Bronchoscope robot driven by wire / fluid hybrid and control method

Abstract

This invention discloses a bronchoscope robot and its control method using a hybrid line / fluid drive system. The bronchoscope robot includes a feeding module, a driving module, and a bronchoscope module. The bronchoscope module is connected to the driving module, and the feeding module drives the driving module and the bronchoscope module to move. The driving module includes a fluid driving module and several line driving modules. The bronchoscope module includes a passive bending section, an active bending section, several lines, and a miniature camera. The fluid driving module controls the length of the active bending section by injecting or extracting fluid, while the line driving modules control the extension and retraction of the lines to control the bending angle of the active bending section. This invention controls the movement, extension, and bending of the bronchoscope through the feeding module and the driving module, improving the flexibility of the bronchoscope robot, meeting the needs of dealing with airways with different curvatures, ultimately successfully entering the distal airway, and ensuring safety during airway contact.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, and in particular to a bronchoscope robot and control method with a line / fluid hybrid drive. Background Technology

[0002] Transbronchial lung biopsy based on a flexible bronchoscope is currently the first-line procedure for diagnosing early-stage lung cancer. The traditional flexible bronchoscopy procedure involves inserting a flexible bronchoscope into the trachea of ​​the lung and delivering biopsy tools to a designated lung nodule for tissue and cell sample extraction, followed by pathological examination. Its advantages include: (1) near-non-invasive access via natural cavities, minimizing the probability of complications; and (2) it is currently the only technology that promises to integrate early-stage lung cancer diagnosis, staging, and treatment, significantly shortening the patient's treatment cycle and improving survival rates.

[0003] The diagnostic rate of advanced bronchoscopy has not significantly improved in recent decades, especially for the increasing number of small nodules, peripheral pulmonary nodules that are highly likely to be cancerous, and large left upper lobe nodules induced by smoking. The reasons for the low diagnostic rate are: (1) the challenge of reaching the peripulmonary area. Due to the narrow and easily collapsed bronchial pathways leading to the peripulmonary area, visual identification and spatial orientation of the physician to navigate to the peripheral pulmonary bronchi are extremely challenging; (2) the accuracy of biopsy. For small and distant peripheral pulmonary nodules, due to the lack of real-time intervention methods in the narrow airways, it is difficult to achieve "needle-to-tissue confirmation" under the influence of CT-human dispersion, atelectasis, and operational errors; (3) safety issues. In the peripulmonary area, the flexibility of biopsy and other operations is limited. For example, it is difficult to achieve the operation of inserting the biopsy needle into the tissue to avoid blood vessels and reach the lesion. At present, the successful implementation of some advanced local treatment methods, such as advanced ablation methods (cryoablation, microwave ablation, etc.) and photodynamic therapy, has led to the pursuit of integrated bronchoscopy diagnosis and treatment. This places higher demands on the precision of the end-effector positioning and has led to new discussions about intracavitary instrument deployment modes.

[0004] Bronchoscopy robotic systems replace traditional bronchoscopes with small-diameter, high-aspect-ratio continuum robots. Combined with advanced medical imaging-based navigation systems, real-time intracavitary visual sensing, and integrated electromagnetic navigation and positioning systems or fiber optic sensors, these systems allow for intervention on small peripheral lung nodules under the primary control of a physician via a handpiece. The advantage lies in the fact that internists only handle high-level decision-making, while the bronchoscopy robot translates the physician's operational experience into robot control, enabling specific actions such as path navigation, end-effector stabilization, and precise puncture. However, existing bronchoscopy robots still cannot traverse airways with significant curvature, and their remote operation mode results in a loss of contact force sensing.

[0005] Therefore, it is necessary to combine soft robotics technology and new driving modes to develop a bronchoscope robot that can "move along a specific airway trajectory" for large-curvature airways that are difficult for conventional bronchoscopes or bronchoscope robots to access, and to ensure the safety of the bronchoscope tip contact in terms of structure. Summary of the Invention

[0006] Purpose of the invention: To address the above-mentioned shortcomings, this invention provides a bronchoscope robot and its control method that is driven by a line / fluid hybrid system.

