Morphological sensing type bronchoscope robot control method

Abstract

The invention relates to the technical field of medical robots, in particular to a shape sensing type bronchoscope robot control method, which comprises the following steps of: acquiring a tail end shape coordinate of a bronchoscope in a current bending state, and constructing a current bending state model of the bronchoscope; robot joint angle vectors are obtained through deformation state data collected in real time; according to the robot structure model, constructing a robot model in the current bending form; respectively constructing a bending part spring model and a joint spring model based on the stress conditions of the tail end control point and the bending part control point; lateral pressure borne by the bending part and the tail end of the bronchoscope in the current bending posture is collected and processed; self-adaptive control is realized based on the target control quantity; the shape of the bronchoscope is sensed in real time through multiple sensors, mechanical analysis is carried out in combination with a spring model, multi-strategy self-adaptive control is achieved, the accuracy, safety and efficiency of bronchoscope operation are improved, and powerful technical support is provided for bronchoscope examination and minimally invasive surgery.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, and in particular to a morphology-sensing control method for a bronchoscopic robot, which is applicable to precise control during bronchoscopy and minimally invasive surgery. Background Technology

[0002] Bronchoscopy is an important tool for diagnosing and treating respiratory diseases. In traditional bronchoscopy, doctors rely on manual manipulation of the guide mechanism to position the bronchoscope at the intended location. However, due to the complex anatomy of the human bronchus, with its numerous branches and narrow lumen, traditional methods often face the following problems: firstly, doctors require extensive training to become proficient in bronchoscopy, making the procedure difficult; secondly, prolonged procedures can lead to doctor fatigue, resulting in decreased precision and potentially causing secondary injury to the patient.

[0003] In recent years, bronchoscopic robotic technology has developed rapidly. Using robots to assist in bronchoscopic procedures can effectively improve surgical precision and safety. However, existing technologies still have shortcomings: first, they lack real-time perception of the bronchoscope's shape, making it impossible to accurately determine its position and orientation within the body; second, the control strategies are relatively simple and difficult to adapt to the complex and ever-changing internal environment of the human body; and third, they lack an effective force feedback mechanism when the bronchoscope comes into contact with human tissue, which can easily cause tissue damage. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides a morphology-sensing bronchoscope robot control method. This method uses multiple sensors to perceive the morphological state of the bronchoscope in real time and achieves adaptive control based on a deformation mechanics model, significantly improving the safety and accuracy of bronchoscope operation.

[0005] This invention proposes a morphology-sensing control method for a bronchoscopic robot, comprising: The system collects the end-effector coordinates under the current bending state of the bronchoscope; constructs a model of the current bending state of the bronchoscope based on the collected end-effector coordinates; obtains the robot joint angle vectors through real-time collected bronchoscope deformation data; constructs a robot model under the current bending state based on the robot structural model; constructs a bending spring model and a joint spring model based on the force conditions of the end-effector control point and the bending control point, respectively; collects and processes the lateral pressure on the bending part and end of the bronchoscope under the current bending posture; and achieves adaptive control based on the target control quantity.

[0006] Preferably, the morphology sensor includes multiple bending sensors respectively disposed on each segment of the bending section, and multiple angle sensors respectively disposed on each joint of the bending section; each bending sensor collects the deformation bending parameters of the bending section, and each angle sensor detects the angle parameters of each joint; thereby obtaining the bronchoscope deformation state data through the deformation bending parameters and the joint angle parameters.

[0007] Preferably, the morphological sensor includes multiple distance sensors disposed on each joint of the bend. The distance sensors detect the lateral pressure data of the joint, and then measure the displacement distribution information of the end of the bronchoscope and the bend through the distance sensors.

[0008] Preferably, the shape sensor includes a pressure sensor disposed on the side of the bend, the pressure sensor detecting the contact force between the bend and the airway wall; and then obtaining deformation state data based on the data collected by the pressure sensor.

[0009] As a preferred approach, the lateral pressure at the end of the bronchoscope and the bend is simulated as the force of a spring. In the simulation process, the spring model of the bronchoscope end joint is specifically constructed by: obtaining the joint coordinates and force data of the bronchoscope end, constructing a coordinate system, and then using Newton's laws of motion to construct the spring model.

