Detection system, operation method of detection system, and computer program

Abstract

To provide a technology that enables detection of a singular portion with fewer pressing points.SOLUTION: A system for detecting a hardness singular portion in an elastic body performs processing related to the hardness singular portion by using measured results of reaction forces that a pressing member for pressing a surface of the elastic body receives from a plurality of pressing points on the surface when the pressing member presses the pressing points. Pressing the plurality of pressing points on the surface includes pressing a first pressing point through a first pressing operation. The first pressing operation includes performing a plurality of bending pressing actions. In each of the plurality of bending pressing actions, a pressing angle changes within a detection target plane, which is an internal cross-section of the elastic body, as the pressing progresses. Each detection target plane corresponds to a different internal cross-section of the elastic body. The processing includes identifying a singular plane that contains the hardness singular portion based on the measured result of the reaction force for each of the plurality of bending pressing actions.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present disclosure relates to a detection system, a method of operating a detection system, and a computer program. [Background technology]

[0002] A known method for measuring the reaction force of an elastic body is a linear motion device, which applies pressure by pressing a pressing member against the surface of the elastic body in the normal direction, and measures the reaction force that the pressing member receives from the surface of the elastic body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-204612 Summary of the Invention

[0004] The reaction force measured using a linear motion device is a reaction force in the normal direction from the surface of the elastic body. Therefore, when using a linear motion device, it is difficult to detect a hardness unique part with different hardness if there is no unique part of elastic modulus directly below the position where the pressing member is pressed.

[0005] To solve this problem, Patent Application No. 2022-186695 (hereinafter referred to as the "prior application") proposes obtaining measurement results of the reaction force received from each pressing point when the surface of an elastic body is pressed in a pressing direction that forms an angle with the normal direction of the tangent plane, and detecting the position of the unique part on the surface using a first measurement result when pressed in a first pressing direction among the multiple pressing points, and a second measurement result when pressed in a second pressing direction different from the first pressing direction.

[0006] However, with the technology disclosed in the prior application, it is necessary to press a relatively large number of pressure points in order to detect a unique portion. If many pressure points need to be pressed, it is necessary to move a pressing member for pressing the pressure points to many of the pressure points. Therefore, a technology that can reduce the number of pressure points in detecting a unique portion is desired.

[0007] One aspect of the present disclosure is a system for detecting a hardness unique portion inside an elastic body, the system including a sensor that measures a reaction force that a pressing member receives from each of a plurality of pressing points on the surface of the elastic body when the pressing member presses the surface of the elastic body, the sensor measuring the reaction force, and a calculation device that executes processing related to the hardness unique portion using the measurement results of each pressing point, wherein pressing the plurality of pressing points on the surface includes pressing at least a first pressing point on the surface with a first pressing operation of the pressing member, and the first pressing operation includes performing a bending pressing operation on the first pressing point multiple times. The method includes performing the bending and pressing operations, wherein each of the multiple bending and pressing operations is an operation in which the pressing angle with respect to the surface of the elastic body changes within the plane of the detection target surface, which is a cross section inside the elastic body, as the pressing progresses, and each detection target surface in the multiple bending and pressing operations is a different cross section inside the elastic body, and each is a surface that contacts the first pressing point, and the processing executed by the computing device includes identifying a unique surface that includes the hardness unique portion from each detection target surface in the multiple bending and pressing operations based on the measurement result of the reaction force of each of the multiple bending and pressing operations with respect to the first pressing point.

[0008] Another aspect of the present disclosure is a method for operating the detection system, the method including the step of: acquiring measurement results of the reaction force for each of the plurality of bending press operations on the first press point; and identifying a unique surface including the hardness unique portion from each detection target surface in the plurality of bending press operations.

[0009] Another aspect of the present disclosure is a computer program that causes a computer to operate as the computing device of the detection system.

[0010] Further details will be described in the following embodiments. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram of a detection system according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram of a detection instrument included in the detection system. [Figure 3] FIG. 3 is a schematic diagram of a bending driving device as an example of an actuator included in the detection instrument. [Figure 4] FIG. 4 is a diagram for explaining the principle of bending motion in the bending drive device. [Figure 5] FIG. 5 is a diagram for explaining the principle of bending motion in the bending drive device. [Figure 6] FIG. 6 is a diagram for explaining the operation for detection by the detection tool. [Figure 7] FIG. 7 is a schematic diagram of a calculation device included in the detection system. [Figure 8] FIG. 8 is a diagram for explaining a method for calculating the depth of a singular portion. [Figure 9] FIG. 9 is an explanatory diagram of a detection method that does not utilize in-situ rotation. [Figure 10] FIG. 10 is an explanatory diagram of a detection method that does not utilize in-situ rotation. [Figure 11] FIG. 11 is an explanatory diagram of a detection method that does not utilize in-situ rotation. [Figure 12] FIG. 12 is an explanatory diagram of a detection method that does not utilize in-situ rotation. [Figure 13] FIG. 13 is an explanatory diagram of a detection method that does not utilize in-situ rotation. [Figure 14] FIG. 14 is an explanatory diagram of a detection method using in-situ rotation. [Figure 15]FIG. 15 is an explanatory diagram of a detection method using in-situ rotation. [Figure 16] FIG. 16 is an explanatory diagram of a detection method using in-situ rotation. [Figure 17] FIG. 17 is an explanatory diagram of a detection method using in-situ rotation. DETAILED DESCRIPTION OF THE INVENTION

[0012] 1. Overview of the detection system, the operation method of the detection system, and the computer program

[0013] (1) A system according to an embodiment may be a system for detecting a hardness unique portion inside an elastic body. The detection system may include a computing device that acquires measurement results of the reaction force from a sensor that measures a reaction force that a pressing member receives from each of multiple pressure points on the surface of the elastic body when the pressing member presses the surface of the elastic body at the multiple pressure points, and executes processing related to the hardness unique portion using the measurement results of each pressure point. Pressing the multiple pressure points on the surface may include pressing at least a first pressure point on the surface by a first pressing operation of the pressing member. The first pressing operation may include performing multiple bending pressing operations on the first pressure point. Each of the multiple bending pressing operations may be an operation in which a pressing angle with respect to the surface of the elastic body changes within a detection target surface, which is a cross section of the interior of the elastic body, as the pressing progresses. Each detection target surface in the multiple bending pressing operations may be a different cross section inside the elastic body, each of which is a surface that contacts the first pressure point. The processing performed by the calculation device may include identifying a unique surface that includes the hardness unique portion from each detection target surface in the multiple bending press operations based on the measurement results of the reaction force for each of the multiple bending press operations on the first press point.

[0014] (2) The processing performed by the computing device may include detecting the position of the hardness unique part based on information about the identified unique surface and measurement results of the reaction forces of pressure points other than the first pressure point among the multiple pressure points.

