CN112826424A - A medical endoscope structure with attitude sensing function and using method thereof - Google Patents
A medical endoscope structure with attitude sensing function and using method thereof Download PDFInfo
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Abstract
本发明公开了一种具有姿态感应功能的医用内窥镜结构及其使用方法，涉及软体机器人技术领域。该医用内窥镜结构，包括软体末端主体、三个姿态感知光纤、导管、扇入扇出器、光源、耦合器、参考光纤、解调仪、上位机和显示器；软体末端主体设有三个独立气腔，通过导管与外部气动回路连接；姿态感知光纤一端对应单个独立气腔设于软体末端主体，另一端通过扇入扇出器扇为三个姿态感知子光纤；医用内窥镜结构采用OFDR分布式传感姿态感知，光源光线波长为1310mm。本发明通过在软体末端主体内设置三个互相呈120°分布的独立气腔和姿态感知光纤，结合OFDR分布式传感方式对三个姿态感知光纤进行姿态感知，使得对软体末端主体的运动状态监测及控制精准有效。
The invention discloses a medical endoscope structure with an attitude sensing function and a use method thereof, and relates to the technical field of soft robots. The medical endoscope structure includes a software end body, three attitude sensing fibers, a catheter, a fan-in fan-out, a light source, a coupler, a reference fiber, a demodulator, a host computer and a display; the software end body is provided with three independent The air cavity is connected to the external pneumatic circuit through a catheter; one end of the attitude sensing fiber corresponds to a single independent air cavity and is set on the main body of the end of the software body, and the other end is fanned into three attitude sensing sub-optical fibers through a fan-in and fan-out device; the medical endoscope structure adopts OFDR Distributed sensing attitude perception, the light source light wavelength is 1310mm. In the present invention, three independent air cavities and attitude sensing fibers are arranged in the main body of the end of the software body, which are distributed at 120° to each other, and combined with the OFDR distributed sensing method to sense the attitude of the three attitude sensing fibers, so that the motion state of the main body of the end of the software body can be sensed. Monitoring and control are accurate and effective.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a medical endoscope structure with a posture sensing function and a using method thereof.
Background
Since the end of the 20 th century and the sixties, colonoscopy was developed rapidly, both its manipulation and its instrument reform were developed, and the method was widely used in clinical practice to make it possible to direct vision of the lesion and to carry out biopsy and therapy. Although colonoscopy has provided a great help in the diagnosis and treatment of colorectal diseases and has become the gold standard for the diagnosis of colorectal cancer, its limitations are becoming apparent. At present, the existing colonoscopy endoscope and colonoscope do not have force sensing capability, and doctors can only roughly estimate force application and force application information of the end effector in the examination process through the action effect of instruments and organ tissues in images, so that the trend of the tail end is pre-judged, and the experience requirement on the doctors is very high. Moreover, the existing tail end is mostly of a rigid structure, and is easy to contact with the intestinal wall excessively when passing through the human intestines such as an S-shaped channel and an L-shaped channel, so that the loss bleeding of the colonic mucosa and even the intestinal perforation are caused. As an invasive procedure, gastrointestinal pain, unpredictable complications and possible missed diagnosis rate, which are unavoidable in colonoscopy, limit clinical applications, not only reduce patient compliance to a certain extent, increase operational difficulty, but also make some patients with fear miss the optimal time for early diagnosis and treatment.
In recent decades, with the popularization and application of minimally invasive surgical robots, design and research and development work of surgical robot human perception systems are continuously developed by multiple research institutions worldwide. Among many research methods and sensing means, a force sensing system designed based on a Fiber Bragg Grating (FBG) sensor is most representative. The optical fiber sensor has small volume, good flexibility and insensitivity to electromagnetic field, so the optical fiber sensor is very suitable for being applied to a continuum flexible robot. Typically, each sensing fiber contains several fiber gratings, written at specific intervals along the length of the fiber. They therefore allow measuring the curvature of the instrument at those limited predetermined positions. Thus, the spatial resolution of these sensors will be given by the distance between each FBG recorded in the sensing fiber.