[0010] Preferably, the bronchoscopy control strategy includes: the physician selects one or more of five strategies in real time, namely, the terminal bending strategy, the terminal adaptive control strategy, the terminal speed control strategy, the adaptive strategy, and the joint adaptive control strategy, according to the current bending shape, in accordance with the operation sequence, to achieve bronchoscopy adaptive control.

[0011] Preferably, the end-bending strategy involves selecting the shape closest to the target end shape within the current bronchoscope bending shape as the target end-bending shape, based on the current bronchoscope bending shape, and then controlling the bronchoscope end to move to the target end shape; the end-adaptive control strategy includes controlling the bronchoscope end to adaptively adjust between the current shape and the target shape.

[0012] Preferably, the end-effector adaptive control strategy is as follows: based on the current state and target state of the bronchoscope, the end of the bronchoscope is controlled to make adaptive adjustments; when the force on the end of the bronchoscope is greater than or equal to the first threshold for a continuously set adjustment time, the movement speed of the end of the bronchoscope is adjusted to the first speed value, and the force on the end of the bronchoscope is kept equal to the first threshold during the adjustment process.

[0013] Preferably, the bronchoscopy adaptive control further includes: the joint adaptive control strategy, specifically: collecting the required adjustment angle and joint angle change rate of the current joints of the bronchoscope, and then controlling the current joints of the bronchoscope to perform adaptive adjustment; during the bronchoscopy adaptive adjustment process: controlling the joint force to be less than a set threshold; controlling the joint angular velocity to be less than a set threshold; and ensuring that the force on the end of the bronchoscope is less than a set threshold.

[0014] Preferably, the bronchoscopy control strategy is as follows: when the robot is in a joint adaptive control strategy and simultaneously meets the target distance in the adaptive strategy, it switches to the end-effector adaptive control strategy; when the robot is in an end-effector adaptive control strategy and simultaneously meets the target position distance in the adaptive strategy, it switches to the end-effector adaptive control strategy; when the end-effector is in an adaptive adjustment strategy and simultaneously meets the target position angle in the joint adaptive control strategy, it switches to the adaptive control strategy.

[0015] The present invention has the following beneficial effects: 1. By using a morphological sensor to collect the end-body morphological coordinates of the bronchoscope in its current bent state in real time, and combining the deformation data, a model of the bronchoscope inside the human body is accurately constructed, realizing precise perception of the bronchoscope's position and posture.

[0016] 2. The stress on the bronchoscope is modeled based on a spring model, transforming complex physical deformation into a controllable mathematical model, thus providing a theoretical basis for precise control.

[0017] 3. Multiple control strategies were designed, including end-bending strategy, end-adaptive control strategy, and end-speed control strategy. The system can automatically switch to the optimal control strategy according to different situations, and has strong adaptability.

[0018] 4. A force feedback-based safety control mechanism has been implemented. When the contact force between the bronchoscope and human tissue exceeds the safety threshold, the system will automatically adjust the motion parameters to effectively avoid tissue damage. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the morphology-sensing bronchoscopic robot of the present invention. Figure 2 A schematic diagram of a multi-level nested morphological model of a bronchoscope; Figure 3 The flowchart is for a control system based on a state machine model. Figure 4 This is a flowchart of the bronchoscopy control strategy switching process. Detailed Implementation

[0020] Please refer to Figure 1 - Figure 4 The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Reference Figure 1 and Figure 2 The morphology-sensing bronchoscopy robot control method provided by the present invention includes the following steps: First, the coordinates of the bronchoscope's distal end in its current bent state are acquired. Specifically, a morphology sensor collects parameters such as the distal end position and bending angle of the bronchoscope in its current bent state in real time. In a preferred embodiment of the invention, the morphology sensor employs fiber optic sensing technology, enabling accurate perception of the bronchoscope's shape without increasing its size.

[0022] Based on the acquired end-body morphological coordinates, a model of the current bending state of the bronchoscope is constructed. In practice, the system inputs the acquired coordinate points into a preset morphological reconstruction algorithm to generate a digital model of the current three-dimensional morphology of the bronchoscope. Preferably, this morphological reconstruction algorithm employs a B-spline curve fitting method, which can achieve high-precision morphological reconstruction with relatively low computational cost.