[0015] (3) The other pressing point may include a second pressing point on the surface of the elastic body that is in contact with the unique surface. Pressing the plurality of pressing points may further include pressing the second pressing point by a second pressing action of the pressing member.

[0016] (4) The second pressing operation may include an operation in which a pressing angle of the elastic body relative to the surface changes within the identified unique surface as the pressing progresses.

[0017] (5) The in-plane directions of the detection target surface in the multiple bending and pressing operations are parallel to one common imaginary line passing through the first pressing point, and the angles around the imaginary line may be different from each other.

[0018] (6) The virtual line may be a straight line on the surface of the elastic body that is parallel to the in-plane direction of each detection target surface and passes through the first pressing point.

[0019] (7) The pressing member may be movable on the surface of the elastic body along a straight line parallel to an in-plane direction of the detection target surface, and the virtual line may be a line that passes through the first pressing point and extends in a direction parallel to the straight line.

[0020] (8) According to an embodiment, the method may be a method for operating the detection system, which may include the calculation device acquiring a measurement result of the reaction force for each of the plurality of bending press operations on the first press point, and the calculation device identifying a unique surface including the hardness unique portion from each detection target surface in the plurality of bending press operations.

[0021] (9) A computer program according to an embodiment may be a computer program for causing a computer to operate as the arithmetic unit of the detection system.

[0022] 2. Examples of detection system, operation method of detection system, and computer program

[0023] 1 is a schematic diagram of a detection system 100 according to the present embodiment. The detection system 100 is, as an example, a system that assists in palpation of a living body 200. The living body 200 is an elastic body, and palpation is performed to detect a unique elasticity portion 201 inside the living body 200, such as a tumor. The unique portion 201 has a different hardness compared to other parts, and therefore may be called a "unique hardness portion 201."

[0024] The detection of a unique stiffness portion is performed, for example, to detect a malignant tumor in biological tissue. The tumor is a unique stiffness portion 201 because it is harder than other parts of the biological tissue. The detection of a tumor as a unique stiffness portion 201 is performed, for example, in endoscopic surgery. In endoscopic surgery, the position of a malignant tumor or the like cannot be detected by manual palpation by a doctor. Therefore, in this embodiment, the system 100 is used instead of manual palpation by a doctor.

[0025] The system 100 may include a calculation device 3. The calculation device 3 executes processing related to the unique portion 201. The system 100 may include an output device 4. The output device 4 outputs, for example, processing results related to the unique portion 201.

[0026] The system 100 may include a detection instrument 2 used to detect the unique portion 201. The detection instrument 2 is connected to an operation device 5 and operates in accordance with a user's operation on the operation device 5. It is assumed that the detection instrument 2 is placed in a detection area of ​​the living body 200, such as a location where a tumor is suspected, and performs an operation for detection.

[0027] 2 is a schematic diagram of the detection instrument 2. The detection instrument 2 has an arm 21 with a pressing member 22 attached to its tip. The detection operation includes pressing a surface 200A of a living body 200 with a contact portion 22A at the tip of the pressing member 22.

[0028] The detection instrument 2 is, for example, a small instrument intended for use in narrow spaces that are difficult for humans to reach or inside a living body where visibility is poor. The detection instrument 2 is, for example, used in endoscopic surgery. In this case, for example, the width of the pressing member 22 is approximately 8 mm and the length is approximately 20 mm. The width of the pressing member 22 refers to the length in a direction perpendicular to the longitudinal direction of the arm 21 of the pressing member 22, and the length of the pressing member 22 refers to the length in the direction coinciding with the longitudinal direction of the arm 21.

[0029] The pressing member 22 has a bent portion 23. In the pressing member 22, the portion from the bent portion 23 to the contact portion 22A at the tip constitutes a bent portion 22B. When the detection instrument 2 is small, the length r of the bent portion 22B is about 10 mm. The bent portion 22B is bent so that the bent portion 23 is convex upward. The degree of bending of the pressing member 22 is represented by a bending angle θ, which is the angle with respect to the longitudinal direction of the arm 21.

[0030] Preferably, one or more grooves 23A are formed on the upper surface of folding portion 23. The upper surface of folding portion 23 refers to the surface on the convex side when bending portion 22B is bent. When detection instrument 2 is small, grooves 23A may be about 0.3 mm wide, and may be provided in a range of, for example, three grooves 23A spaced 0.8 mm apart and 2.5 mm long. This makes it easier for bending portion 22B to bend with the upper surface of folding portion 23 convex.

[0031] Preferably, a protrusion 27 is formed on the underside of the contact portion 22A. When the detection instrument 2 is small, the height of the protrusion 27 is about 3 mm. This makes it possible to reduce the contact area with the surface 200A when pressing the surface 200A of the living body 200 using the detection instrument 2. As a result, the surface 200A can be pressed efficiently, and the detection accuracy can be improved by increasing the pressing amount, which will be described later. Preferably, the protrusion 27 is made of a flexible material, and as an example, it is made of an elastomer material. This makes it possible to reduce invasiveness to the living body 200.

[0032] A first sensor 24 is disposed on the pressing member 22. The first sensor 24 measures the reaction force received by the contact portion 22A. The area of ​​the contact portion 22A changes depending on the amount of pressing of the pressing member 22 into the living body 200. Therefore, the first sensor 24 is preferably a sensor that can detect the reaction force regardless of the contact surface. The first sensor 24 is, for example, a strain sensor. Preferably, a second sensor 26 that detects the bending angle θ is disposed on the pressing member 22.

[0033] The detection instrument 2 has an actuator 1 that can change the bending angle θ. One example of the actuator 1 is a bending drive device 1A shown in Figs. 3 to 5. Fig. 3 is a schematic diagram of the bending drive device 1A. Figs. 4 and 5 are diagrams for explaining the principle of bending motion in the bending drive device 1A.

[0034] The bending drive device 1A includes a membrane 10 having an internal space 13. The membrane 10 includes a first membrane 11 and a second membrane 12. The second membrane 12 is joined to a first surface 11A of the first membrane 11 so as to define the internal space 13 between the first membrane 11 and the second membrane 12. The internal space 13 has an air inlet (not shown) and is connected to a flow path 21B provided in the arm 21. Air can be supplied to and exhausted from the internal space 13 via the air inlet and the flow path 21B.

