技术领域Technical Field
本发明涉及医用内窥镜技术领域，特别是涉及一种内窥镜刚度测量装置及测量方法。The present invention relates to the technical field of medical endoscopes, and in particular to an endoscope stiffness measuring device and a measuring method.
背景技术Background Art
内窥镜检查手术是消化道等自然腔体癌症“早发现早治疗”的重要手段，并逐步得到全国性普及。在手术过程中，医生通过对异常组织的色泽、纹理、软硬度等组织信息进行病灶诊断。内窥镜系统的窄带光成像、光学放大等功能，可以凸显组织的色泽、纹理信息，便于医生诊断。但是对于组织软硬度，当前没有可以直接判断的工具。目前临床上多采用活检钳等器械，通过内窥镜器械通道伸入，触碰可疑病灶，人工进行判断。活检钳本身是柔性材料，无法准确传递物体刚度信息，同时该方法无量化指标，容易受操作医生手感和经验影响，误判率比较高。如果能通过仪器装置测量出可疑病灶组织的软硬度（刚度）大小，采用量化指标，可有效降低误判率，有利于早期病变的发现和对病情的对比观察，提高内窥镜检查中诊断结果准确性。Endoscopic surgery is an important means of "early detection and early treatment" for natural cavity cancers such as the digestive tract, and has gradually been popularized nationwide. During the operation, doctors diagnose lesions by analyzing the color, texture, hardness and other tissue information of abnormal tissues. The narrow-band light imaging and optical magnification functions of the endoscope system can highlight the color and texture information of the tissue, which is convenient for doctors to diagnose. However, there is currently no tool that can directly judge the hardness of tissues. At present, biopsy forceps and other instruments are mostly used clinically to extend through the endoscope instrument channel, touch the suspicious lesions, and make manual judgments. The biopsy forceps themselves are flexible materials and cannot accurately transmit the stiffness information of the object. At the same time, this method has no quantitative indicators and is easily affected by the feel and experience of the operating doctor, and the misjudgment rate is relatively high. If the hardness (rigidity) of the suspected lesion tissue can be measured by an instrument device, the quantitative indicators can be used to effectively reduce the misjudgment rate, which is conducive to the discovery of early lesions and the comparative observation of the condition, and improve the accuracy of the diagnosis results in endoscopic examinations.
发明内容Summary of the invention
本发明的目的是提供一种内窥镜刚度测量装置及测量方法，实现人体组织刚度的测量。The purpose of the present invention is to provide an endoscope stiffness measurement device and a measurement method to achieve the measurement of human tissue stiffness.
为实现上述目的，本发明提供了如下方案：To achieve the above object, the present invention provides the following solutions:
本发明提供一种内窥镜刚度测量装置，包括：刚度测量结构、传导结构和检测结构，所述刚度测量结构包括触头，所述刚度测量结构包括恒力结构、电阻、滑动结构和触头，所述恒力结构用于驱动所述触头运动，所述滑动结构分别与所述电阻和所述触头滑动连接，所述传导结构包括拉绳，所述拉绳的前端与所述恒力结构连接，拉动所述拉绳，所述恒力结构驱动所述触头运动，所述检测结构包括电流检测模块和电压检测模块，所述电流检测模块和所述电压检测模块分别与所述电阻通过输入导线连接，所述电流检测模块和所述电压检测模块分别与所述触头通过输出导线连接。The present invention provides an endoscope stiffness measuring device, comprising: a stiffness measuring structure, a conducting structure and a detecting structure, wherein the stiffness measuring structure comprises a contact, the stiffness measuring structure comprises a constant force structure, a resistor, a sliding structure and the contact, the constant force structure is used to drive the contact to move, the sliding structure is respectively slidably connected to the resistor and the contact, the conducting structure comprises a pull rope, the front end of the pull rope is connected to the constant force structure, and the constant force structure drives the contact to move by pulling the pull rope, and the detecting structure comprises a current detecting module and a voltage detecting module, the current detecting module and the voltage detecting module are respectively connected to the resistor through an input wire, and the current detecting module and the voltage detecting module are respectively connected to the contact through an output wire.
优选地，所述刚度测量结构还包括刚度测量外壳，所述恒力结构、所述电阻和所述滑动结构均位于所述刚度测量外壳中，所述触头能够由所述刚度测量外壳的前端伸出。Preferably, the stiffness measurement structure further comprises a stiffness measurement shell, the constant force structure, the resistor and the sliding structure are all located in the stiffness measurement shell, and the contact can extend from the front end of the stiffness measurement shell.