[0023] Next, the robot's joint angle vectors are obtained using real-time data on the deformation of the bronchoscope. In this step, the system acquires real-time angle data for each joint using angle sensors distributed at each joint of the bronchoscope, forming angle vectors. , where n represents the number of joints. In practical applications, bronchoscopes are typically equipped with 4 to 8 joints, each with 2 to 3 degrees of freedom.

[0024] Then, based on the robot's structural model, a robot model under the current bending state is constructed. In this step, the system inputs the aforementioned angle vectors into the robot's kinematic model, and obtains the position and orientation of each segment of the bronchoscope in space through forward kinematic calculations. This invention preferably uses the DH parameter method to establish the kinematic model, which has good applicability when dealing with multi-joint series mechanisms.

[0025] Based on the force conditions at the end control point and the bending control point, a bending spring model and a joint spring model are constructed respectively. In this invention, the stress-deformation process of the bronchoscope is abstracted as a spring system, and a physical model is established to describe the deformation behavior of the bronchoscope under external force. Specifically, for the end control point, a spring model based on Hooke's law is established: F = k·x, where F is the end force, k is the spring constant, and x is the displacement; for the bending control point, a bending spring model based on bending beam theory is established: M = E·I·θ / L, where M is the bending moment, E is Young's modulus, I is the moment of inertia of the cross section, θ is the bending angle, and L is the length.

[0026] Subsequently, the lateral pressures experienced by the bronchoscope's curved section and distal end under its current bent posture are collected and processed. This step utilizes a pressure sensor array positioned on the bronchoscope's surface to acquire, in real-time, the pressure distribution generated by the bronchoscope's contact with human tissue. In practical applications, pressure sensors typically employ thin-film sensing elements fabricated using MEMS technology, with a thickness not exceeding 0.5 mm and a sensitivity reaching 0.01 N.

[0027] Finally, adaptive control is achieved based on the target control input. The system selects an appropriate control strategy based on the morphological information and force conditions obtained in the above steps, combined with the preset control target, to achieve precise control of the bronchoscope. In typical application scenarios, the control targets usually include: target position error less than 2mm, contact force less than 0.5N, and movement speed controlled within the range of 1–5mm / s.

[0028] In one embodiment of the present invention, the shape sensor includes a plurality of bending sensors respectively disposed on each segment of the bending portion, and a plurality of angle sensors respectively disposed on each joint of the bending portion.

[0029] The bending sensor employs fiber optic grating (FBG) sensing technology, calculating the degree of bending by measuring the wavelength change of the optical fiber during bending. Preferably, 3-4 FBG sensing points are installed on each bending segment, evenly distributed circumferentially, allowing simultaneous measurement of both the degree and direction of bending. In practical applications, the measurement accuracy of the FBG sensor can reach 0.1°, sufficient to meet the requirements of precise bronchoscopic manipulation.

[0030] The angle sensor employs a miniature Hall effect sensor, which calculates the joint angle by measuring changes in magnetic field strength. A pair of orthogonally arranged Hall effect sensors are placed at each joint to achieve two-dimensional angle measurement. This sensor is small in size (typically 2mm × 2mm × 0.5mm) and has low power consumption (typically less than 5mW), making it suitable for integration into minimally invasive medical devices.

[0031] Each bending sensor collects the deformation bending parameters of the bending section, and each angle sensor detects the angle parameters of each joint. The system converts the sensor outputs into standard signals through a signal conditioning circuit, which are then input to the processing unit after analog-to-digital conversion. The processing unit uses a 32-bit microcontroller (such as the STM32F4 series) with an operating frequency of up to 168MHz, capable of processing multiple sensor signals in real time.

[0032] Finally, by using deformation bending parameters and joint angle parameters, the system obtains complete data on the deformation state of the bronchoscope. This data is updated at a frequency of 100Hz to ensure that the control system can respond promptly to changes in the bronchoscope's state.

[0033] In another embodiment of the invention, the shape sensor further includes a plurality of distance sensors disposed on each joint of the bending portion.

[0034] The distance sensor uses the principle of infrared ranging, measuring the distance between the bronchoscope and surrounding tissues by emitting infrared light and receiving reflected signals. In this embodiment, an infrared emitter and receiver pair with a working wavelength of 940nm is used, with a measurement range of 2–30mm and a resolution better than 0.1mm.