[0035] For ease of explanation, the XZ axes are set for the bending drive device 1A as shown in FIG. 3. The first direction within the first surface 11A of the first film body 11 and the second surface 11B opposite the first surface 11A is set as the X-axis direction, and the X-axis is set within the first surface 11A. The normal direction of the first surface 11A is set as the Z-axis direction, and the Z-axis is set with one end ED1 of the first film body 11 and the second film body 12 in the X-axis direction as the origin O. The other end ED2 of the first film body 11 and the second film body 12 in the X-axis direction is set to the X-axis direction so that the X value becomes large. The first film body 11 and the second film body 12 are joined across the X-axis. In the X-axis direction, the direction in which the X value increases is called the +X direction, and the direction in which the X value decreases is called the -X direction. The side with the larger X value is called the +X side, and the side with the smaller X value is called the -X side. In the Z-axis direction, the direction in which the Z value increases is called the +Z direction, and the direction in which the Z value decreases is called the -Z direction. Also, the side with the larger Z value is called the +Z side, and the side with the smaller Z value is called the -Z side. The first surface 11A of the first film body 11 is the surface on the -Z side of the first film body 11, and the second surface 11B is the surface on the +Z side of the first film body 11.

[0036] The bending drive device 1A further includes a non-elastic sheet 14 laminated on the second surface 11B side of the first film body 11. The sheet 14 is joined to the second surface 11B at a first joining position 14A and a second joining position 14B that sandwich the internal space 13, and is unjoined at any positions other than the joining positions 14A and 14B. The direction in which the first joining position 14A and the second joining position 14B are aligned is the X-axis direction (first direction). The first joining position 14A is located on the -X side of the internal space 13, and the second joining position 14B is located on the +X side of the internal space 13. Preferably, the bending drive device 1A has an end ED1 as a fixed end and an end ED2 as a free end.

[0037] The material of the first membrane 11 is stretchable due to the air pressure in the internal space 13. Therefore, the first membrane 11 expands in the +Z direction due to the air pressure in the internal space 13. The material of the second membrane 12 is also stretchable due to the air pressure in the internal space 13, but the stretch is smaller than that of the first membrane 11. Therefore, the second membrane 12 also expands in the -Z direction due to the air pressure in the internal space 13, but the stretch is smaller than that of the first membrane 11 due to the air pressure in the internal space 13. The sheet 14 is a non-stretchable sheet. Note that non-stretchable here includes not only something that does not stretch at all, but also something that stretches sufficiently little compared to the first membrane 11 and the second membrane 12 to be considered non-stretchable. In other words, it may include something that has some stretchability.

[0038] The material of the first film 11 and the second film 12 is, for example, silicone resin. The material of the first film 11 is, for example, two-component RTC (Room-Temperature Curing) silicone rubber, for example, RTC silicone rubber with a weight ratio of base agent to curing agent of 10:1. Examples of physical properties include density of 1.03 g / cm^3, tensile strength of 4.3 MPa, and breaking elongation T1 of 350%.

[0039] The second film body 12 has, for example, a laminated structure of a film made of a silicone resin material and a film made of a PDMS (polydimethylsiloxane) material. The PDMS material has, for example, a weight ratio of base material to curing agent of 10:1. Examples of physical properties of PDMS include a density of 1.05 g / cm^3, a tensile strength of 6.7 MPa, and a breaking elongation T2 of 140%. The Young's modulus of PDMS is approximately 0.44 MPa, and the Young's modulus of RTC silicone rubber is greater than that of PDMS.

[0040] The sheet 14 is a polymer synthetic film. An example of the material of the sheet 14 is PI (polyimide), for example, with a thickness of 50 μm. Examples of physical properties include a density of 1.42 g / cm^3, a tensile strength of 300 MPa, and a breaking elongation T3 of 85%. The Young's modulus E3 is 3300 MPa.

[0041] The Young's modulus E1 of the first membrane 11 made of RTC silicone rubber, the Young's modulus E2 of the second membrane 12, which is a laminated structure of a silicone resin membrane and a PDMS membrane, and the Young's modulus E3 of the sheet 14 satisfy the relationship E2>E3>E1. Since E2>E1, the second membrane 12 is more rigid than the first membrane 11. Therefore, the first membrane 11 is more easily deformed than the second membrane 12 by the air pressure in the internal space 13. In other words, the expansion of the second membrane 12 is suppressed, while the first membrane 11 expands more. This allows the expansion of the internal space 13 to efficiently propagate to the sheet 14. Furthermore, since E2>E3, the sheet 14 is more easily deformed than the second membrane 12. This allows the upward force generated on the sheet 14 by the expansion of the internal space 13 to efficiently propagate to the second membrane 12. These factors allow the expansion of the internal space 13 to be efficiently converted into bending motion.

[0042] The above-described materials for the first membrane 11, the second membrane 12, and the sheet 14 are merely examples, and other materials may be used. As another example, the materials for the first membrane 11, the second membrane 12, and the sheet 14 may be materials whose Young's moduli satisfy the relationship E3>E2>E1. Because of the relationship E3>E2>E1, the deformation ratios (elongations) 1 / E of the first membrane 11, the second membrane 12, and the sheet 14 satisfy the relationship 1 / E1>1 / E2>1 / E3. In other words, the first membrane 11 is more easily stretched than the second membrane 12. Therefore, the air pressure in the internal space 13 causes the first membrane 11 to stretch more easily than the second membrane 12. In other words, the expansion of the second membrane 12 is suppressed, while the first membrane 11 expands more significantly. This allows the expansion of the internal space 13 to be efficiently transmitted to the sheet 14. Furthermore, the sheet 14 is more easily stretched than the second membrane 12. As a result, the upward force generated on the sheet 14 by the expansion of the internal space 13 is efficiently transmitted to the second film body 12. As a result, the expansion of the internal space 13 can be efficiently converted into bending motion.

[0043] Preferably, the thickness H1 of the first film 11, the thickness H2 of the second film 12, and the thickness H3 of the sheet 14 satisfy the relationship H2>H3>H1. As an example, the thickness H1 of the first film 11 is 90 μm, and the thickness H2 of the second film 12 is 1.2 mm. When the Young's modulus E1 of the first film 11, the Young's modulus E2 of the second film 12, and the Young's modulus E3 of the sheet 14 are the same, the bending rigidity EI of each is proportional to the moment of inertia I (I=WH^3 / 12 (W: rectangular width, H: rectangular thickness)). The moment of inertia I is proportional to the cube of the thickness H. Therefore, since H2>H1, the bending rigidity of the second film 12 is higher than that of the first film 11. Therefore, the deformation due to air pressure in the internal space is greater for the first film 11 than for the second film 12. This allows the expansion of the internal space to be efficiently propagated to the sheet 14. Furthermore, since H2>H3, the pushing-up force of the seat 14 can be converted into a bending motion more efficiently.

[0044] In the case of the bending drive device 1A according to the first example, the first film 11 and the second film 12 each have a size of, for example, 16 mm × 50 mm. Of the 50 mm length in the X-axis direction, the length of the internal space 13 in the X-axis direction is, for example, 12 mm, and the height of the flow path extending into the internal space 13 (not shown) is, for example, 65 μm.

