CN117814899A - Medical optical sensor and force sensing method - Google Patents
Medical optical sensor and force sensing method Download PDFInfo
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- CN117814899A CN117814899A CN202211202254.2A CN202211202254A CN117814899A CN 117814899 A CN117814899 A CN 117814899A CN 202211202254 A CN202211202254 A CN 202211202254A CN 117814899 A CN117814899 A CN 117814899A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00345—Vascular system
- A61B2018/00351—Heart
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
- A61B2018/00791—Temperature
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Abstract
The invention discloses a medical optical sensor and a force sensing method, wherein the medical optical sensor comprises a first elastic body and a second elastic body which are connected, the first elastic body is provided with a first sensing optical fiber for detecting the strain of the first elastic body, the second elastic body is provided with a second sensing optical fiber for detecting the strain of the second elastic body, and the strain generated when the first elastic body and the second elastic body are subjected to the same target force is different. Through the arrangement, when the same target force is measured, the two sections of sensing optical fibers are used for measuring, and the accurate value of the target force is obtained through the related calculation formula of each section of elastomer and the optical fibers because the strain measured by the two sections of sensing optical fibers has a difference value. In the calculation process, external common influence factors such as temperature can be eliminated by utilizing two groups of numerical calculation, namely, the influence of the temperature is eliminated in the whole calculation process, and the accuracy of the measurement result is improved. And the whole structure is simple, sensitive and good in robustness, and the obtained value is richer.
Description
Technical Field
The invention relates to the technical field of optical sensing, in particular to a medical optical sensor and a force sensing method.
Background
In the medical minimally invasive surgery, the catheter is an extremely common auxiliary instrument, and provides necessary environment for the smooth development of a plurality of surgeries, so that the medical catheter is increasingly widely applied in the minimally invasive surgery. However, since the catheter belongs to an interventional auxiliary device when in use, if the catheter is not easy to be controlled and is easy to cause unnecessary damage to a patient, the operation control of the catheter in operation is always required to be as fine as possible, and some necessary external monitoring means such as electronic Computer Tomography (CT) or Magnetic Resonance Imaging (MRI) are also required to detect relevant parameters of the catheter so as to help and guide the normal operation of the operation.
Taking atrial fibrillation ablation as an example, which is a minimally invasive endovascular intervention procedure, requires access to the heart through the aorta via guide catheters and guide Radio Frequency (RF) catheters, and relies primarily on the tips of the ablation catheters to deliver energy to the scar or destroy abnormal cardiac tissue leading to cardiac arrhythmias, to treat recurrent arrhythmias and symptomatic atrial fibrillation. In this process, the contact force between the catheter and the human tissue is important, the degree of correlation is high with whether the clinical result can be improved, and the ablation and operation time can be obviously reduced due to the proper control, so the contact force is one of the key determinants for determining the ablation quality and is closely related to the incidence rate of the ablation complications. However, both of the above-mentioned monitoring methods commonly used at present cannot provide sufficient information of the contact force, and cannot provide further assistance and guidance to the operator.
Based on the above-mentioned problems, a sensing scheme for realizing measurement of contact information based on an optical modulation principle of an optical fiber has been proposed in the related art, but in the field of optical force sensing, three types are generally classified into an optical emphasis type, a phase modulation type and a wavelength modulation type according to the difference of modulation modes. Among them, there are many obstacles when actually applied to the minimally invasive surgery: the light-emphasized sensor is easily influenced by the fluctuation of the intensity of the light source, and the result is not stable enough; phase modulation sensors are susceptible to phase discontinuity limitations; wavelength modulation is sensitive to temperature and strain, and particularly bragg grating fibers are susceptible to temperature interference during strain measurement.
Therefore, the monitoring of various parameters of the medical catheter in the prior art is still not comprehensive and accurate enough, and cannot meet different requirements of different types of operations, especially the monitoring of contact force between the catheter and human tissues, and an effective means is lacking.
Disclosure of Invention
In order to overcome the defect that the contact force between a catheter and tissues cannot be effectively monitored in the prior art, the invention provides a medical optical sensor and a force sensing method.