[0035] These distance sensors detect lateral pressure data on the joints. When the bronchoscope comes into contact with tissue, it deforms, causing changes in the distance sensor readings. The system indirectly acquires lateral pressure data by establishing a mapping relationship between distance changes and pressure. Experience shows that in a typical bronchoscopy operating environment, lateral pressure is usually in the range of 0.1–2 N, and the system needs to be able to measure accurately within this range.

[0036] Using data measured by distance sensors, the system can construct displacement distribution information for the distal end and bends of the bronchoscope, providing a basis for subsequent mechanical modeling and control strategy optimization. In practical applications, this displacement distribution information is stored in the form of a three-dimensional matrix. The size of the matrix depends on the number of sensors and the sampling frequency, and is usually [m×n×t], where m is the number of sensors, n is the dimension (usually 3, representing the x, y, and z directions), and t is the time series length.

[0037] The present invention may also include a pressure sensor disposed on the side of the curved portion in the shape sensor.

[0038] The pressure sensor preferably uses a thin-film capacitive sensor array with a thickness not exceeding 0.3 mm, which can be flexibly attached to the surface of the bronchoscope. The sensor array is arranged along the length of the bronchoscope, with a sensing unit typically placed every 5 to 10 mm. Each unit can measure contact force in the range of 0.05 to 3 N, with an accuracy better than 0.02 N.

[0039] These pressure sensors are primarily used to detect the contact force between the bend and the airway wall. During bronchoscopy, appropriate contact force helps stabilize the procedure, but excessive force can cause tissue damage. Based on clinical experience, a safe contact force range is generally 0.2–0.8 N; exceeding this range should trigger safety mechanisms.

[0040] The system can obtain deformation status data based on data collected by pressure sensors. This data is used not only for safety monitoring but also for optimizing control strategies. For example, when the system detects that the contact force between a section of the bronchoscope and tissue is close to the safety limit, it will automatically reduce the stiffness parameter of that area, making the bronchoscope more flexible and reducing pressure on tissues.

[0041] This invention simulates the lateral pressure on the end and bend of the bronchoscope as the force of a spring.

[0042] Specifically, the construction process of the bronchoscope distal joint spring model is as follows: First, the coordinates and force data of the bronchoscope distal joints are acquired. The coordinate data comes from the morphological sensing system, and the force data comes from the force sensor. Then, a coordinate system is constructed. With the bronchoscope base as the origin, a three-dimensional rectangular coordinate system is established, and the positions of each distal joint in this coordinate system are recorded.

[0043] Furthermore, a spring model is constructed using Newton's laws of motion. For the end joint, when the spring constant of each joint is k (typically 0.2-0.8 N / mm), the relationship between the force and displacement of the joint can be expressed as: F = k·X, where F is the spring force vector of each end joint, X is the coordinate vector of the end joint, and k is the spring constant.

[0044] In practical applications, the spring constant k is not a constant value, but a variable related to material properties, structural parameters, and environmental factors. Typically, k can be expressed as a function of temperature T, material elastic modulus E, and structural geometric parameters G: k = f(T, E, G). Within the normal operating temperature range (36-40°C), the variation of k usually does not exceed ±5%, and can be considered a quasi-constant value.

[0045] For the curved section, the spring model is more complex and the bending moment needs to be considered. The bending moment can be expressed as: M = E·I·θ / L, where θ represents the relative angle of rotation of the plane where the bronchoscope tip is located, E is Young's modulus (for typical medical polymer materials, E is about 2-5 GPa), I is the moment of inertia of the curved section plane, and L represents the length of each curved section.

[0046] This spring model based on mechanical principles provides a theoretical basis for the precise control of the bronchoscope, enabling the system to predict the behavior of the bronchoscope in complex environments and make corresponding control adjustments.

[0047] Reference Figure 4 The bronchoscopic control strategy of the present invention includes multiple modes, which doctors can flexibly choose according to the needs of the surgery.

[0048] In practice, doctors can choose one or more of five strategies—end-bending strategy, end-adaptive control strategy, end-velocity control strategy, adaptive strategy, and joint adaptive control strategy—to perform real-time control according to the operation sequence and the current bending shape.

