This invention discloses a flexible control endoscopic operation assistance
system and control method. The
system includes an industrial control computer, an observation screen, an
endoscope handle, an
insertion tube, a
bed, and a support located beside the
bed. An OCT probe and a
force sensor are located at the end of the
insertion tube. The method includes using a drive mechanism to extend and retract the OCT probe, and utilizing an impedance controller built into the industrial control computer. Through inputting desired motion commands and
contact force warning values, and cyclically calculating reference elongation, desired end-
effector acceleration, and drive mechanism output, the OCT probe is extended and retracted, and displacement and end-
effector contact force are measured, achieving compliant contact between the OCT probe and the patient's
internal cavity. The flexible control endoscopic operation assistance
system obtained by this invention can control the acceleration accuracy of the OCT probe at the end of the
endoscope insertion tube, making it exhibit compliant characteristics similar to a spring-damped system. This avoids the probe at the top of the insertion tube "overshooting," causing patient pain and reducing patient burden.