[0007] Technical solution: To solve the above problems, the present invention adopts a line / fluid hybrid driven bronchoscope robot, including a feeding module, a driving module, and a bronchoscope module. The bronchoscope module is connected to the driving module, and the feeding module is used to drive the driving module and the bronchoscope module to move.

[0008] The drive module includes a fluid drive module and several line drive modules. The fluid drive module includes a second drive mechanism and a syringe, the second drive mechanism being used to push the syringe to inject. The line drive module includes a third drive mechanism and a winding mechanism, the third drive mechanism being used to drive the winding mechanism to rotate.

[0009] The bronchoscope module includes a bronchoscope mounting base, a passive bending section, an active bending section, several wires, and a miniature camera. One side of the bronchoscope mounting base is connected to the injection end of a syringe. One end of the passive bending section is connected to the other side of the bronchoscope mounting base, and the other end of the passive bending section is connected to the active bending section. One end of each wire is fixed to the top of the active bending section, and the other end passes through the active bending section and the passive bending section and is fixed to a winding mechanism. The miniature camera is mounted on the top of the active bending section.

[0010] The syringe is connected to the active bending section. When the syringe injects liquid into the active bending section, the length of the active bending section increases. The winding mechanism is used to wind up and unwind the line to control the bending angle of the active bending section.

[0011] Furthermore, the feed module includes a first drive mechanism, a ball screw mounting base, a ball screw, a slider disposed on the ball screw, and a drive module mounting base fixed on the slider. The drive module is fixed on the drive module mounting base. The ball screw is connected to the output shaft of the first drive mechanism, and the first drive mechanism drives the drive module to move along the length direction of the ball screw.

[0012] Furthermore, the winding mechanism includes a worm gear connected to the output shaft of the third drive mechanism, a worm wheel cooperating with the worm gear, and one end of the wire fixed to the worm wheel.

[0013] Furthermore, the line drive module is also provided with a line guide seat, one end of which is connected to the bronchoscope mounting base. The bronchoscope mounting base and the line guide seat are provided with a connected line channel, through which the line passes and is fixed to the worm gear.

[0014] Furthermore, the active bending section includes a chassis connected to the passive bending section and a top chassis located at the top. Alternating spacer discs and corrugated pipes are provided between the top chassis and the chassis. The outer diameter of the spacer discs is larger than the outer diameter of the corrugated pipes. One end of the line is fixed to the top chassis and passes through each spacer disc and the chassis. The corrugated pipes are made of elastic material, and the bending angle of the active bending section is controlled by controlling the deformation of the corrugated pipes through the line.

[0015] Furthermore, the chassis, spacer, and top plate are made of biocompatible photosensitive resin, the wire material is polyethylene, and the corrugated pipe material is thermoplastic polyurethane elastomer.

[0016] Furthermore, the syringe includes an outer syringe barrel, an injection head connected to the outer syringe barrel, an injection tube located at one end of the injection head, and a movable block located inside the injection head. The second drive mechanism pushes the movable block to perform injection. The injection tube passes through the bronchoscope mounting base, a passive bending section, and communicates with an active bending section.

[0017] Furthermore, the top of the movable block is equipped with a fluid pressure sensor for detecting the fluid pressure inside the injection head. When the fluid pressure sensor detects a pressure greater than a preset value, the second drive mechanism stops working.

[0018] This invention also provides a control method for the bronchoscopic robot, which includes the following operating modes:

[0019] Bending mode: The second drive mechanism is controlled to push the syringe to inject, so that the active bending section extends to a preset length. Then, the third drive mechanism controls the extension and retraction of the line to bend the active bending section.

[0020] Constant curvature mode: When the active bending segment is in its shortest initial state, the second drive mechanism is controlled to continuously push the syringe to inject, while the third drive mechanism controls the extension and retraction of the line, so that the active bending segment bends during the elongation process;

[0021] Feeding mode: The bronchoscope module is moved as a whole by the feeding module.

[0022] Furthermore, the bronchoscopic robot includes three circumferentially distributed line drive modules and three lines. Each line drive module controls the extension and retraction of one line. The three lines are circumferentially distributed at the fixed point at the top of the active bending section. The curvature κ of the constant curvature mode is calculated using the following formula:

[0023]

[0024] l1, l2, and l3 are the lengths of the three lines on the active bending segment, and d is the diameter of the circle determined by the fixed point at the top of the active bending segment.