[0049] The terminal flexion strategy is suitable for situations requiring rapid adjustment of the bronchoscope's tip position, such as turning at tracheal bifurcation points. The terminal adaptive control strategy is suitable for fine manipulation in confined spaces, where the system automatically adjusts control parameters based on contact forces. The terminal velocity control strategy is primarily used for long-distance propulsion to ensure smooth movement. The adaptive strategy comprehensively considers positional and force constraints to achieve globally optimal control. The joint adaptive control strategy makes individual adjustments for specific joints, suitable for fine posture adjustments in complex environments.

[0050] The system can automatically switch between these strategies according to the surgical stage and environmental conditions, achieving adaptive control of the bronchoscopy. For example, in the early stage of bronchial entry, the system prioritizes the terminal velocity control strategy to ensure smooth insertion; as it approaches the lesion site, it automatically switches to the terminal adaptive control strategy to improve positioning accuracy; and when performing procedures such as biopsy, it switches to the joint adaptive control strategy to ensure stability.

[0051] This multi-strategy collaborative approach greatly improves the flexibility and adaptability of bronchoscopy procedures, enabling it to handle various complex situations.

[0052] The end-bending strategy of this invention is mainly used for rapid adjustment of the position of the end of the bronchoscope.

[0053] Specifically, the system first selects a shape from a preset shape library that is similar to the current bronchoscope curvature and closest to the target terminal shape, as the target terminal curvature shape. In this embodiment, the shape library typically contains 100 to 300 typical shapes, covering the main possible configurations of the bronchoscope. Similarity calculation uses a weighted Euclidean distance, with weights determined based on joint importance; typically, joints closer to the terminal end have higher weights.

[0054] After determining the target shape, the system controls the bronchoscope tip to move to the target shape. The control process employs a proportional-integral-derivative (PID) control algorithm, with control parameters pre-adjusted according to the characteristics of the bronchoscope. Typical parameter settings are: proportional coefficient Kp = 0.8-1.2, integral coefficient Ki = 0.05-0.15, and derivative coefficient Kd = 0.1-0.3. These parameters can be fine-tuned according to the actual operating environment to obtain the best control effect.

[0055] The end-effector adaptive control strategy prioritizes safety, controlling the bronchoscope tip to adaptively adjust between the current and target configurations. During adjustment, the system monitors the end-effector force, joint torque, and movement speed in real time to ensure these parameters remain within safe ranges. Specifically, the end-effector force is typically controlled within the range of 0.1–0.7 N, the joint torque does not exceed 5–20 mN·m (the specific value depends on the joint position), and the movement speed is controlled within 0.5–8 mm / s.

[0056] The combined use of these two strategies ensures both the accuracy of bronchoscopy positioning and the safety of the procedure, making it particularly suitable for delicate operations in complex airway environments.

[0057] The end-effector adaptive control strategy of this invention adopts a multi-threshold hierarchical control method to dynamically adjust the control parameters according to the force conditions at the end of the bronchoscope.

[0058] Specifically, the system adaptively adjusts the bronchoscope tip based on the current and target states of the bronchoscope. When the force applied to the bronchoscope tip is greater than or equal to a first threshold (typically set to 0.2 N) for a set adjustment time (e.g., 0.5 seconds), the system adjusts the bronchoscope tip's movement speed to a first speed value (e.g., 2 mm / s), maintaining the force on the bronchoscope tip equal to the first threshold throughout the adjustment process. This control method ensures stability during tissue contact.

[0059] When the force applied to the bronchoscope tip is less than the first threshold for a set period of time, the system will adjust the movement speed of the bronchoscope tip to a second speed value (e.g., 4 mm / s). The second speed value is usually greater than the first speed value, allowing for faster movement under no-contact or low-contact force conditions, thus improving operational efficiency.

[0060] In addition, the system has a second threshold (typically 0.4N) and a third threshold (typically 0.6N) corresponding to different speed control strategies. When the force exceeds the third threshold, the system reduces the speed to zero to prevent damage to the tissue. This multi-threshold control strategy can be flexibly adjusted according to different contact conditions, ensuring both operational efficiency and safety.

[0061] In practical applications, these thresholds and speed parameters can be adjusted according to the specific surgical site and patient condition. For example, the force threshold can be appropriately lowered when dealing with more fragile tissues, while it can be appropriately increased when dealing with more resilient tissues. The system provides a parameter adjustment interface, allowing doctors to personalize the settings based on experience and needs.