[0045] Because the Young's modulus E2 of the second membrane 12 is greater than the Young's modulus E1 of the first membrane 11, the second membrane 12 has higher rigidity than the first membrane 11. In other words, the first membrane 11 is more easily deformed than the second membrane 12. Furthermore, because the breaking elongation T1 of the first membrane is greater than the breaking elongation T2 of the second membrane, the second membrane 12 has higher elongation rigidity than the first membrane 11. For these reasons, the air pressure of the air supplied to the internal space 13 causes the first membrane 11 to deform more than the second membrane 12. As a result, as shown in FIG. 4, in the bending drive device 1A, when air is supplied to the internal space 13, the first membrane 11 expands in the expansion direction Ex in the +Z direction, and the expansion of the second membrane 12 in the -Z direction is smaller than that of the first membrane 11, or there is almost no expansion.

[0046] The sheet 14 is pushed up by a force F1 acting in the +Z direction due to the expansion of the first film 11. However, because the sheet is non-stretchable, it does not expand in the +Z direction. Or, the expansion is extremely small. As a result, pulling forces TF1 and TF2 are generated at the joining positions 14A and 14B in the +X and -X directions, respectively, toward the internal space 13 (B). This causes the second film 12 to compress in the X-axis direction, and the joining positions 14A and 14B move a distance e corresponding to the compression in the +X and -X directions, respectively, from their original positions (A).

[0047] However, because the second film 12 has high rigidity, it undergoes little deformation due to compression. Therefore, the joining positions 14A and 14B do not move more than the distance e. As a result, deflections W1 and W2 occur in the +Z direction at the positions of the second film 12 that overlap with the joining positions 14A and 14B (C). The deflections W1 and W2 cause the joined first film 11 and second film 12 to bend in the +Z direction.

[0048] As shown in Figure 5, end ED1 of bending driver 1A is a fixed end and end ED2 is a free end, so tensile forces TF1 and TF2 are generated at joining positions 14A and 14B, respectively. In this state, second film 12 acts as a cantilever with end ED1 as the fixed end, and the +Z component of tensile force TF2 acts as a concentrated load at joining position 14B. Therefore, a deflection W in the +Z direction occurs at the position overlapping with second joining position 14B. The deflection W causes a bending motion in the +Z direction in the joined first film 11 and second film 12.

[0049] An air supply / exhaust device including a pump (not shown) is connected to flow path 21B provided in arm 21 shown in FIG. 2, and air is supplied to and exhausted from internal space 13 through flow path 21B. The air supply / exhaust device is connected to operation device 5 and operates according to an operation signal from operation device 5. An air supply / exhaust volume corresponding to bending angle θ is preset in operation device 5. Operation device 5 outputs an operation signal to the pump to supply / exhaust air at an air supply / exhaust volume for bending angle θ corresponding to user operation. As a result, detection instrument 2, which uses bending drive device 1A as actuator 1, bends bending portion 22B with respect to the longitudinal direction of arm 21 at bending angle θ corresponding to user operation.

[0050] The bending angle θ can be easily adjusted and flexible detection is possible by using the bending drive device 1A as the actuator 1. This improves the detection accuracy and also makes it easier to calculate the depth of the singular portion, which will be described later.

[0051] At least a portion of the arm 21 shown in FIG. 2, for example, the base end 21A, is attached to the movable part 25. The movable part 25 moves the base end 21A in accordance with an operation signal from the operating device 5. As an example, when a user uses the operating device 5 to instruct the movable part 25 to move a specified amount in a specific direction (for example, to the right), the operating device 5 instructs the movable part 25 to drive by a drive amount that is pre-stored in association with the specified amount. As a result, the detection instrument 2 moves the specified amount from the position at the time of instruction. As a result, the pressing member 22 assumes a position in accordance with the operation instruction from the operating device 5.

[0052] The pressing member 22 can also move (move back and forth) in the longitudinal direction (X direction) of the arm 21. In an endoscopic surgical instrument, longitudinal movement is relatively easy due to its structure. The movement of the pressing member 22 is performed, for example, in accordance with an operation instruction from the operating device 5. The movement amount d of the pressing member 22 can be detected by an appropriate sensor. The movement amount d may be determined in accordance with an operation instruction from the operating device 5. The movement amount d of the pressing member 22 is provided to the computing device 3 and is used to detect the unique portion 201 in the computing device 3. This point will be described later.

[0053] The pressing member 22 can also rotate (rotate in place) around an axis parallel to the longitudinal direction (X direction) of the arm 21. In an endoscopic surgical instrument, rotation around an axis parallel to the longitudinal direction is relatively easy due to its structure. The rotation of the pressing member 22 is performed, for example, in accordance with an operation instruction from the operation device 5. The rotation angle α of the pressing member 22 can be detected by an appropriate sensor. The rotation angle α may be determined in accordance with an operation instruction from the operation device 5. The rotation angle α of the pressing member 22 is provided to the calculation device 3 and used to detect the unique portion 201 in the calculation device 3. This point will be described later.

[0054] The operation device 5 accepts user operations to instruct movement of the position of the detection instrument 2 (including forward / backward movement and rotation in place) and increase / decrease of the flexion angle θ. As an example, the operation device 5 is a type that the user wears on his / her finger. In this case, the operation device 5 has a sensor that detects finger movement and joint angle, and the detection result of the finger movement is an instruction to move the position of the detection instrument 2, and the detection result of the joint angle is an instruction to increase / decrease the flexion angle θ. This allows the user to move the position of the detection instrument 2 and instruct increase / decrease of the flexion angle θ with natural movements, as if palpating with their own hand.

[0055] 6 is a diagram illustrating the detection operation of the detection instrument 2, and is a schematic diagram of an initial state 401 and a pressing state 402. The initial state 401 is a state in which the contact portion 22A is in contact with a pressing point P on the surface 200A of the living body 200. In the initial state 401, the bent portion 22B forms an initial bending angle θ0 with respect to the longitudinal direction of the arm 21, and an initial pressing force F0 is applied to the pressing point P by the contact portion 22A. An initial reaction force R0 due to the contact is detected from the sensor signal of the first sensor 24.

[0056] In the initial state 401, if the longitudinal direction of the arm 21 is parallel to the tangent plane S at the pressing point P of the surface 200A, the pressing direction, which is the direction of the initial pressing force F0 applied by the contact portion 22A to the pressing point P, forms an initial bending angle θ0 with respect to the normal direction N of the tangent plane S at the pressing point P. When the initial pressing force F0 is applied to the pressing point P, the pressing point P moves, and an initial pressing amount t0 is generated. The pressing amount refers to the movement distance of the pressing point P in the normal direction N. In the initial state 401, the initial pressing force F0 is extremely small, so the pressing amount t0 is assumed to be approximately 0.