The medical optical sensor comprises a first elastic body and a second elastic body which are connected, wherein the first elastic body is provided with a first sensing optical fiber for detecting the strain of the first elastic body, the second elastic body is provided with a second sensing optical fiber for detecting the strain of the second elastic body, and the strain generated when the first elastic body and the second elastic body are subjected to the same target force is different.
Preferably, the first elastic body and the second elastic body are respectively formed with a first telescopic structure and a second telescopic structure, and the first telescopic structure and the second telescopic structure are different in strain when subjected to target forces with the same magnitude.
Preferably, the first telescopic structure and the second telescopic structure are two sections of hollow structures with different lengths.
Preferably, the first elastic body and the second elastic body are made of two elastic materials with different elastic moduli.
Preferably, cavities are formed in the first elastic body and the second elastic body, a first grating is formed on the first sensing optical fiber, and a second grating is formed on the second sensing optical fiber;
the first sensing optical fiber is positioned in the cavity in the first elastomer, two ends of the first sensing optical fiber are fixed, and the first grating is suspended;
the second sensing optical fiber is positioned in the cavity in the second elastomer, two ends of the second sensing optical fiber are fixed, and the second grating is suspended.
Preferably, the first elastic body and the second elastic body are fixedly connected through a connecting block, a first plugging block is arranged at the end part of the first elastic body, and a second plugging block is arranged at the end part of the second elastic body;
one end of the first sensing optical fiber is fixed on the first plugging block, the other end of the first sensing optical fiber is fixed on the connecting block,
one end of the second sensing optical fiber is fixed on the second plugging block, and the other end of the second sensing optical fiber is fixed on the connecting block.
Preferably, the first elastic body and the second elastic body are coaxially arranged, and the cross section sizes of the first elastic body and the second elastic body are the same.
Preferably, the first sensing optical fiber and the second sensing optical fiber are all bragg grating optical fibers FBG.
Preferably, the first sensing optical fiber and the second sensing optical fiber are replaced by a fabry-perot resonant cavity structure.
The invention also provides a method for eliminating the sensing force of the interference factors, which comprises the following steps: and placing the first strain sensing structure and the second strain sensing structure in the same interference factor environment, measuring different strains generated when the first strain sensing structure and the second strain sensing structure are subjected to the same target force, and calculating the target force according to the obtained different strains.
Compared with the prior art, the invention has the following beneficial effects:
1. when the same target force is measured, the two sensing optical fibers are used for measuring, and the strain measured by the two sensing optical fibers has a difference value, so that a related formula of each section of optical fiber can be correspondingly calculated, and the accurate value of the target force can be finally obtained. In the calculation process, external common influence factors such as temperature can be eliminated by utilizing two groups of numerical calculation, namely, the influence of the temperature is eliminated in the whole calculation process, and the accuracy of the measurement result is improved;
2. the whole structure is simple, sensitive and good in robustness, and the obtained value is more abundant;
3. the technical scheme not only can be used for the far end of the catheter in the minimally invasive surgery, but also can be applied to the auxiliary in other minor surgeries, and has extremely wide application range.
Drawings
The invention is described in detail below with reference to examples and figures, wherein:
FIG. 1 is a schematic exploded view of the structure of one embodiment of the present invention;
FIG. 2 is a front view of an embodiment;
FIG. 3 is a schematic cross-sectional view of an embodiment.
1. A connection structure; 1.1, a first plugging block; 1.2, connecting blocks; 1.3, a second plugging block;
2. a medical optical sensor; 2.1, a first elastomer; 2.2, a second elastomer; 2.3, a hollowed-out structure;
3. a sensing optical fiber; 3.1, a first grating; 3.2, a second grating;
a z-axis; d1 first elastomer inner diameter; d2 first elastomer outer diameter; d3 second elastomer inner diameter; d4 second elastomer outer diameter; l1 first grating length; l2 second grating length; h1 first elastomer length; h2 second elastomer length.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings. Examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout, or elements having like or similar functionality. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
1-2, it includes the first elastomer 2.1 and the second elastomer 2.2 that are connected, be equipped with the first sensing fiber grating 3.1 that detects its strain in the first elastomer, be equipped with the second sensing fiber grating 3.2 that detects its strain in the second elastomer, just the first elastomer and the second elastomer are different in the size of the strain that produces when receiving the target force of same size.