优选地，所述恒力结构包括第一弹性元件、第二弹性元件、第三弹性元件、转动块、第一拉杆和第二拉杆，所述第一弹性元件套设在所述触头上，所述第一弹性元件的一端与所述触头上的第一台阶相抵，所述第一弹性元件的另一端与所述刚度测量外壳内侧的第二台阶相抵，所述转动块与所述刚度测量外壳转动连接，所述转动块能够与所述触头后端的挡片接触，所述第一拉杆分别与所述转动块和所述第二拉杆铰接，所述第二拉杆与所述拉绳的前端铰接，所述第二弹性元件的一端与所述刚度测量外壳内侧的第二台阶相抵，所述第二弹性元件的另一端与所述转动块相抵，所述第三弹性元件的一端与所述刚度测量外壳内的限位槽相抵，所述第三弹性元件的另一端与所述第一拉杆相抵。Preferably, the constant force structure includes a first elastic element, a second elastic element, a third elastic element, a rotating block, a first pull rod and a second pull rod, the first elastic element is sleeved on the contact, one end of the first elastic element is abutted against the first step on the contact, and the other end of the first elastic element is abutted against the second step on the inner side of the stiffness measuring shell, the rotating block is rotatably connected to the stiffness measuring shell, and the rotating block can contact the baffle at the rear end of the contact, the first pull rod is hinged to the rotating block and the second pull rod respectively, the second pull rod is hinged to the front end of the pull rope, one end of the second elastic element is abutted against the second step on the inner side of the stiffness measuring shell, the other end of the second elastic element is abutted against the rotating block, one end of the third elastic element is abutted against the limiting groove in the stiffness measuring shell, and the other end of the third elastic element is abutted against the first pull rod.
优选地，所述第一弹性元件、所述第二弹性元件和所述第三弹性元件均为弹簧。Preferably, the first elastic element, the second elastic element and the third elastic element are all springs.
优选地，所述第一弹性元件的伸缩方向和所述第二弹性元件的伸缩方向均与所述触头的轴向相同，所述第三弹性元件的伸缩方向与所述触头的轴向垂直。Preferably, the expansion and contraction direction of the first elastic element and the expansion and contraction direction of the second elastic element are both the same as the axial direction of the contact, and the expansion and contraction direction of the third elastic element is perpendicular to the axial direction of the contact.
优选地，所述刚度测量结构还包括外壳盖和固定轴，所述外壳盖设置在所述刚度测量外壳的前端，所述外壳盖上开设有用于所述触头通过的开口，所述固定轴的一端与所述外壳盖连接，所述固定轴的另一端与所述刚度测量外壳连接。Preferably, the stiffness measurement structure also includes an outer shell cover and a fixed shaft, the outer shell cover is arranged at the front end of the stiffness measurement outer shell, the outer shell cover is provided with an opening for the contact to pass through, one end of the fixed shaft is connected to the outer shell cover, and the other end of the fixed shaft is connected to the stiffness measurement outer shell.
优选地，所述传导结构还包括传导外壳，所述拉绳、所述输入导线和所述输出导线均位于所述传导外壳中，所述拉绳与所述传导外壳滑动连接。Preferably, the conductive structure further comprises a conductive shell, the pull rope, the input wire and the output wire are all located in the conductive shell, and the pull rope is slidably connected to the conductive shell.
优选地，所述拉绳的后端设置有拉手。Preferably, a handle is provided at the rear end of the pull rope.
优选地，所述电阻、所述滑动结构和所述触头均采用铜制成。Preferably, the resistor, the sliding structure and the contact are all made of copper.