[0057] When an operation signal is sent from the operating device 5 to the detection instrument 2 in the initial state 401, the detection instrument 2 transitions to a pressing state 402. The pressing state 402 is a state in which the degree of bending of the bending portion 22B increases from the initial bending angle θ0 to a bending angle θ. In the pressing state 402, a pressing force F is generated at the pressing point P by the contact portion 22A. As a result, a reaction force R against the contact portion 22A is detected from the sensor signal of the first sensor 24. In addition, a pressing amount t is generated by the pressing force F. The pressing direction G of the pressing force F forms a bending angle θ with respect to the normal direction N at the pressing point P. In other words, the pressing direction G is obtained by obtaining the bending angle θ.

[0058] As described above, the system 100 includes a calculation device 3. FIG. 7 is a schematic configuration diagram of the calculation device 3. The calculation device 3 executes a detection process 311 related to a stiffness unique portion. In an embodiment, the detection process 311 related to the stiffness unique portion 201 may include identifying a unique surface (α-plane) including the stiffness unique portion 201. The process related to the stiffness unique portion may include determining a position of the stiffness unique portion 201 based on the unique surface (α-plane) including the stiffness unique portion 201. Determining the position of the stiffness unique portion 201 may include determining the position of the stiffness unique portion 201 on the surface 200A (two-dimensional coordinates on the surface 200A). Furthermore, determining the position of the stiffness unique portion 201 may include determining a three-dimensional position of the stiffness unique portion (three-dimensional coordinates including the depth from the surface).

[0059] The arithmetic device 3 acquires a sensor signal from the first sensor 24. The arithmetic device 3 may receive the sensor signal by being connected to the first sensor 24 by wire or wirelessly as shown in FIG. 1, or may acquire the sensor signal by reading data indicated in the sensor signal from a storage medium. In this way, the arithmetic device 3 obtains the reaction force received by the contact portion 22A. The arithmetic device 3 similarly obtains a sensor signal from the second sensor 26. In this way, the arithmetic device 3 obtains the bending angle θ.

[0060] Note that instead of the sensor signal from the second sensor 26, the arithmetic device 3 may obtain the bending angle θ by obtaining an operation signal from the operating device 5 or the operation amount of the actuator 1. This makes it possible to eliminate the need for the second sensor 26. Note that the arithmetic device 3 also obtains the movement amount d and rotation angle α of the pressing member 22, as described above.

[0061] 7, the arithmetic device 3 is, for example, configured by a computer having a processor 31 and a memory 32. The arithmetic device 3 may be realized by a plurality of computers working together.

[0062] The processor 31 is, for example, a CPU (Central Processing Unit). The memory 32 includes a flash memory, an EEPROM (Electrically Erasable and Programmable Read Only Memory), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. Alternatively, the memory 32 may be a primary storage device or a secondary storage device.

[0063] The memory 32 stores a computer program (hereinafter, referred to as program) 321 that causes the processor 31 to execute information processing. The processor 31 executes the program 321 to perform arithmetic processing including a detection process 311 related to the stiffness unique portion 201.

[0064] 1, the detection system 100 may include an output device 4. In this case, the arithmetic processing realized by the processor 31 executing the program 321 preferably includes output processing 313 shown in Fig. 7. The output processing 313 includes processing for outputting the reaction force measurement results, the position of the singular part, etc. to the output device 4.

[0065] The output device 4 is, for example, a display. In this case, the output process 313 includes a process of generating display data and instructing the output device 4 to display the data. The display as the output device 4 may be, for example, one that is formed integrally with the arithmetic device 3. Alternatively, for example, the display may be a large display that is separate from the arithmetic device 3. Alternatively, for example, the display may be a see-through display. Alternatively, for example, the display may be a glasses-type display. Alternatively, for example, the display may be a combination of these.

[0066] The processor 31 receives input of a sensor signal from the first sensor 24 of the detection instrument 2, calculates the reaction force using the resistance value obtained from the sensor signal, and calculates the pushing direction G and the position of the contact portion 22A (position of the pressing member 22).

[0067] As an example, the processor 31 acquires an operation signal from the operating device 5 and calculates the position of the detection instrument 2. The processor 31 calculates the destination position by sequentially adding the movement amount to the stored initial position. The processor 31 can calculate the movement amount d of the detection instrument 2 (pressing member 22) based on the change in position. The processor 31 can also calculate the rotation angle α of the detection instrument (pressing member 22).

[0068] The processor 31 also calculates the bending angle θ by acquiring a sensor signal from the second sensor 26. The processor 31 updates the bending angle θ every time it acquires a sensor signal from the second sensor 26, and obtains the bending angle θ of the detection instrument 2 in real time.

[0069] When the processor 31 receives a sensor signal from the first sensor 24, it calculates the position of the contact portion 22A using the stored position of the detection instrument 2 and the bending angle θ, and obtains the bending angle θ as the pushing direction G.

[0070] The processor 31 stores the calculated position (position of the pressed point) and the reaction force.

[0071] The above process is performed for each of the multiple pressure points, thereby obtaining a measurement result of the reaction force at each of the multiple pressure points.

[0072] The processor 31 can use the obtained measurement results to calculate the distance of the unique portion 201 from the surface 200A, that is, the depth D of the unique portion 201. Fig. 8 is a diagram for explaining an example of a method for calculating the depth D of the unique portion 201.

[0073] The depth D of the unique portion 201 refers to the distance from the tangent plane S of the surface 200A at the pressing point P in the initial state to the unique portion 201 in the normal direction of the tangent plane S at the pressing point P. From the positional relationship shown in FIG. 8 , the depth D is expressed by the following equation using the distance L from the position of the pressing point P on the surface 200A of the unique portion 201, the bending angle θ, and the pressing amount t. Here, the bending angle θ is the bending angle at which an increase in the reaction force due to the unique portion 201 occurs, among the bending angles that change as the pressing (bending) progresses. When viewed from the pressing point P, the unique portion 201 exists in the direction of the bending angle θ. tan(90°-θ)=(Dt) / L

[0074] From the above formula, the depth D is expressed by the following formula. D=L×tan(90°-θ)+t=L / tanθ+t

[0075] Here, the pressing amount t is the pressing amount at the pressing point P when pressed at the bending angle θ, and is the movement distance in the normal direction of the tangent plane S of the pressing point P. Since the pressing amount t0 in the initial state is approximately 0 as described above, the pressing amount t is expressed by the following equation using the initial bending angle θ0 and the length r of the bending portion 22B. t=r(sinθ-sinθ0)

[0076] Therefore, the depth D is expressed by the following formula: D=L / tanθ+r(sinθ-sinθ0)

[0077] In this way, the depth D of the unique portion 201 can be obtained based on the distance L and the bending angle θ.