The scheme is mainly applied to minimally invasive medical operations, takes atrial fibrillation ablation operations as an example, belongs to minimally invasive intravascular intervention operations, needs to enter the heart through a guide catheter and a guide Radio Frequency (RF) catheter penetrating through the aorta, and mainly depends on the tip of the ablation catheter to transfer energy to scars or destroy abnormal heart tissues which cause cardiac arrhythmia so as to treat recurrent cardiac arrhythmia and symptomatic atrial fibrillation. In this process, the contact force between the catheter and the human tissue is important, the degree of correlation is high with whether the clinical result can be improved, and the ablation and operation time can be obviously reduced due to the proper control, so the contact force is one of the key determinants for determining the ablation quality and is closely related to the incidence rate of the ablation complications.
According to the embodiment, through the two different elastic bodies, when the two elastic bodies are integrated at the distal end of the catheter, the same contact force (namely the target force) can be simultaneously applied during operation, and the contact force can be accurately calculated through the calculation process given below due to different strains generated by the two elastic bodies, so that the influence of the interference factor of temperature is solved.
In one embodiment, the first elastic body 2.1 and the second elastic body 2.2 are respectively formed with a first telescopic structure and a second telescopic structure, and the magnitudes of the strains generated when the first telescopic structure and the second telescopic structure are subjected to the same target force are different.
In this embodiment, the first telescopic structure and the second telescopic structure are two sections of hollow structures 2.3 with different lengths, and as a preferable mode, the first elastic body and the second elastic body are hollow tubes made of 304 stainless steel with good biocompatibility, and the hollow structures are continuous rectangular through grooves formed in the hollow tubes, so that corresponding strains can be generated when the first elastic body and the second elastic body are subjected to the same target force.
In order to realize that different strains are generated when the first elastic body and the second elastic body are subjected to the same force, specific structures of the hollow structures 2.3 on the first elastic body and the second elastic body can be correspondingly different, such as width, interval and the like of the through grooves, and certainly, the lengths of the two hollow structures on the first elastic body and the second elastic body can also be different. In different embodiments, the hollow structure may be formed by a plurality of discontinuous through grooves, so that the first elastic body and the second elastic body have corresponding stretching functions.
In another embodiment, the first elastic body and the second elastic body are made of two elastic materials with different elastic moduli, so that the hollow structure design is replaced, and the effects can be achieved as well. Of course, preferably, the first elastomer and the second elastomer are both made of materials with better biocompatibility.
In one embodiment, the first elastomer and the second elastomer are provided with cavities inside, the first sensing optical fiber is provided with a first grating 3.1, and the second sensing optical fiber is provided with a second grating 3.2; the first sensing optical fiber is positioned in the cavity in the first elastomer, two ends of the first sensing optical fiber are fixed, and the first grating is suspended; the second sensing optical fiber is positioned in the cavity in the second elastomer, two ends of the second sensing optical fiber are fixed, and the second grating is suspended.
Because the first grating and the second grating are all kept in a suspended state, once the first elastic body and the second elastic body are strained by target force, the first sensing optical fiber and the second sensing optical fiber can vertically sense the strain, and the sensitivity of sensing is ensured. That is, although the first elastic body and the second elastic body are subjected to the same target force, the magnitudes of the forces to which the first sensing optical fiber and the second sensing optical fiber are subjected are not the same, and the detected strains are not the same.
Specifically, a connecting structure 1 is arranged inside the first elastomer and the second elastomer, the connecting structure comprises a connecting block 1.2, a first blocking block 1.1 and a second blocking block 1.3, the first elastomer and the second elastomer are fixedly connected through the connecting block, the end part of the first elastomer is provided with the first blocking block, and the end part of the second elastomer is provided with the second blocking block; one end of the first sensing optical fiber is fixed on the first plugging block, the other end of the first sensing optical fiber is fixed on the connecting block, and one end of the second sensing optical fiber is fixed on the second plugging block, and the other end of the second sensing optical fiber is fixed on the connecting block. Thereby achieving the purpose of fixing the first sensing optical fiber and the second sensing optical fiber. In another embodiment, the first sensing optical fiber and the second sensing optical fiber can also adopt one full-length sensing optical fiber, the full-length sensing optical fiber is divided into two sections through the connecting block, the first blocking block and the second blocking block, and the first grating and the second grating are formed on the two sections respectively, so that the effects can be achieved.