In the process of implementing the invention, the inventor finds that the related art has at least the following problems:
the existing continuous flexible robot utilizing the FBG technology is reconstructed in an accurate shape when being bent with relatively small curvature in an obstacle-free environment, however, the number of FBG sensing points in the existing optical fiber sensing is limited, the spatial resolution is limited, and due to the limited spatial resolution, the FBG-based sensor is difficult to solve the problem of complex shapes with large curvature change along the length of an instrument.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a medical endoscope structure with a posture sensing function and a using method thereof.
According to a first aspect of the embodiments of the present invention, a medical endoscope structure with a posture sensing function is provided, which is characterized by comprising a soft tip body, three posture sensing optical fibers, a conduit, a fan-in fan-out device, a light source, a coupler, a reference optical fiber, a demodulator, an upper computer and a display;
the soft tail end main body is internally provided with three independent air cavities, two adjacent independent air cavities and the center of the soft tail end main body are respectively distributed in an angle of 120 degrees, and for each independent air cavity, the independent air cavity is respectively connected with a corresponding external pneumatic circuit through a guide pipe; one end of each posture sensing optical fiber is respectively arranged in the soft tail end main body corresponding to a single independent air cavity, and the other end of each posture sensing optical fiber is divided into three posture sensing sub-optical fibers through the fan-in fan-out device; the coupler is respectively connected with the three attitude sensing sub-optical fibers corresponding to each attitude sensing optical fiber and the reference optical fiber, the input end of the coupler is connected with the output end of the light source, the output end of the coupler is connected with the optical signal communication end of the demodulator, the demodulated signal output end of the demodulator is connected with the input end of the upper computer, and the output end of the upper computer is connected with the input end of the display;
the medical endoscope structure adopts optical frequency domain reflectometer OFDR distributed sensing to sense the posture, and the light wavelength of the light source is 1310 mm.
Preferably, the external pneumatic circuit comprises a four-way joint, one end of the four-way joint is communicated with the corresponding independent air cavity through a conduit, and the other three ends of the four-way joint are respectively communicated with the air pump, the electromagnetic valve and the pressure sensor;
the input end of the air pump is in electrical signal connection with the output end of a first relay, and the input end of the first relay is in electrical signal connection with the output end of the microcontroller;
the input end of the electromagnetic valve is in electric signal connection with the output end of a second relay, the input end of the second relay is in electric signal connection with the output end of the electric signal of the microcontroller, and one end of the electromagnetic valve is also connected with a throttle valve;
the output end of the pressure sensor is connected with the input end of the microcontroller;
the microcontroller is used for receiving pressure values sent by the pressure sensors in the external pneumatic circuits, comparing the pressure values with corresponding target pressure values, and controlling the air pressure values in the independent air cavities to reach the corresponding target pressure values through the first relays and the second relays by controlling the air pumps and the throttle valves communicated with the electromagnetic valves to be closed, so that the motion control of the end body of the software is realized.
Preferably, the medical endoscope structure further comprises a three-finger control glove, the three-finger control glove comprises a glove main body, bending sensors respectively arranged on the glove main body and preset with three finger stall positions, each bending sensor is packaged in a flexible material, and the output end of each bending sensor is respectively in electric signal connection with the input end of the microcontroller;
the three-finger control glove is used for sending voltage change values generated by bending of each bending sensor to the microcontroller in real time, calculating each voltage change value into angle change values corresponding to the three finger sleeves through the microcontroller, and calculating the corresponding angle change values into corresponding target pressure values in each external pneumatic circuit.
Preferably, each of the gesture-sensing fibers has a random grating.
Preferably, the preparation method of the posture sensing optical fiber comprises the following steps:
after the fiber coating on the surface of the single-mode optical fiber is removed, a Talbot interferometer with a phase mask is used, a random electric signal is applied to a piezoelectric element of the Talbot interferometer to write random gratings on the single-mode optical fiber, and the posture sensing optical fiber is obtained.
Preferably, the material of the soft end body is Ecoflex 0030 silica gel.
Preferably, the center of the soft end body is also provided with an insertion tube, and a camera is arranged in the insertion tube.