[0078] 9 to 13 show an example of a method for determining the position of the unique portion 201, which is based on the method of the prior application (Japanese Patent Application No. 2022-186695). Here, it is already known that the unique portion 201 exists within the rectangular area shown in Fig. 9(A), and the position of the unique portion 201 within this rectangular area is to be determined. In other words, the position of the unique portion 201 within the rectangular area is searched for by pressing with the pressing member 22.

[0079] In the following description, the expression "bending direction W" is used in relation to the bending operation (bending and pressing operation) of the pressing member 22. When the pressing member 22 is not bent, its tip is directed forward in FIG. 3 (+X direction; rightward in FIG. 3). The direction opposite to the direction in which the pressing member 22 is directed when it is not bent (-X direction; leftward in FIG. 3) is defined as the "bending direction W." As the pressing of the pressing member 22 progresses, the bending angle θ increases, and the X-direction position of the tip of the pressing member 22 moves in the bending direction W. For example, in FIGS. 9 and 10, the rightward direction in the drawings is shown as the bending direction W. This indicates that, as shown in FIGS. 9(B) and 10(B), the X-direction position of the tip of the pressing member 22 moves in the bending direction W (rightward) as the pressing (bending) progresses.

[0080] 9(A), it is assumed that the stiffness unique portion 201 is located at the illustrated position in a plan view of the surface 200A of the tissue of the living body 200. In this case, even if the pressure point P11 shown in FIG. 9(A) is pressed so as to generate the bending direction W shown in FIGS. 9(A) and 9(B), the unique portion 201 does not exist in the cross section D11 (cross section perpendicular to the surface 200A) including the pressure point P11, and therefore an increase in the reaction force due to the unique portion 201 is not detected (see also FIG. 11).

[0081] 10(A), the pressing member 22 is moved in the Y direction to move the pressing point from P11 to P12 in the Y direction. When the pressing point P12 is pressed so as to generate the bending direction W shown in FIGS. 10(A) and 10(B), an increase in the reaction force caused by the unique portion 201 is detected at a specific bending angle θ (see also FIG. 11). Therefore, it can be seen that the position of the unique portion 201 on the surface 200A is in the bending direction W as seen from the pressing point P12. Furthermore, it can be seen that the position of the unique portion 201 on the cross section D12 (a cross section perpendicular to the surface 200A) is in the direction of the pressing angle (90°-θ) as seen from the pressing point P12, based on the bending angle θ when the increase in the reaction force is detected.

[0082] The pressing of the pressing point P11 in Fig. 9 and the pressing of the pressing point P12 in Fig. 10 are performed to inspect whether or not the unique portion 201 exists within the detection target surfaces D11 and D12, which are perpendicular to the surface 200A, as shown in Fig. 11. In this case, the change in the pressing angle (90°-θ) based on the bending angle θ occurs as an angle change within each of the cross sections D11 and D12 as the pressing (bending) progresses due to the bending pressing operation of the pressing member 22. Here, the pressing angle (90°-θ) is the angle with respect to the surface 200A.

[0083] When the pressing point P11 is pressed by the bending pressing operation of the pressing member 22, it is detected whether or not a unique portion 201 exists within the plane of cross section D11, which is a cross section tangent to the pressing point P11. If the unique portion 201 exists within the cross section D11, the direction (pressing angle) within the plane of the cross section D11 is detected. Furthermore, when the pressing point P12 is pressed by the bending pressing operation, it is detected whether or not a unique portion 201 exists within the plane of cross section D12, which is a cross section tangent to the pressing point P12. If the unique portion 201 exists within the cross section D12, the direction (pressing angle) within the plane of the cross section D12 is detected.

[0084] In this way, to detect the singular part 201 using the method of Figures 9 and 10, it is necessary to search for the pressing point P12 where the singular part 201 exists within the vertical cross section D12 that is tangent to the pressing point, as shown in Figure 11, and to search for the pressing point P12, it is necessary to press a large number of pressing points in the Y direction by the bending pressing operation of the pressing member 22.

[0085] When the pressing point P12 is found by moving the pressing member 22 in the Y direction, the bending direction W is then changed by 90° as shown in FIG. 12, and a pressing point directing toward the unique portion 201 is searched for, as in FIGS. 9 and 10.

[0086] For example, as shown in FIG. 12, even if pressure is applied to pressure point P13 so that bending direction W is generated by a bending pressure operation, no increase in the reaction force due to the unique portion is detected. Therefore, the pressure member 22 is moved in the X direction to move the pressure point from P13 to P14. When pressure is applied to pressure point P14 so that bending direction W shown in FIG. 12 is generated, an increase in the reaction force due to the unique portion 201 is detected. Therefore, it can be seen that the position of the unique portion 201 on the surface 200A is in the bending direction W when viewed from the pressure point P14.

[0087] 13, once the pressure points P12 and P14 are determined, the position (XY plane coordinates) of the unique portion 201 on the surface 200A can be determined. In addition, the three-dimensional coordinates including the depth D can also be determined from the positions of the pressure points P12 and P14 and the bending angle θ.

[0088] However, to find the above-mentioned pressure points P12 and P14, it is necessary to press a number of pressure points on the surface 200A. For the pressure point P12, it is necessary to press a number of pressure points within the range shown as the movement range R1 in FIG. 10(A). That is, it is necessary to move the pressing member 22 little by little in the Y direction within the movement range R1 and repeat the pressing operation many times. For the pressure point P14, it is necessary to press a number of pressure points within the range shown as the movement range R2 in FIG. 12. That is, it is necessary to move the pressing member 22 little by little in the X direction within the movement range R2 and repeat the pressing operation many times.

[0089] 14 to 16 show an improved method of the method shown in FIGS.

[0090] In FIG. 14, the first pressing point P1 is pressed by the pressing member 22 through a first pressing operation. However, in FIG. 14, the pressing member 22 is operated to "rotate in place," and one first pressing point P1 is pressed by a bending pressing operation from multiple directions (pressing directions Q1, Q2). That is, the first pressing operation on the first pressing point includes multiple bending pressing operations. The multiple bending pressing operations each have different pressing directions Q1, Q2. Similar to the bending pressing operations described with reference to FIGS. 9 to 13, each bending pressing operation is an operation in which the pressing angle (90°-θ) changes within the detection target surfaces D1, D2 as the pressing progresses.

[0091] The "in-place rotation" shown in Fig. 14 is an operation in which the pressing member 22 rotates around the X-axis around the first pressing point P1 while pressing the first pressing point P1. As a result, in Fig. 14, multiple bending pressing operations can be performed on one first pressing point P1 from different pressing directions Q1 and Q2. The detection target surfaces D1 and D2 are different cross sections inside the biological tissue 200, and each is a surface that contacts the first pressing point P1. Note that the pressing directions Q1 and Q2 here are parallel to the in-plane directions of the detection target surfaces D1 and D2.