本发明还提供了一种采用所述内窥镜刚度测量装置的测量方法，包括：The present invention also provides a measurement method using the endoscope stiffness measurement device, comprising:
电阻的总阻抗为R，电阻的总长为LR，拉动拉绳，恒力结构驱动触动运动，触头与被测物体接触，触头的变化位移为，相应的电阻的阻抗变化为，由于：The total impedance of the resistor isR , the total length of the resistor isLR , the pull rope is pulled, the constant force structure drives the touch movement, the contact contacts the object to be measured,and the change displacement of the contact is , the corresponding resistance impedance change is ,because:
， ,
因此得到为：So we get for:
， ,
同时，由于：At the same time, due to:
， ,
其中，为电阻位移变化前电压检测模块检测的电压大小，为电阻位移变化前电流检测模块检测的电流大小，为电阻位移变化后电压检测模块检测的电压大小，为电阻位移变化后电流检测模块检测的电流大小；in, It is the voltage detected by the voltage detection module before the resistance displacement changes. is the current detected by the current detection module before the resistance displacement changes. is the voltage detected by the voltage detection module after the resistance displacement changes. It is the current size detected by the current detection module after the resistance displacement changes;
进而得到：Then we get:
， ,
恒力结构提供的恒力为F，被测物体的刚度为：The constant force provided by the constant force structure isF , and the stiffness of the object being measured is for:
， ,
进而得到：Then we get:
。 .
本发明相对于现有技术取得了以下技术效果：Compared with the prior art, the present invention has achieved the following technical effects:
本发明通过拉动拉绳，使恒力结构驱动触头弹射出去，触头与人体组织接触，通过电流检测模块检测电流、电压检测模块检测电压，进而得到刚度，达到测量被测物体刚度的目的。The present invention pulls the pull rope to make the constant force structure drive the contact to eject, and the contact contacts the human tissue. The current detection module detects the current, and the voltage detection module detects the voltage, and then the stiffness is obtained, so as to achieve the purpose of measuring the stiffness of the object being measured.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1为本发明的内窥镜刚度测量装置示意图；FIG1 is a schematic diagram of an endoscope stiffness measurement device of the present invention;
图2为本发明的刚度测量结构剖视示意图；FIG2 is a schematic cross-sectional view of a stiffness measurement structure of the present invention;
图3为本发明的内窥镜刚度测量装置的刚度测量方法原理图；FIG3 is a schematic diagram of a stiffness measurement method of an endoscope stiffness measurement device according to the present invention;
图4为本发明的刚度测量方法流程图；FIG4 is a flow chart of a stiffness measurement method of the present invention;
图中：1-刚度测量结构，2-传导结构，3-检测结构，4-触头，5-电阻，6-滑动结构，7-转接口，8-拉绳，9-电流检测模块，10-电压检测模块，11-输入导线，12-输出导线，13-刚度测量外壳，14-第一弹性元件，15-第二弹性元件，16-第三弹性元件，17-转动块，18-第一拉杆，19-第二拉杆，20-第一台阶，21-第二台阶，22-挡片，23-限位槽，24-外壳盖，25-固定轴，26-拉手。In the figure: 1-stiffness measurement structure, 2-conduction structure, 3-detection structure, 4-contact, 5-resistance, 6-sliding structure, 7-adapter, 8-pull rope, 9-current detection module, 10-voltage detection module, 11-input wire, 12-output wire, 13-stiffness measurement housing, 14-first elastic element, 15-second elastic element, 16-third elastic element, 17-rotating block, 18-first pull rod, 19-second pull rod, 20-first step, 21-second step, 22-blocking piece, 23-limiting groove, 24-housing cover, 25-fixed shaft, 26-handle.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
本发明的目的是提供一种内窥镜刚度测量装置及测量方法，实现人体组织刚度的测量。The purpose of the present invention is to provide an endoscope stiffness measurement device and a measurement method to achieve the measurement of human tissue stiffness.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.
实施例一Embodiment 1
如图1至图2所示，本实施例提供了一种内窥镜刚度测量装置，包括：刚度测量结构1、传导结构2和检测结构3，刚度测量结构1包括触头4，刚度测量结构1包括恒力结构、电阻5、滑动结构6和触头4，电阻5、滑动结构6和触头4均采用铜制成，恒力结构用于驱动触头4运动，滑动结构6分别与电阻5和触头4滑动连接，传导结构2包括拉绳8，拉绳8的前端与恒力结构连接，拉绳8的后端设置有拉手26，拉动拉绳8，恒力结构驱动触头4运动，检测结构3包括电流检测模块9和电压检测模块10，电流检测模块9和电压检测模块10分别与电阻5通过输入导线11连接，电流检测模块9和电压检测模块10分别与触头4通过输出导线12连接。As shown in Figures 1 and 2, this embodiment provides an endoscope stiffness measurement device, including: a stiffness measurement structure 1, a conductive structure 2 and a detection structure 3, the stiffness measurement structure 1 includes a contact 4, the stiffness measurement structure 1 includes a constant force structure, a resistor 5, a sliding structure 6 and a contact 4, the resistor 5, the sliding structure 6 and the contact 4 are all made of copper, the constant force structure is used to drive the contact 4 to move, the sliding structure 6 is respectively connected to the resistor 5 and the contact 4 in a sliding manner, the conductive structure 2 includes a pull rope 8, the front end of the pull rope 8 is connected to the constant force structure, and the rear end of the pull rope 8 is provided with a handle 26, when the pull rope 8 is pulled, the constant force structure drives the contact 4 to move, and the detection structure 3 includes a current detection module 9 and a voltage detection module 10, the current detection module 9 and the voltage detection module 10 are respectively connected to the resistor 5 through an input wire 11, and the current detection module 9 and the voltage detection module 10 are respectively connected to the contact 4 through an output wire 12.