According to a second aspect of the embodiments of the present invention, there is provided a method of using a medical endoscope structure having an attitude sensing function, the medical endoscope structure being any of the medical endoscope structures described above, the method including:
opening the medical endoscope structure;
the light is emitted by a light source of the medical endoscope structure, the light is divided into two paths after passing through the coupler, one path of the light enters each posture sensing optical fiber, Rayleigh scattering signals are continuously generated at each position of each posture sensing optical fiber, the signal light is back reflected and interferes with the reference light of the reference optical fiber at the other path of the light, beat frequency signals generated by the two paths of the light and the reference light are received by the demodulator, the beat frequency is in direct proportion to the position of the posture sensing optical fiber, the frequency shift of the Rayleigh scattering signals at each position in each posture sensing optical fiber is calculated, and the demodulator transmits each Rayleigh scattering signal to the upper computer;
the upper computer converts the Rayleigh scattering signal frequency shift corresponding to each posture sensing optical fiber into corresponding posture sensing optical fiber strain information, and continuously reduces the strain information of each posture sensing optical fiber into three posture sensing optical fiber coordinate information by using a three-dimensional form reduction algorithm, and simultaneously displays a visual image of a software tail end main body obtained by the three posture sensing optical fiber coordinate information on the display;
according to the visual image of the soft tail end main body on the display, the air pressure change in the three independent air cavities is controlled through an external pneumatic circuit, so that the bending of the soft tail end main body in a target direction and a target angle is controlled through the air pressure change in the three independent air cavities.
Compared with the prior art, the medical endoscope structure with the posture sensing function and the using method thereof provided by the invention have the following advantages:
the invention provides a medical endoscope structure with a posture sensing function, which comprises a soft tail end main body, three posture sensing optical fibers, a conduit, a fan-in fan-out device, a light source, a coupler, a reference optical fiber, a demodulator, an upper computer and a display, wherein the three posture sensing optical fibers are arranged on the soft tail end main body; three independent air cavities are arranged in the soft tail end main body, two adjacent independent air cavities are distributed at an angle of 120 degrees with the center of the soft tail end main body respectively, and for each independent air cavity, the independent air cavity is connected with a corresponding external pneumatic circuit through a guide pipe; one end of each posture sensing optical fiber is respectively arranged in the soft tail end main body corresponding to the single independent air cavity, and the other end of each posture sensing optical fiber is divided into three posture sensing sub-optical fibers through a fan-in fan-out device fan; the coupler is respectively connected with the three attitude sensing sub-optical fibers and the reference optical fiber corresponding to each attitude sensing optical fiber, the input end of the coupler is connected with the output end of the light source, the output end of the coupler is connected with the optical signal communication end of the demodulator, the demodulation signal output end of the demodulator is connected with the input end of the upper computer, and the output end of the upper computer is connected with the input end of the display; the medical endoscope structure adopts optical frequency domain reflectometer OFDR distributed sensing to sense the posture, and the light wavelength of a light source is 1310 mm. The invention realizes more accurate and effective monitoring and control of the motion state of the soft tail end body by arranging three independent air cavities and three attitude sensing optical fibers which are mutually distributed at 120 degrees in the soft tail end body and combining an Optical Frequency Domain Reflectometer (OFDR) distributed sensing mode to sense the attitudes of the three attitude sensing optical fibers.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic structural diagram illustrating a medical endoscope structure with a posture sensing function according to an exemplary embodiment.
FIG. 2 is a schematic diagram illustrating an external pneumatic circuit in accordance with an exemplary embodiment.
Figure 3 is a schematic cross-sectional view of a soft tip body according to an exemplary embodiment.
FIG. 4 is a method flow diagram illustrating a method of using a medical endoscope structure with pose sensing functionality according to an exemplary embodiment.
Detailed Description
The present invention is described in detail below with reference to specific embodiments (but not limited to) and the accompanying drawings, the specific method of the embodiments is only for illustrating the invention, the scope of the invention is not limited by the embodiments, the invention can be applied to various modifications and changes of shape and structure, and these equivalents based on the invention are also within the scope of the claims of the present invention.