[0062] The bronchoscopic adaptive control of the present invention also includes a joint adaptive control strategy for finely adjusting the posture of the bronchoscope.

[0063] Specifically, the system first collects the required adjustment angle and rate of change of the joints of the bronchoscope. The angle data comes from an angle sensor, and the rate of change is calculated through continuous sampling. Then, based on this data, the system controls the various joints of the bronchoscope to make adaptive adjustments.

[0064] During the adjustment process, the system applies triple safety constraints: First, it controls the force on the joint to be less than the set threshold (usually 0.3 to 0.7 N) to prevent joint overload; second, it controls the joint angular velocity to be less than the set threshold (usually 10-30° / s) to ensure smooth movement; and finally, it simultaneously ensures that the force on the end of the bronchoscope is less than the set threshold (usually 0.4 to 0.8 N) to prevent damage to tissues at the end.

[0065] Joint adaptive control strategies are particularly suitable for scenarios requiring precise posture adjustments, such as selecting the correct branch at a bifurcation point or performing delicate operations in confined spaces. In these situations, simple end-effector position control is often insufficient, necessitating precise control of the overall posture of the bronchoscope.

[0066] Through a joint adaptive control strategy, the system can achieve precise adjustment of the bronchoscope posture while ensuring safety, greatly improving the flexibility and adaptability of the operation.

[0067] This invention designs an intelligent control strategy switching mechanism that can automatically select the optimal control strategy based on real-time status.

[0068] Specifically, when the robot is in a joint adaptive control strategy and simultaneously meets the distance condition in the target state of the adaptive strategy (usually requiring a distance error of less than 3mm), the system will automatically switch to an end-effector adaptive control strategy to optimize the end-effector position.

[0069] Similarly, when the target position distance condition in the adaptive control strategy is met, the system will continue to maintain the adaptive control strategy until precise positioning is achieved.

[0070] When the end effector is in an adaptive adjustment strategy and simultaneously meets the target position angle condition in the joint adaptive control strategy (usually requiring an angle error of less than 2°), it switches to the adaptive control strategy, taking into account both position and attitude constraints.

[0071] This intelligent switching mechanism enables the system to automatically select the most suitable control strategy based on the current state and target requirements, without the need for manual intervention by doctors, greatly simplifying the operation process and improving surgical efficiency and safety.

[0072] In practical applications, the switching conditions can be adjusted according to specific surgical needs. For example, when performing delicate procedures such as biopsies, the precision requirements of the switching conditions can be appropriately increased; while for routine examinations, the requirements can be relaxed to increase the operation speed. The system provides a parameter adjustment interface, allowing doctors to personalize the settings based on experience and needs.

[0073] This invention provides a morphology-sensing control method for a bronchoscopy robot. By using multiple sensors to perceive the morphology of the bronchoscope in real time and combining this with a spring model for mechanical analysis, multi-strategy adaptive control is achieved. This method significantly improves the accuracy, safety, and efficiency of bronchoscopy operations, providing strong technical support for bronchoscopy and minimally invasive surgery.

[0074] Compared with existing technologies, the advantages of this invention are mainly reflected in the following aspects: First, the accuracy of morphological perception: through the collaborative work of multiple sensors, real-time and accurate perception of the morphology of the bronchoscope is achieved; second, the rationality of the mechanical model: the complex physical process is abstracted into a calculable spring model, providing a theoretical basis for control; third, the diversity and adaptability of control strategies: the system can automatically select the optimal control strategy according to different situations, with strong adaptability; and fourth, the completeness of the safety mechanism: multiple safety constraints ensure the safety of the surgical procedure.

[0075] This invention is applicable to various bronchoscopic examinations and minimally invasive surgeries, especially complex procedures requiring high precision and safety, such as lung nodule biopsy and endobronchial ultrasound. By reducing the workload of physicians and improving surgical precision and safety, this invention is expected to find widespread application in the field of interventional respiratory medicine.