In one embodiment, the first elastomer and the second elastomer are hollow tubes made of 304 stainless steel with good biocompatibility, and the first elastomer and the second elastomer are coaxially arranged, the cross section sizes of the first elastomer and the second elastomer are the same, and the first elastomer and the second elastomer integrally form a long guide tube shape, so that the whole structure is simple and the robustness is good. Meanwhile, the first sensing optical fiber and the second sensing optical fiber are Bragg grating optical fiber FBG, which can be different from other two commonly used optical force sensors, namely the defects that the light intensity modulation type sensor is easily influenced by the fluctuation of the light source intensity, the result is not stable enough, and the phase modulation type sensor is easily limited by phase discontinuity are overcome. In this embodiment, as shown in fig. 3, the lengths of the two hollow elastic bodies are H1 and H2, the inner diameters are d1 and d3, the outer diameters are d2 and d4, and the lengths of the sensing fibers at the two ends are L1 and L2, respectively, wherein the size and the material can be designed by those skilled in the art according to the size of the connected instrument and the precision and sensitivity of the force to be measured.
Of course, in other embodiments, the fabry-perot resonator structure may be used instead of the first sensing optical fiber and the second sensing optical fiber described above, and may even be replaced by other optical structures, as long as it may be capable of detecting the strain of the first elastic body and the second elastic body.
In addition, the invention also discloses a method for eliminating the sensing force of the interference factors, which comprises the following steps: and placing the first strain sensing structure and the second strain sensing structure in the same interference factor environment, measuring different strains generated when the first strain sensing structure and the second strain sensing structure are subjected to the same target force, and calculating the target force according to the obtained different strains.
Specifically, the method is applied to any medical optical sensor in the above embodiment, and combines the working principle of the fiber bragg grating, when the sensor is acted by a force in the z direction, the specific calculation process is as follows:
because the strain produced by the first elastomer and the second elastomer are different, the forces received by the first grating and the second grating are also different, and the relationship between the center wavelength drift and the strain of the first grating and the second grating is:
wherein Deltalambda 1 、Δλ 2 Wavelength drift amounts lambda of the first grating and the second grating respectively 1 、λ 2 Center wavelengths, ρ, of the first and second gratings, respectively e Epsilon is the effective elastance of the first sensing fiber and the second sensing fiber (which are the same in this embodiment) 1 、ε 2 Strain, alpha, of the first and second gratings, respectively, caused by axial forces f ζ is the coefficient of thermal expansion of the first sensing fiber and the second sensing fiber (which are the same in the present embodiment) f For the thermo-optic coefficients of the first sensing fiber and the second sensing fiber (which are the same in this embodiment), α s1 α s2 The equivalent thermal expansion coefficients of the first elastomer and the second elastomer applied to the optical fiber are respectively, and Δt is the environmental change (i.e., temperature in this embodiment) of the measured object.
From the stress formula
Hooke's law:
σ＝Eε (2)
obtaining a relation between strain and force:
where σ is stress, ε is strain, E is elastic modulus, F is applied force, and A is cross-sectional area.
When the sensor receives a force F in the z direction, the internal forces received by the first grating and the second grating are F respectively 1 And F 2 Corresponding strain value epsilon 1 、ε 2 The following are provided:
wherein K is F1 And K F2 Is the stress coefficient of the optical fiber in the first elastomer and the second elastomer.
Bringing into equation (1), the force versus wavelength shift is obtained as follows:
order the
The simplification is as follows:
the conversion into a matrix form is as follows:
wherein the method comprises the steps ofFor sensitivity matrix, K 1F 、K 2F Force sensitivity coefficients, K, of the first and second gratings, respectively 1T 、K 2T The temperature sensitivity coefficients of the first grating and the second grating are respectively.