Fig. 1 is a schematic structural diagram of a medical endoscope structure with an attitude sensing function according to an exemplary embodiment, as shown in fig. 1, the medical endoscope structure with an attitude sensing function includes a soft tip body 1, three attitude sensing optical fibers 2, a conduit 3, a fan-in fan-out 4, a light source 5, a coupler 6, a reference optical fiber 7, a demodulator 8, an upper computer 9 and a display 10;
three independent air cavities 11 are arranged in the soft tail end main body 1, two adjacent independent air cavities 11 are distributed at an angle of 120 degrees with the center of the soft tail end main body 1 respectively, and for each independent air cavity 11, the independent air cavity 11 is connected with a corresponding external pneumatic circuit through a guide pipe 3; one end of each posture sensing optical fiber 2 is respectively arranged in the soft tail end main body 1 corresponding to the single independent air cavity 11, and the other end is divided into three posture sensing sub optical fibers through the fan-in fan-out device 4; the coupler 6 is respectively connected with three attitude sensing sub-optical fibers corresponding to each attitude sensing optical fiber 2 and the reference optical fiber 7, the input end of the coupler 6 is connected with the output end of the light source 5, the output end of the coupler 6 is connected with the optical signal communication end of the demodulator 8, the demodulated signal output end of the demodulator 8 is connected with the input end of the upper computer 9, and the output end of the upper computer 9 is connected with the input end of the display 10;
the medical endoscope structure adopts optical frequency domain reflectometer OFDR distributed sensing to sense the posture, and the light wavelength of the light source 5 is 1310 mm.
In a preferred embodiment, three posture sensing optical fibers are also distributed at 120 degrees from the center of the soft tip body 1 respectively.
The posture sensing method of the medical endoscope structure adopts OFDR distributed sensing, the wavelength of a light source is 1310mm, the Rayleigh backscattering rate is highest under the wavelength, light emitted by the light source passes through a coupler and then is divided into two paths, one path enters a posture sensing optical fiber, Rayleigh scattering signals are continuously generated at each position of the posture sensing optical fiber, the signal light is reflected in a backscattering manner and interferes with reference light of the other path of reference optical fiber, beat frequency signals generated by the two paths of reference optical fibers are detected by a demodulator, beat frequency is in direct proportion to the position of the posture sensing optical fiber, the Rayleigh scattering signal frequency shift of each position in each posture sensing optical fiber can be obtained, the Rayleigh scattering signal frequency shift is transmitted to an upper computer, the upper computer converts the Rayleigh scattering frequency shift corresponding to each posture sensing optical fiber into corresponding posture sensing optical fiber strain information, and continuously reduces the strain information of each posture sensing optical fiber into three posture sensing optical fibers by using a And coordinate information, and simultaneously displaying the visual image of the soft end main body obtained by sensing the coordinate information of the optical fibers by the upper computer according to the three postures on the display.
Preferably, the external pneumatic circuit comprises a four-way joint, one end of the four-way joint is communicated with the corresponding independent air cavity 11 through a conduit 3, and the other three ends of the four-way joint are respectively communicated with an air pump, an electromagnetic valve and a pressure sensor;
the input end of the air pump is in electrical signal connection with the output end of a first relay, and the input end of the first relay is in electrical signal connection with the output end of the microcontroller;
the input end of the electromagnetic valve is in electric signal connection with the output end of a second relay, the input end of the second relay is in electric signal connection with the output end of the electric signal of the microcontroller, and one end of the electromagnetic valve is also connected with a throttle valve;
the output end of the pressure sensor is connected with the input end of the microcontroller;
the microcontroller is used for receiving pressure values sent by the pressure sensors in the external pneumatic circuits, comparing the pressure values with corresponding target pressure values, and controlling the air pumps and the throttle valves communicated with the electromagnetic valves to be closed through the first relays and the second relays, so that the air pressure values in the independent air cavities 11 are controlled to reach the corresponding target pressure values, and the motion control of the soft end main body 1 is realized.
To further illustrate the structure of the external pneumatic circuit in an embodiment of the present invention, a schematic diagram of an external pneumatic circuit is shown as shown in FIG. 2.
Further, the present invention also shows a schematic cross-sectional view of a soft tip body as shown in FIG. 3.
In the above embodiment, the determination of the target pressure value may be obtained by real-time calculation by a computer in combination with information such as coordinate information of the three posture-sensing optical fibers, a visual image of the body at the tip of the software, and target path condition data corresponding to a target environment in which the medical endoscope structure is located.