具体地，本实施例中，刚度测量结构1还包括刚度测量外壳13，恒力结构、电阻5和滑动结构6均位于刚度测量外壳13中，触头4能够由刚度测量外壳13的前端伸出。Specifically, in this embodiment, the stiffness measurement structure 1 further includes a stiffness measurement housing 13 , the constant force structure, the resistor 5 and the sliding structure 6 are all located in the stiffness measurement housing 13 , and the contact 4 can extend from the front end of the stiffness measurement housing 13 .
本实施例中，刚度测量结构1还包括外壳盖24和固定轴25，外壳盖24设置在刚度测量外壳13的前端，外壳盖24上开设有用于触头4通过的开口，固定轴25的一端与外壳盖24连接，固定轴25的另一端与刚度测量外壳13连接，固定轴25用于将外壳盖24固定在刚度测量外壳13上。In this embodiment, the stiffness measurement structure 1 also includes an outer shell cover 24 and a fixed shaft 25. The outer shell cover 24 is arranged at the front end of the stiffness measurement housing 13. The outer shell cover 24 is provided with an opening for the contact 4 to pass through. One end of the fixed shaft 25 is connected to the outer shell cover 24, and the other end of the fixed shaft 25 is connected to the stiffness measurement housing 13. The fixed shaft 25 is used to fix the outer shell cover 24 on the stiffness measurement housing 13.
本实施例中，恒力结构包括第一弹性元件14、第二弹性元件15、第三弹性元件16、转动块17、第一拉杆18和第二拉杆19，第一弹性元件14、第二弹性元件15和第三弹性元件16均为弹簧，第一弹性元件14套设在触头4上，第一弹性元件14的一端与触头4上的第一台阶20相抵，第一弹性元件14的另一端与刚度测量外壳13内侧的第二台阶21相抵，转动块17与刚度测量外壳13转动连接，转动块17能够与触头4后端的挡片22接触，第一拉杆18分别与转动块17和第二拉杆19铰接，第二拉杆19与拉绳8的前端铰接，第二弹性元件15的一端与刚度测量外壳13内侧的第二台阶21内的盲孔相抵，第二弹性元件15的另一端与转动块17相抵，第三弹性元件16的一端与刚度测量外壳13内的限位槽23相抵，第三弹性元件16的另一端与第一拉杆18相抵。拉动拉绳8，拉绳8带动第二拉杆19运动，第二拉杆19带动第一拉杆18运动，第三弹性元件16压缩，第一拉杆18带动转动块17运动，转动块17转动，使得转动块17与挡片22分离，第二弹性元件15压缩，转动块17对挡片22的限位解除，第一弹性元件14伸长，使得触头4在第一弹性元件14的弹力的作用下能够弹射出去，第二弹性元件15和第三弹性元件16用于转动块17、第一拉杆18、第二拉杆19和拉绳8的回位。In this embodiment, the constant force structure includes a first elastic element 14, a second elastic element 15, a third elastic element 16, a rotating block 17, a first pull rod 18 and a second pull rod 19. The first elastic element 14, the second elastic element 15 and the third elastic element 16 are all springs. The first elastic element 14 is sleeved on the contact 4, one end of the first elastic element 14 is against the first step 20 on the contact 4, and the other end of the first elastic element 14 is against the second step 21 inside the stiffness measurement housing 13. The rotating block 17 is against the stiffness measurement housing. 13 is rotatably connected, the rotating block 17 can contact the baffle 22 at the rear end of the contact 4, the first pull rod 18 is hinged to the rotating block 17 and the second pull rod 19 respectively, the second pull rod 19 is hinged to the front end of the pull rope 8, one end of the second elastic element 15 is abutted against the blind hole in the second step 21 on the inner side of the stiffness measuring housing 13, the other end of the second elastic element 15 is abutted against the rotating block 17, one end of the third elastic element 16 is abutted against the limiting groove 23 in the stiffness measuring housing 13, and the other end of the third elastic element 16 is abutted against the first pull rod 18. Pull the pull rope 8, the pull rope 8 drives the second pull rod 19 to move, the second pull rod 19 drives the first pull rod 18 to move, the third elastic element 16 is compressed, the first pull rod 18 drives the rotating block 17 to move, the rotating block 17 rotates, so that the rotating block 17 is separated from the baffle 22, the second elastic element 15 is compressed, the limiting of the baffle 22 by the rotating block 17 is released, the first elastic element 14 is extended, so that the contact 4 can be ejected under the action of the elastic force of the first elastic element 14, the second elastic element 15 and the third elastic element 16 are used for the return of the rotating block 17, the first pull rod 18, the second pull rod 19 and the pull rope 8.
