Bronchial intervention continuum robot for lung micro nodules

Abstract

The invention provides a general bronchial intervention continuum robot for lung micro nodules. The robot comprises a concentric continuum outer catheter and a driving structure thereof, a concentric continuum inner catheter and a driving structure thereof, and a medical instrument channel and a driving structure thereof. The concentric continuum outer catheter can realize front-back feeding single-degree-of-freedom and bending double-degree-of-freedom movement through a motor set module thereof; the concentric continuum inner catheter can realize extension single-degree-of-freedom and bending double-degree-of-freedom movement relative to the outer catheter through a motor set module thereof; and the lung global flexible active navigation can be realized through the movement of the concentric continuum inner and outer catheters, so that the robot can reach the peripheries of the lung micro nodules. The concentric continuum inner catheter is provided with an endoscopic camera for providing images of lung bronchi. A medical instrument delivery module can realize delivery and fixation of medical instruments to finish the extraction work of diagnosis samples of the lung micro nodules. A disassembly button is provided; and a quick disassembly function can support preoperative disinfection and sterilization operations.

Description

technical field [0001] The present application relates to the field of medical devices, in particular to a bronchial intervention continuum robot for tiny pulmonary nodules. Background technique [0002] Lung cancer is the tumor with the highest morbidity and mortality, and its morbidity and mortality are increasing. Therefore, early diagnosis of the lung is the key to the treatment of lung cancer. In the early diagnosis of lung cancer, whether there are pulmonary nodules can be diagnosed by combining CT images, but whether the pulmonary nodules are lung cancer needs to be confirmed by lung bronchial biopsy. Biopsy methods include pulmonary bronchial interventional biopsy and percutaneous puncture. Percutaneous biopsy is to determine the location of lung lesions through CT or X-ray scanning, and a puncture needle is inserted into the lung lesion through the chest skin to obtain biopsy tissue, but percutaneous biopsy is not suitable for small nodules. At the same time, the...

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Problems solved by technology

[0003] At present, in the biopsy diagnosis, there are clinical difficulties in accurately extending interventional lung biopsy, which hinders the development of lung interventional robots

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