Preferably, the medical endoscope structure further comprises a three-finger control glove, the three-finger control glove comprises a glove main body, bending sensors respectively arranged on the glove main body and preset with three finger stall positions, each bending sensor is packaged in a flexible material, and the output end of each bending sensor is respectively in electric signal connection with the input end of the microcontroller; the three-finger control glove is used for sending voltage change values generated by bending of each bending sensor to the microcontroller in real time, calculating each voltage change value into angle change values corresponding to the three finger sleeves through the microcontroller, and calculating the corresponding angle change values into corresponding target pressure values in each external pneumatic circuit.
In the above embodiment, the determination of the target pressure value is that the staff senses information such as optical fiber coordinate information, a visual image of a soft body end body, and target path condition data corresponding to a target environment where the medical endoscope structure is located by combining three postures, sends voltage change values generated by bending of three fingers on the three-finger control glove to the microcontroller, calculates each voltage change value as an angle change value corresponding to the three fingers by the microcontroller, and calculates the corresponding angle change value as a corresponding target pressure value in each external pneumatic circuit.
Preferably, each of the posture-sensing optical fibers 2 has a random grating.
Preferably, the preparation method of the posture-sensing optical fiber 2 includes:
after the fiber coating on the surface of the single-mode optical fiber is removed, a talbot interferometer with a phase mask is used, a random electric signal is applied to a piezoelectric element of the talbot interferometer to write a random grating on the single-mode optical fiber, and the posture sensing optical fiber 2 is obtained.
It should be noted that, the present invention adopts a single mode fiber, after removing the fiber coating on the surface of the single mode fiber, the fiber coating can be prevented from absorbing the ultraviolet light for writing the random grating, and if the electric sawtooth wave is applied to the piezoelectric element driving the phase mask to make the fringe pattern move synchronously with the moving fiber, the fiber bragg grating with the same phase will be generated, the reflection bandwidth will be very narrow due to the in-phase grating, the obtained signal-to-noise ratio will affect the motion monitoring precision of the end, the FBG has the disadvantage of insufficient spatial resolution in the intestinal environment due to the limited number of its sensors, and cannot cope with the situation of the complex intestinal environment. Preferably, in order to increase the reflection of the grating, the invention adopts a random electric signal to replace sawtooth waves, because the system noise is increased at the moment, the irradiation of ultraviolet rays becomes uneven, and continuous random gratings (the length amplitude and the phase of the gratings are randomly changed) appear in the optical fiber, and the specific wavelengths of the reflections are different, thereby leading the reflectivity of the random gratings determined by uneven ultraviolet light on a certain bandwidth to be improved, and obviously improving the signal-to-noise ratio.
In contrast to FBG sensing techniques, since FBG sensing is limited by the number of sensing points written at specific intervals along the length of the fiber, they only allow the measurement of the curvature of the instrument at limited predetermined locations. Thus, the spatial resolution of these sensors will be given by the distance between each FBG recorded in the sensing fiber. However, since such spatial resolution is limited, FBG-based sensors have difficulty resolving complex shapes where the curvature varies greatly along the length, soft tip motion in the intestinal environment is significantly more complex than in free space, where obstacles must be encountered, or sigmoid bending, which is difficult to pass by relying on the limited spatial resolution of FBGs. The invention adopts OFDR distributed sensing technology, can realize strain measurement on a certain position by measuring Rayleigh scattering frequency shift quantity, and the mechanism of distributed measurement enables any section of the optical fiber to be used as a sensing unit, thereby breaking through the limitation of the quantity and the spatial resolution of FBG demodulation multiplexing sensing units, and ensuring that the high-resolution characteristic determined by the self-mediation mechanism is well applied and the tail end can work smoothly in a tortuous detection environment.
Preferably, the material of the soft end body 1 is Ecoflex 0030 silica gel.
The Ecoflex 0030 silicone material has good ductility and compression resistance characteristics, and good plasticity determines the possibility of the device to have infinite freedom and distributed continuous deformation capability.
Preferably, the center of the soft end body is also provided with an insertion tube, and a camera is arranged in the insertion tube.
It should be noted that the insertion tube can also be used for inserting other medical devices, such as puncture needles and the like.