[0025] Beneficial effects: Compared with the prior art, the significant advantages of this invention are (1) by controlling the movement, extension and bending of the bronchoscope through the feed module and drive module, the flexibility of the bronchoscope robot is improved, the needs of dealing with airways with different curvatures are met, and the bronchoscope successfully enters the distal airway and ensures safety when in contact with the airway; (2) by cooperating with the fluid drive module and the line drive module, the length and bending angle of the active segment are controlled respectively, realizing multiple working modes of the bronchoscope robot, which has strong applicability; (3) in the constant curvature mode, the working mode of "moving along a specific airway trajectory" can be realized, which makes it easier to pass through airways with large curvatures; (4) the active segment is a soft structure, which ensures the safety of contact with the distal airway and makes up for the disadvantage of loss of force perception of the bronchoscope robot. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the bronchoscopic robot of the present invention;

[0027] Figure 2 This is a schematic diagram of the drive module structure of the present invention;

[0028] Figure 3 This is a schematic diagram of the drive module mounting base structure of the present invention;

[0029] Figure 4 This is a cross-sectional view of the drive module structure of the present invention;

[0030] Figure 5 This is a schematic diagram of the injection tubing connection structure of the present invention;

[0031] Figure 6 This is a schematic diagram of the worm gear and wire mating structure of the present invention;

[0032] Figure 7 This is a schematic diagram of the active segment structure of the present invention;

[0033] Figure 8 This is a schematic diagram showing the three working modes of the bronchoscopic robot of the present invention;

[0034] Figure 9 This is a schematic diagram illustrating the working conditions of the bronchoscopic robot of the present invention as it passes through airways with different curvatures. Detailed Implementation

[0035] like Figures 1 to 7As shown, a bronchoscope robot with line / fluid hybrid drive in this embodiment includes a feeding module 1, a drive module 2, and a bronchoscope module 3. The bronchoscope module 3 is connected to the drive module 2. The feeding module 1 is used to drive the drive module 2 and the bronchoscope module 3 to move. The drive module 2 includes a shell 23, a fluid drive module 21 housed in the shell 23, and three line drive modules 22 distributed equidistantly in a circle.

[0036] The feed module 1 includes a first stepper motor 11, a ball screw mounting base 12, a ball screw 13, a slider mounted on the ball screw 13, and a drive module mounting base 14 fixed on the slider. A motor connector 15 is connected to one side of the ball screw mounting base 12. The first stepper motor 11 is mounted on the motor connector 15, and the ball screw 13 is fixedly mounted inside the ball screw mounting base 12. The first stepper motor 11 is connected to the ball screw 13 via a coupling 16. Multiple L-shaped mounting seats 17 for fixing the ball screw mounting base 12 are provided on both sides of the ball screw mounting base 12. A limiter 18 is also provided on the ball screw mounting base 12 to prevent the drive module 2 from colliding with the motor connector 15. The drive module mounting base 14 includes a mounting platform 141 and a mounting plate 142 located on one side of the mounting platform 141. A through hole is provided in the center of the mounting plate 142.

[0037] The fluid drive module 21 includes a second stepper motor 211 and a syringe 212. The second stepper motor 211 is fixedly mounted on the fluid drive module mounting base 213, which is fixed on the mounting platform 141. The syringe 212 is fixed to one side of the fluid drive module mounting base 213 via a positioning seat 214, and one end of the syringe 212 is connected to the output shaft of the second stepper motor 211, while the other end of the syringe 212 passes through a through hole on the mounting plate 142. The syringe 212 includes a syringe outer barrel 2121, an injection head 2122 connected to the syringe outer barrel 2121, an injection channel 2123 located at one end of the injection head 2122, and a movable block 2124 located inside the injection head 2122. The injection head 2122 is filled with liquid 4, and the second stepper motor 211 pushes the movable block 2124 to perform injection. The top of the movable block 2124 is equipped with a fluid pressure sensor 2125 for detecting the fluid pressure inside the injection head 2122. When the fluid pressure sensor 2125 detects a pressure greater than a preset value, the second stepper motor 211 stops working to prevent the injected liquid from exceeding the volume that the active bending section 33 can accommodate and causing damage. The preset pressure value is determined according to the specific situation. In this embodiment, the preset pressure value is 0.1N.