本实施例中，第一弹性元件14的伸缩方向和第二弹性元件15的伸缩方向均与触头4的轴向相同，第三弹性元件16的伸缩方向与触头4的轴向垂直。In this embodiment, the expansion and contraction direction of the first elastic element 14 and the expansion and contraction direction of the second elastic element 15 are both the same as the axial direction of the contact 4 , and the expansion and contraction direction of the third elastic element 16 is perpendicular to the axial direction of the contact 4 .
本实施例中，传导结构2还包括传导外壳，传导外壳与刚度测量外壳13通过转接口7连接，拉绳8、输入导线11和输出导线12均位于传导外壳中，拉绳8与传导外壳滑动连接。In this embodiment, the conductive structure 2 also includes a conductive shell, which is connected to the stiffness measurement shell 13 through the adapter 7. The pull rope 8, the input wire 11 and the output wire 12 are all located in the conductive shell, and the pull rope 8 is slidably connected to the conductive shell.
触头4、滑动结构6和电阻5组成滑动变阻器，可通过测量变阻器的电阻大小，计算出触头4的移动位移。本实施例基于恒力结构产生恒力，将拉绳8向后拉动一定距离即可使得触头4弹射出去，在未与组织接触时，拉绳8仅与刚度测量外壳13产生固定相对位移。出现组织时，触头4弹射出去的位移距离会缩短，电阻5位移距离与物体形变位移距离相等，即电流流经电阻5的距离缩短，电阻减少，电流变大，如物体形变越小，则说明相对刚度越大。The contact 4, the sliding structure 6 and the resistor 5 form a sliding rheostat, and the displacement of the contact 4 can be calculated by measuring the resistance of the rheostat. , the contact 4 can be ejected by pulling the pull rope 8 backward for a certain distance. When there is no contact with the tissue, the pull rope 8 only produces a fixed relative displacement with the stiffness measurement housing 13. When the tissue appears, the displacement distance of the contact 4 ejected will be shortened, and the displacement distance of the resistor 5 is the same as the displacement distance of the object deformation. equal, that is, the distance that the current flows through the resistor 5 is shortened, the resistance is reduced, and the current becomes larger. If the deformation of the object is smaller, the relative stiffness is greater.
实施例二Embodiment 2
如图3至图4所示，本实施例提供了一种采用实施例一的内窥镜刚度测量装置的测量方法，包括：As shown in FIG. 3 and FIG. 4 , this embodiment provides a measurement method using the endoscope stiffness measurement device of Embodiment 1, comprising:
内窥镜刚度测量装置经内窥镜器械通道进入人体，电阻5的总阻抗为R，电阻5的总长为LR，拉动拉绳8，恒力结构驱动触动运动，触头4与被测物体（人体组织）接触，触头4的变化位移为，相应的电阻5的阻抗变化为，由于：The endoscope stiffness measurement device enters the human body through the endoscope instrument channel. The total impedance of the resistor 5 isR , and the total length of the resistor 5 isLR. When the pull rope 8 is pulled, the constant force structure drives the touch movement, and the contact 4 contacts the object to be measured (human tissue). The change displacement of the contact 4 is , the corresponding impedance change of resistor 5 is ,because:
， ,
因此得到为：So we get for:
， ,
同时，由于：At the same time, due to:
， ,
其中，为电阻5位移变化前电压检测模块10检测的电压大小，为电阻5位移变化前电流检测模块9检测的电流大小，为电阻5位移变化后电压检测模块10检测的电压大小，为电阻5位移变化后电流检测模块9检测的电流大小；in, is the voltage detected by the voltage detection module 10 before the resistor 5 changes its displacement, is the current magnitude detected by the current detection module 9 before the resistor 5 changes its displacement, is the voltage detected by the voltage detection module 10 after the resistor 5 changes its displacement, The current detected by the current detection module 9 after the resistor 5 changes its displacement;
进而得到：Then we get:
， ,
恒力结构提供的恒力为F，被测物体的刚度为：The constant force provided by the constant force structure isF , and the stiffness of the object being measured is for:
， ,
进而得到：Then we get:
。 .