In one possible embodiment, the soft tip body 1 is made of Ecoflex 0030 silica gel, and the preparation method can be as follows: firstly, a model is built in three-dimensional modeling software, three independent air cavity positions, three posture sensing optical fiber positions and an insertion pipe position are reserved in the design of the model, then a 3D Printer is used for printing the model, in a negative pressure environment created by a vacuum machine, Ecoflex 0030 materials are slowly injected into the model to wait for solidification, then the posture sensing optical fibers are placed at the reserved positions, ultraviolet curing glue is injected into a gap between a groove and the posture sensing optical fibers, and the ultraviolet curing glue is solidified under the irradiation of ultraviolet light, so that the positions of the optical fibers are kept unchanged.
It should be noted that, in the practical use process of the medical endoscope structure, the soft body end body needs to be bent frequently, and frequent bending operations easily cause the posture sensing optical fiber fixed on the soft body end body to be damaged at the bent portion due to a large amount of bending deformation, so as to affect the sensing accuracy of the posture sensing optical fiber. The structure improvement of the soft tail end main body is realized through the design of the buffer channel, so that after the posture sensing optical fiber fixed at the front end of the soft tail end main body is bent, the posture sensing optical fiber in the buffer channel can relieve the internal stress generated by the whole posture sensing optical fiber due to bending deformation, the damage of the medical endoscope structure to the posture sensing optical fiber during operation is reduced, and the detection precision of the medical endoscope structure is further improved.
In summary, the medical endoscope structure with posture sensing function provided by the invention comprises a soft end body, three posture sensing optical fibers, a conduit, a fan-in fan-out device, a light source, a coupler, a reference optical fiber, a demodulator, an upper computer and a display; three independent air cavities are arranged in the soft tail end main body, two adjacent independent air cavities are distributed at an angle of 120 degrees with the center of the soft tail end main body respectively, and for each independent air cavity, the independent air cavity is connected with a corresponding external pneumatic circuit through a guide pipe; one end of each posture sensing optical fiber is respectively arranged in the soft tail end main body corresponding to the single independent air cavity, and the other end of each posture sensing optical fiber is divided into three posture sensing sub-optical fibers through a fan-in fan-out device fan; the coupler is respectively connected with the three attitude sensing sub-optical fibers and the reference optical fiber corresponding to each attitude sensing optical fiber, the input end of the coupler is connected with the output end of the light source, the output end of the coupler is connected with the optical signal communication end of the demodulator, the demodulation signal output end of the demodulator is connected with the input end of the upper computer, and the output end of the upper computer is connected with the input end of the display; the medical endoscope structure adopts optical frequency domain reflectometer OFDR distributed sensing to sense the posture, and the light wavelength of a light source is 1310 mm. The invention realizes more accurate and effective monitoring and control of the motion state of the soft tail end body by arranging three independent air cavities and three attitude sensing optical fibers which are mutually distributed at 120 degrees in the soft tail end body and combining an Optical Frequency Domain Reflectometer (OFDR) distributed sensing mode to sense the attitudes of the three attitude sensing optical fibers.
Further, an embodiment of the present invention further provides a method flowchart of a method for using a medical endoscope structure with a posture sensing function, as shown in fig. 4, and as shown in fig. 4, the method includes:
While the invention has been described in detail in the foregoing by way of general description, and specific embodiments and experiments, it will be apparent to those skilled in the art that modifications and improvements can be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof.
Claims (8)
1. A medical endoscope structure with a posture sensing function is characterized by comprising a soft tail end main body, three posture sensing optical fibers, a conduit, a fan-in fan-out device, a light source, a coupler, a reference optical fiber, a demodulator, an upper computer and a display;
the soft tail end main body is internally provided with three independent air cavities, two adjacent independent air cavities and the center of the soft tail end main body are respectively distributed in an angle of 120 degrees, and for each independent air cavity, the independent air cavity is respectively connected with a corresponding external pneumatic circuit through a guide pipe; one end of each posture sensing optical fiber is respectively arranged in the soft tail end main body corresponding to a single independent air cavity, and the other end of each posture sensing optical fiber is divided into three posture sensing sub-optical fibers through the fan-in fan-out device; the coupler is respectively connected with the three attitude sensing sub-optical fibers corresponding to each attitude sensing optical fiber and the reference optical fiber, the input end of the coupler is connected with the output end of the light source, the output end of the coupler is connected with the optical signal communication end of the demodulator, the demodulated signal output end of the demodulator is connected with the input end of the upper computer, and the output end of the upper computer is connected with the input end of the display;
the medical endoscope structure adopts optical frequency domain reflectometer OFDR distributed sensing to sense the posture, and the light wavelength of the light source is 1310 mm.