[0076] The embodiments described above are merely illustrative of specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A morphology-sensing control method for a bronchoscopic robot, characterized in that, include: Collect the coordinates of the end-effector's shape in its current curved state; Based on the acquired end-effector coordinates, a model of the current bending state of the bronchoscope is constructed; the robot joint angle vector is obtained through real-time acquired bronchoscope deformation data; a robot model under the current bending state is constructed based on the robot structural model; a bending spring model and a joint spring model are constructed based on the force conditions of the end-effector control point and the bending control point, respectively; the lateral pressure on the bending part and end of the bronchoscope under the current bending posture is acquired and processed; adaptive control is achieved based on the target control quantity.

2. The morphology-sensing bronchoscopic robot control method according to claim 1, characterized in that, The morphological sensor includes multiple bending sensors respectively installed on each segment of the bending section, and multiple angle sensors respectively installed on each joint of the bending section; each bending sensor collects the deformation bending parameters of the bending section, and each angle sensor detects the angle parameters of each joint; and then the bronchoscope deformation state data are obtained through the deformation bending parameters and joint angle parameters.

3. The morphology-sensing bronchoscopic robot control method according to claim 1, characterized in that, The morphological sensor includes multiple distance sensors disposed on each joint of the bend. The distance sensors detect the lateral pressure data of the joint, and then measure the displacement distribution information of the end of the bronchoscope and the bend through the distance sensors.

4. The morphology-sensing bronchoscopic robot control method according to claim 3, characterized in that, The shape sensor includes a pressure sensor disposed on the side of the bend, which detects the contact force between the bend and the airway wall; and then obtains deformation state data based on the data collected by the pressure sensor.

5. The morphology-sensing bronchoscopic robot control method according to claim 1, characterized in that, The lateral pressure at the end and bend of the bronchoscope is simulated as the force of a spring. In the simulation, the spring model of the bronchoscope end joint is specifically constructed by: obtaining the joint coordinates and force data of the bronchoscope end joint, constructing a coordinate system, and then using Newton's laws of mechanics to construct the spring model.

6. The morphology-sensing bronchoscopic robot control method according to claim 1, characterized in that, The bronchoscopy control strategy includes: the physician selects one or more of the following five strategies in real time according to the operation sequence and the current bending shape: end bending strategy, end adaptive control strategy, end speed control strategy, adaptive strategy, and joint adaptive control strategy, to achieve bronchoscopy adaptive control.

7. The morphology-sensing bronchoscopic robot control method according to claim 6, characterized in that, The terminal bending strategy is as follows: based on the current bronchoscope bending shape, select the shape within the current bronchoscope bending shape that is closest to the target terminal shape as the target terminal bending shape, and then control the movement of the bronchoscope terminal to the target terminal shape. The terminal adaptive control strategy includes: controlling the bronchoscope tip to adaptively adjust between the current shape and the target shape.

8. The morphology-sensing bronchoscopic robot control method according to claim 7, characterized in that, The specific end-effector adaptive control strategy is as follows: based on the current state and target state of the bronchoscope, the bronchoscope tip is controlled to make adaptive adjustments; when the force on the bronchoscope tip is greater than or equal to the first threshold for a continuously set adjustment time, the movement speed of the bronchoscope tip is adjusted to the first speed value, and the force on the bronchoscope tip is kept equal to the first threshold during the adjustment process.

9. The morphology-sensing bronchoscopic robot control method according to claim 7, characterized in that, The bronchoscopy adaptive control also includes: the joint adaptive control strategy, specifically: collecting the required adjustment angle and joint angle change rate of the current joint of the bronchoscope, and then controlling the current joints of the bronchoscope to perform adaptive adjustment; during the bronchoscopy adaptive adjustment process: controlling the joint force to be less than a set threshold; controlling the joint angular velocity to be less than a set threshold; and ensuring that the force on the end of the bronchoscope is less than a set threshold.

10. The morphology-sensing bronchoscopic robot control method according to claim 7, characterized in that, The bronchoscopy control strategy is as follows: when the robot is in the joint adaptive control strategy and simultaneously meets the target distance in the adaptive strategy, it switches to the end-effector adaptive control strategy; when it is in the end-effector adaptive control strategy and simultaneously meets the target position distance in the adaptive strategy, it switches to the end-effector adaptive control strategy; when the end-effector is in the adaptive adjustment strategy and simultaneously meets the target position angle in the joint adaptive control strategy, it switches to the adaptive control strategy.

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