[0092] The in-plane directions of the detection target surfaces D1 and D2 are parallel to a single imaginary line V that passes through the first pressure point P1. The detection target surfaces D1 and D2 are at different angles around the imaginary line V. For example, the detection target surface D2 is located at a position rotated by a rotation angle α around the imaginary line V relative to the detection target surface D1.

[0093] The imaginary line V may be, for example, a straight line parallel to both in-plane directions of the detection target surfaces D1 and D2. The imaginary line V may be set as a line on the surface 200A of the tissue of the living body 200, for example.

[0094] Moreover, the imaginary line V may be, for example, parallel to the bending direction W of the pressing member 22. The imaginary line V is parallel to the X direction in FIG.

[0095] The pressing member 22 is movable on the surface 200A along an imaginary line V (X direction) that is a straight line parallel to the in-plane direction of each of the detection target surfaces D1 and D2 (forward and backward movement of the pressing member 22; see FIG. 2). Therefore, the imaginary line V can be a straight line that passes through the first pressing point P1 and extends in a direction parallel to the X direction.

[0096] 14, pressing the first pressing point P1 in the pressing direction Q1 (a direction parallel to the vertical cross section of the surface 200A) by a bending pressing operation is equivalent to the operation of pressing the pressing point P11 shown in FIGS. 9(A) and 9(B). In either case, the cross sections D11 and D1 perpendicular to the surface 200A are the detection target surface. Since the unique portion 201 does not exist in the detection target surface D1, the unique portion 201 is not detected from the detection target surface D1.

[0097] 14, the pressing member 22 is rotated in place at the first pressing point P1, and the first pressing point P1 is pressed by a bending pressing operation from a different pressing direction Q2. Therefore, there is no need to move the pressing member 22 on the surface 200A.

[0098] In the case of FIG. 14, the detection target surface can become a cross section D2 that includes the unique portion 201 within the surface by "in-situ rotation." The cross section D2 shown in FIG. 14 is a surface obtained by rotating the cross section D1 by a rotation angle α around the virtual line V. As shown in FIG. 14, the cross section D2 (singular surface) that includes the unique portion 201 within the surface can be searched for by "in-situ rotation" of the pressing member 22 without changing the pressing point from the first pressing point P1. Here, the unique surface D2 discovered by "in-situ rotation" is also referred to as the "α-plane." α indicates the rotation angle of the "in-situ rotation."

[0099] In the detection process 311, the calculation device 3 can identify the unique surface D2 (α-surface) that includes the hardness unique portion 201 from the measurement results of the reaction forces of multiple bending and pressing operations (for example, bending and pressing operations in pressing directions Q1 and Q2) performed on the first pressing point P1 among the detection target surfaces D1 and D2. The unique surface D2 can be identified by the rotation angle α of the "in-situ rotation."

[0100] The detection process 311 performed by the computing device 3 may include detecting the position of the unique portion 201 based on information about the identified unique surface D2 (e.g., the rotation angle α) and measurement results of the reaction forces at other pressing points. Identifying the unique surface D2 including the unique portion 201 may correspond to identifying the detection target surface D12 shown in FIG. 11. Therefore, after identifying the unique surface D2, the pressing member can be rotated 90° on the surface 200A as in the case of FIG. 12, and one or more pressing points included in the range R2 of FIG. 12 can be pressed as other pressing points to identify pressing point P14. Then, the two-dimensional position of the unique portion 201 can be determined in accordance with the method of FIG. 13. The depth D of the unique portion 201 can also be determined.

[0101] However, after identifying the singular surface D2, if the pressing member 22 is rotated by 90° on the surface 200A as in the case of Fig. 12, it is necessary to move the pressing member 22 by a large amount. On the other hand, Figs. 15 and 16 show a method for reducing or simplifying the movement of the pressing member 22.

[0102] 15(A) and (B) show the position of the unique portion 201 in relation to the cross sections D1 and D2. If the XYZ coordinates of the pressing point P1 are set to the origin (0,0,0), the coordinates of the unique portion 201 are expressed as (x, y, Z0) as shown in equation (1) in Fig. 15(B). Therefore, once x and y are determined, the position (two-dimensional position) of the unique portion 201 on the surface 200A (XY plane) can be determined, and once Z0 is determined, the three-dimensional position of the unique portion 201 can be determined.

[0103] Here, based on the positional relationship shown in FIG. 15(A), y can be calculated using equation (2) in FIG. 15(B), and Z0 can be calculated using equation (3) in FIG. 15(B). As is clear from equations (2) and (3), y and Z0 can be calculated using Z α and α. Since α is the rotation angle of the "in-place rotation" of the pressing member 22, the calculation device 3 can obtain α based on the operation of the pressing member 22. Therefore, the calculation device 3 can obtain the remaining Z α By calculating the above, y and Z0 can be obtained. In addition, in order to obtain the position of the singular portion 201, it is also desirable to obtain x.

[0104] Figure 16 shows the relationship between x and Z α 16 shows an example of a method for determining the unique surface D2. When the first pressing point P1 is pressed by the first pressing operation and a unique surface D2 is found, the pressing member 22 is moved along the unique surface D2 on the surface 200A, as shown in FIG. 16. This moves the pressing point from the first pressing point P1 to the second pressing point P2. The movement of the pressing member 22 is preferably in the bending direction W (to the right in FIG. 16). When the pressing member 22 constitutes an endoscopic surgical instrument, the movement in the bending direction W corresponds to a movement of the pressing member 22 retracting toward the user inside the body, and is therefore preferable as it can be easily performed in an endoscopic surgical instrument.

[0105] 16, the amount of movement from the first pressing point P1 to the second pressing point P2 is represented by d. The calculation device 3 can obtain d based on the amount of movement of the pressing member 22.

[0106] The pressing member 22 presses the second pressing point P2 by a second pressing operation. The second pressing operation is sufficient if it includes one bending pressing operation. The bending pressing operation in the second pressing operation is an operation in which the pressing angle changes within the singular surface D2 (α-plane) as the pressing progresses. That is, in the second pressing operation, the detection target surface is D2, as in the first pressing operation. It is preferable that the movement from the first pressing point P1 to the second pressing point P2 be performed while the posture of the pressing member 22 remains in a state in which the detection target surface is D2 (a state in which the rotation angle of the "in-place rotation" is α). However, the movement to the second pressing point may be performed in a different posture, and after reaching the second pressing point P2, the posture of the pressing member 22 may be changed so that the detection target surface is D2.

[0107] 16, the pressure angle (90°-θ) at which the reaction force is increased by the unique portion 201 during the first pressing operation at the first pressing point P1 is represented by φ1. Furthermore, the pressure angle (90°-θ) at which the reaction force is increased by the unique portion 201 during the second pressing operation at the second pressing point P2 is represented by φ2. As shown in FIG. 16, the unique portion 201 is located at a position where the direction of the angle φ1 seen from the first pressing point P1 intersects with the direction of the angle φ2 seen from the second pressing point P2.

