of the snake bone, and the tip of the endoscope is connected to the front end of the snake bone through the first protrusion, the second protrusion, the first mounting groove and the second mounting groove.

3. The flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system according to claim 2 is characterized in that: The endoscope is provided with a plurality of optical fiber arrangement holes at the front end; The plurality of optical fiber arrangement holes are used to connect the optical fiber gratings.

4. The flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system according to claim 3 is characterized in that: The endoscope is provided with a first light source mounting hole and a second light source mounting hole at the front end; The first light source mounting hole and the second light source mounting hole are used to place the light source.

5. The flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system according to claim 4 is characterized in that: A camera mounting hole and a tool channel mounting hole are provided on the front end of the endoscope; the camera mounting hole is used to place the camera, and the tool channel mounting hole is used to place the endoscope tool.

6. The flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system according to claim 5, characterized in that: The cavity is provided with a first optical fiber through hole pressing groove and a second optical fiber through hole pressing groove; The other end of a portion of the fiber Bragg gratings is fixed in the first fiber through hole groove, and the other end of another portion of the fiber Bragg gratings is fixed in the second fiber through hole groove.

7. The flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system according to claim 6, characterized in that: A plurality of guide wire pressing grooves are provided in the cavity; The plurality of guide wire pressing grooves are respectively used for welding and fixing guide wires to drive the snake bone to move.

8. The flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system according to claim 7, characterized in that: Also includes: A multi-lumen tube, wherein a tool channel cavity, a guide wire channel cavity and a fiber grating channel cavity are formed in the multi-lumen tube; The tool channel cavity is used for arranging an endoscopy tool, the guide wire channel cavity is used for arranging a guide wire, and the fiber grating channel cavity is used for arranging a fiber grating.

9. The flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system according to claim 8, characterized in that: The guide wire channel cavity and the fiber grating channel cavity are each provided with a plurality; The plurality of guide wire channel cavities are centrally symmetrically arranged along the axis of the multi-lumen tube, and the fiber grating channel cavity is arranged between adjacent guide wire channel cavities.

10. The flexible endoscope front end refined fiber Bragg grating multi-dimensional force sensing system according to any one of claims 1 to 9, characterized in that: Also includes: A fiber Bragg grating demodulator, wherein the input end of the fiber Bragg grating demodulator is electrically connected to each of the fiber Bragg gratings, and the output end of the fiber Bragg grating demodulator is electrically connected to the host computer.

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