Since the two optical fibers are in the same environment, the temperature changes sensed by the two optical fibers are approximately equal, the temperature change Δt can be eliminated by the upper and lower equations of equation (9), so as to obtain the decoupled contact force (target force):
through the arrangement, when the same target force is measured, the two sensing optical fibers are used for measuring, and as the strain measured by the two sensing optical fibers has a difference value, the related formula of each elastic body can be correspondingly calculated, and the accurate value of the target force can be finally obtained. In the calculation process, external common influence factors such as temperature can be eliminated by utilizing two groups of numerical calculation, namely, the influence of the temperature is eliminated in the whole calculation process, and the accuracy of the measurement result is improved.
In the description of the present specification, the terms "embodiment," "present embodiment," "in one embodiment," and the like, if used, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples; furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present specification, the terms "connected," "mounted," "secured," "disposed," "having," and the like are to be construed broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In the description of this specification, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments have been described so as to facilitate a person of ordinary skill in the art in order to understand and apply the present technology, it will be apparent to those skilled in the art that various modifications may be made to these examples and that the general principles described herein may be applied to other embodiments without undue burden. Therefore, the present application is not limited to the above embodiments, and modifications to the following cases should be within the scope of protection of the present application: (1) based on the technical scheme of the invention and combined with the new technical scheme implemented by the prior common general knowledge, the technical effect produced by the new technical scheme does not exceed the technical effect of the invention; (2) equivalent replacement of part of the features of the technical scheme of the invention by adopting the known technology can produce the same technical effect as the technical effect of the invention; (3) the technical scheme of the invention is taken as a basis for expanding, and the essence of the expanded technical scheme is not beyond the technical scheme of the invention; (4) equivalent transformation made by the content of the invention specification and the drawings is directly or indirectly applied to other related technical fields.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211202254.2A CN117814899A (en) | 2022-09-29 | 2022-09-29 | Medical optical sensor and force sensing method |
| PCT/CN2022/138170 WO2024066056A1 (en) | 2022-09-29 | 2022-12-09 | Medical optical sensor and force sensing method |
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| CN202211202254.2A CN117814899A (en) | 2022-09-29 | 2022-09-29 | Medical optical sensor and force sensing method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118209258A (en) * | 2024-04-12 | 2024-06-18 | 交通运输部南海航海保障中心广州海事测绘中心 | Non-invasive measurement sensor for pipeline pressure monitoring, measurement method and installation method |
| CN119290233A (en) * | 2024-11-26 | 2025-01-10 | 深圳爱博合创医疗机器人有限公司 | Head force sensing method, device, equipment and medium for slender medical device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8649847B1 (en) * | 2009-05-04 | 2014-02-11 | Intelligent Fiber Optic Systems, Inc. | Steerable shape sensing biopsy needle and catheter |
| CN204072317U (en) * | 2014-09-02 | 2015-01-07 | 上海微创电生理医疗科技有限公司 | A kind of ablation catheter |
| CN107157577B (en) * | 2016-03-07 | 2019-12-03 | 四川锦江电子科技有限公司 | A kind of large area discharge ablating device |
| KR102116164B1 (en) * | 2017-02-03 | 2020-05-27 | 재단법인 아산사회복지재단 | System and method for three-dimensional mapping of heart using sensing information of catheter |
| CN106974724B (en) * | 2017-04-24 | 2019-12-03 | 四川锦江电子科技有限公司 | A kind of ablation catheter with pressure detecting function |
| KR102054551B1 (en) * | 2017-08-02 | 2019-12-12 | 재단법인 아산사회복지재단 | Catheter using the fbg optical fiber for shape and contact force sensing and catheter system thereby |
-
2022
- 2022-09-29 CN CN202211202254.2A patent/CN117814899A/en active Pending
- 2022-12-09 WO PCT/CN2022/138170 patent/WO2024066056A1/en not_active Ceased
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118209258A (en) * | 2024-04-12 | 2024-06-18 | 交通运输部南海航海保障中心广州海事测绘中心 | Non-invasive measurement sensor for pipeline pressure monitoring, measurement method and installation method |
| CN119290233A (en) * | 2024-11-26 | 2025-01-10 | 深圳爱博合创医疗机器人有限公司 | Head force sensing method, device, equipment and medium for slender medical device |
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