[0108] Here, tanφ1 is expressed by equation (4) in Fig. 16 based on the positional relationship in Fig. 16. Also, tanφ2 is expressed by equation (5) in Fig. 16. From equations (4) and (5), equation (6) in Fig. 16 can be obtained.

[0109] From equations (4) to (6), equations (7) and (8) in FIG. 16 are obtained. The calculation device 3 can calculate x based on the movement amount d and the pressure angles φ1 and φ2 based on equation (7). Furthermore, the calculation device 3 can calculate Z α can be calculated based on the movement amount d and the pressure angles φ1 and φ2. Also, the calculation device 3 calculates y and Z0 based on the formula (1) as described above. α and the rotation angle α.

[0110] As described above, in the method shown in FIGS. 14 to 16, the singular surface D2 can be identified by performing a first pressing operation involving "in-place rotation" at the first pressing point P1. Then, with the pressing member 22 still in a position pointing toward the singular surface D2, the pressing member 22 is moved toward the user (in the bending direction W) to the second pressing point P2, and a second pressing operation is performed at the second pressing point P2. This simple operation allows the position of the unique portion (two-dimensional or three-dimensional position) to be detected. Therefore, the position of the unique portion can be determined by pressing at least two pressing points. Furthermore, the method shown in FIGS. 14 to 16 is advantageous in that it does not require the relatively complicated operation of rotating the pressing member 22 by 90° on the surface 200A (XY plane) as shown in FIG. 12.

[0111] It should be noted that the method of determining the position of the unique portion 201 using "in-place rotation" is not limited to the method shown in FIGS. 14 to 16. For example, two pressure points P1 and P3 that are in the positional relationship shown in FIG. 17(A) may be pressed. Alternatively, three pressure points P1, P3, and P4 that are in the positional relationship shown in FIG. 17(B) may be pressed. In this way, the positions, number, and directions (bending direction, etc.) of the pressure points are not particularly limited, but by using "in-place rotation," it is possible to reduce the number of pressure points compared to the methods shown in FIGS. 9 to 13.

[0112] The present invention is not limited to the above-described embodiment, and various modifications are possible. [Explanation of symbols]

[0113] 1: Actuator 1A: Bending drive device 2:Detection equipment 3: Arithmetic device 4: Output device 5: Operating device 10: Membrane body 11: First membrane 11A: First side 11B: Second side 12: Second membrane 13: Interior space 14: Sheet 14A: 1st joint position 14B: 2nd joining position 21: Arm 21A: Proximal end 21B: Flow path 22: Pressing member 22A: Contact part 22B: Bent section 23: Folding part 23A: Groove 24: First sensor 25: Moving part 26: Second sensor 27: Protrusion 31: Processor 32: Memory 100: Detection system 200: Living organisms 200A: Surface 201: Singular part 311: Detection process 313: Output processing 321: Program 401: Initial state 402: Pressed state D: Depth D1: Detection target surface D11: Detection target surface D12: Detection target surface D2: Detection target surface (singular surface) E1: Young's modulus E2: Young's modulus E3: Young's modulus ED1: End ED2: End EI: Bending stiffness Ex: Expansion direction F: Pressing force F0: Initial pressure F1 :Force G: Push-in direction H: Thickness H1: Thickness H2: Thickness H3: Thickness I: Moment of inertia L: distance N: Normal direction O: Origin P: Pressing point P1: First pressure point P11: Press point P12: Press point P13: Press point P14: Press point P2: Second pressure point P3: Press point Q1: Pressing direction Q2: Pressing direction R: Reaction force R0: Initial reaction force R1: Moving range R2: Moving range S:Tangential plane TF1: Pulling force TF2: Pulling force V: Virtual line W: Bending direction d: Movement amount e: distance s :Existence t: Push-in amount t0: Push-in amount α: rotation angle θ:bending angle θ0: Initial bending angle φ1: Pressing angle φ2: Pressing angle

Claims

1. A system for detecting a hardness singularity portion inside an elastic body, comprising: a computing device that acquires measurement results of the reaction force from a sensor that measures a reaction force that a pressing member receives from each of a plurality of pressing points on the surface of the elastic body when the pressing member presses the surface of the elastic body at the plurality of pressing points, and executes processing related to the hardness unique portion using the measurement results of each pressing point; pressing the plurality of pressing points on the surface includes pressing at least a first pressing point on the surface by a first pressing action of the pressing member; the first pressing operation includes performing a bending pressing operation on the first pressing point a plurality of times; each of the plurality of bending and pressing operations is an operation in which a pressing angle of the elastic body with respect to the surface changes within a detection target surface, which is a cross section of the interior of the elastic body, as the pressing progresses; the detection target surfaces in the multiple bending and pressing operations are different cross sections within the elastic body, and each of the detection target surfaces is a surface that contacts the first pressing point; the processing executed by the arithmetic device includes identifying a unique surface including the hardness unique portion from each detection target surface in the plurality of bending press operations based on measurement results of the reaction force of each of the plurality of bending press operations on the first press point. Detection system.

2. the processing executed by the arithmetic device includes detecting a position of the hardness unique part based on information about the identified singular surface and measurement results of reaction forces at pressure points other than the first pressure point among the plurality of pressure points. The detection system of claim 1 .

3. the other pressing point includes a second pressing point on the surface of the elastic body that is in contact with the singular surface, and pressing the plurality of pressing points further includes pressing the second pressing point by a second pressing action of the pressing member. The detection system of claim 2 .

4. the second pressing operation includes an operation in which a pressing angle of the elastic body with respect to the surface changes within the identified unique surface as the pressing progresses. The detection system of claim 3 .

5. The in-plane directions of the detection target surfaces in the multiple bending and pressing operations are parallel to a common imaginary line passing through the first pressing point, and the angles around the imaginary line are different from each other. The detection system of claim 1 .

6. the virtual line is a straight line parallel to an in-plane direction of each detection target surface, passing through the first pressing point, and on the surface of the elastic body; The detection system of claim 5 .

7. the pressing member is movable on the surface of the elastic body along a straight line parallel to an in-plane direction of the detection target surface, The virtual line is a line that passes through the first pressing point and extends in a direction parallel to the straight line. The detection system of claim 5 .

8. 10. A method of operating the detection system of claim 1, comprising: the calculation device acquires measurement results of the reaction force for each of the plurality of bending pressing operations performed on the first pressing point; The calculation device identifies a unique surface including the hardness unique portion from each detection target surface in the multiple bending and pressing operations. A method of operating a detection system, comprising:

9. A computer program for causing a computer to operate as the computing device of the detection system according to claim 1.

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