2. The medical endoscope structure according to claim 1, wherein the external pneumatic circuit comprises a four-way joint, one end of the four-way joint is communicated with the corresponding independent air cavity through a conduit, and the other three ends are respectively communicated with an air pump, an electromagnetic valve and a pressure sensor;
the input end of the air pump is in electrical signal connection with the output end of a first relay, and the input end of the first relay is in electrical signal connection with the output end of the microcontroller;
the input end of the electromagnetic valve is in electric signal connection with the output end of a second relay, the input end of the second relay is in electric signal connection with the output end of the electric signal of the microcontroller, and one end of the electromagnetic valve is also connected with a throttle valve;
the output end of the pressure sensor is connected with the input end of the microcontroller;
the microcontroller is used for receiving pressure values sent by the pressure sensors in the external pneumatic circuits, comparing the pressure values with corresponding target pressure values, and controlling the air pressure values in the independent air cavities to reach the corresponding target pressure values through the first relays and the second relays by controlling the air pumps and the throttle valves communicated with the electromagnetic valves to be closed, so that the motion control of the end body of the software is realized.
3. The medical endoscope structure of claim 2, further comprising a three-finger control glove, wherein the three-finger control glove comprises a glove body, bending sensors respectively arranged on the glove body at three preset finger positions, each bending sensor is encapsulated in a flexible material, and an output end of each bending sensor is electrically connected with an input end of the microcontroller;
the three-finger control glove is used for sending voltage change values generated by bending of each bending sensor to the microcontroller in real time, calculating each voltage change value into angle change values corresponding to the three finger sleeves through the microcontroller, and calculating the corresponding angle change values into corresponding target pressure values in each external pneumatic circuit.
4. The medical endoscopic structure of claim 3 wherein each pose sensing fiber has a random grating.
5. The medical endoscope structure according to claim 4, characterized in that the posture-sensing optical fiber is prepared by a method comprising:
after the fiber coating on the surface of the single-mode optical fiber is removed, a Talbot interferometer with a phase mask is used, a random electric signal is applied to a piezoelectric element of the Talbot interferometer to write random gratings on the single-mode optical fiber, and the posture sensing optical fiber is obtained.
6. The medical endoscope structure of claim 1, characterized in that the soft tip body is made of Ecoflex 0030 silica gel.
7. The medical endoscope arrangement of claim 1, wherein an insertion tube is further provided at the center of said soft tip body, and a camera is provided in said insertion tube.
8. A method of using a medical endoscope apparatus having an attitude sensing function, the medical endoscope apparatus being as defined in any one of claims 1 to 7, the method comprising:
opening the medical endoscope structure;
the light is emitted by a light source of the medical endoscope structure, the light is divided into two paths after passing through the coupler, one path of the light enters each posture sensing optical fiber, Rayleigh scattering signals are continuously generated at each position of each posture sensing optical fiber, the signal light is back reflected and interferes with the reference light of the reference optical fiber at the other path of the light, beat frequency signals generated by the two paths of the light and the reference light are received by the demodulator, the beat frequency is in direct proportion to the position of the posture sensing optical fiber, the frequency shift of the Rayleigh scattering signals at each position in each posture sensing optical fiber is calculated, and the demodulator transmits each Rayleigh scattering signal to the upper computer;
the upper computer converts the Rayleigh scattering signal frequency shift corresponding to each posture sensing optical fiber into corresponding posture sensing optical fiber strain information, and continuously reduces the strain information of each posture sensing optical fiber into three posture sensing optical fiber coordinate information by using a three-dimensional form reduction algorithm, and simultaneously displays a visual image of a software tail end main body obtained by the three posture sensing optical fiber coordinate information on the display;
according to the visual image of the soft tail end main body on the display, the air pressure change in the three independent air cavities is controlled through an external pneumatic circuit, so that the bending of the soft tail end main body in a target direction and a target angle is controlled through the air pressure change in the three independent air cavities.
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