本发明的内窥镜刚度测量装置及测量方法具有以下优点：The endoscope stiffness measuring device and method of the present invention have the following advantages:
快速性：纯机械测量，能够快速获取人体组织刚度信息，准确直观；Rapidity: Pure mechanical measurement can quickly obtain human tissue stiffness information, which is accurate and intuitive;
操作简单：操作部采用人体工程学设计，简化了测量流程，采用刻度式设计，能够直接观察结果；Simple operation: The operation part adopts ergonomic design, which simplifies the measurement process, and adopts scale design, which can directly observe the results;
高精度测量：通过高精度的弹簧测量，提供准确的组织刚度测量数据；High-precision measurement: Provide accurate tissue stiffness measurement data through high-precision spring measurement;
成本效益：装置设计简单，易于消毒，可重复性使用，降低成本；Cost-effectiveness: The device is simple in design, easy to sterilize, reusable, and reduces costs;
适用范围广：可以应用于多种医疗场景，包括但不限于消化道、呼吸道等的检查和手术；Wide range of applications: can be applied to a variety of medical scenarios, including but not limited to examination and surgery of the digestive tract, respiratory tract, etc.;
促进疾病诊断和治疗：通过测量人体组织的刚度，可以帮助医生更好地识别病变组织，从而提高疾病诊断的准确性，并指导更精确的治疗。Promoting disease diagnosis and treatment: By measuring the stiffness of human tissue, it can help doctors better identify diseased tissue, thereby improving the accuracy of disease diagnosis and guiding more precise treatment.
本发明中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411354863.9ACN118844906B (en) | 2024-09-27 | 2024-09-27 | Endoscope stiffness measurement device and measurement method |
| Application Number | Priority Date | Filing Date | Title |
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| CN202411354863.9ACN118844906B (en) | 2024-09-27 | 2024-09-27 | Endoscope stiffness measurement device and measurement method |
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| CN118844906B CN118844906B (en) | 2025-02-25 |
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| CN202411354863.9AActiveCN118844906B (en) | 2024-09-27 | 2024-09-27 | Endoscope stiffness measurement device and measurement method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0085813A1 (en)* | 1981-12-28 | 1983-08-17 | Olympus Optical Co., Ltd. | Tubular probe for sensing hardness variations when rubbed over a surface to be examined |
| CN112155547A (en)* | 2020-10-19 | 2021-01-01 | 广东工业大学 | Biological tissue recognition system |
| US20210267709A1 (en)* | 2018-06-22 | 2021-09-02 | Universität Basel | Force sensing device, medical endodevice and process of using such endodevice |
| DE102021124549A1 (en)* | 2021-09-22 | 2023-03-23 | Protendon GmbH & Co. KG | stylus |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0085813A1 (en)* | 1981-12-28 | 1983-08-17 | Olympus Optical Co., Ltd. | Tubular probe for sensing hardness variations when rubbed over a surface to be examined |
| US20210267709A1 (en)* | 2018-06-22 | 2021-09-02 | Universität Basel | Force sensing device, medical endodevice and process of using such endodevice |
| CN112155547A (en)* | 2020-10-19 | 2021-01-01 | 广东工业大学 | Biological tissue recognition system |
| DE102021124549A1 (en)* | 2021-09-22 | 2023-03-23 | Protendon GmbH & Co. KG | stylus |
| Publication number | Publication date |
|---|---|
| CN118844906B (en) | 2025-02-25 |
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