[0038] The wire drive module 22 includes a third stepper motor 221, a worm gear 222 connected to the output shaft of the third stepper motor 221, a worm wheel 223 cooperating with the worm gear 222, and a wire guide seat 224. The mounting plate 142 is fixedly connected to the wire drive module mounting base 225. The third stepper motor 221 and the wire guide seat 224 are both fixedly mounted on the wire drive module mounting base 225, and are located on opposite sides of the wire drive module mounting base 225. The wire drive module mounting base 225 also includes a bearing support 226, a bearing 227 mounted on the bearing support 226, and an optical shaft 228 cooperating with the bearing 227. The worm wheel 223 is mounted on the optical shaft 228, and has an opening 2231.

[0039] The bronchoscope module 3 includes a bronchoscope mounting base 31, a passive bending section 32, an active bending section 33, three cables 34, and a miniature camera 35. One side of the bronchoscope mounting base 31 is connected to an injection tubing 2123 and a cable guide seat 224. The injection tubing 2123 passes through the bronchoscope mounting base 31 and the passive bending section 32, and communicates with the active bending section 33. One end of the passive bending section 32 is connected to the other side of the bronchoscope mounting base 31, and the other end is connected to the active bending section 33. The active bending section 33 includes a base plate 331 connected to the passive bending section 32 and a top plate 332 located at the top. Alternating spacer plates 333 and bellows 334 are provided between the top plate 332 and the base plate 331. The outer diameter of the spacer plate 333 is larger than the outer diameter of the bellows 334. The miniature camera 35 is mounted at the center of the top plate 332. The bronchoscope mounting base 31 and the wire guide seat 224 are provided with a connecting wire channel 2241. One end of the wire 34 is fixed to the top plate 332, passes through each spacer plate 333 and the base plate 331, passes through the passive bending section 32 and the wire channel 2241, and the other end of the wire 34 is fixed in the opening 2231 by a set screw. The fixing points of the three wires 34 at the top of the active bending section 33 are circumferentially distributed. In this embodiment, the base plate 331, spacer plate 333 and top plate 332 are made of biocompatible photosensitive resin, the wire 34 is made of polyethylene, and the corrugated tube 334 is made of thermoplastic polyurethane elastomer.

[0040] This invention injects liquid into the active bending section 33 via a fluid drive module 21, increasing the volume of liquid within the active bending section 33 to elongate it. Conversely, withdrawing liquid from the active bending section 33 using a syringe 212 shortens it, thus controlling its length. Three line drive modules 22 control the extension and retraction of three lines 34 to control the bending angle of the active bending section 33. A feed module 1 propels the drive module and bronchoscope module together. The number of lines and line drive modules in this invention can be flexibly adjusted; at least three lines are required to control the three-dimensional angle changes of the active bending section 33.

[0041] like Figure 8 As shown, the bronchoscopic robot of the present invention includes three working modes, and the specific control methods are as follows:

[0042] Bending mode: The second stepper motor 211 is controlled to push the syringe 212 to inject, so that the active bending section 33 extends to the preset length. Then, the third stepper motor 221 controls the extension and retraction of the line 34, retracting one line 34 or retracting two lines 34 at the same speed, so that the active bending section 33 bends.

[0043] Constant curvature mode: With the active bending segment 33 in its shortest initial state, the second stepper motor 211 maintains a certain fluid pressure output, continuously pushing the syringe 212 for injection. Simultaneously, the third stepper motor 221 controls the extension and retraction of the control line 34, causing one third stepper motor 221 to move at a low speed, while the other two third stepper motors 221 move at equal high speeds, causing the active bending segment 33 to bend simultaneously during elongation. The curvature κ calculation formula for the constant curvature mode is as follows:

[0044]

[0045] l1, l2, and l3 are the lengths of the three lines 34 on the active bending segment 33, respectively, and d is the diameter of the circle determined by the fixed point at the top of the three lines 34 on the active bending segment 33.

[0046] Feeding mode: The bronchoscope module 3 is moved as a whole by the first stepper motor 11.

[0047] like Figure 9 As shown, the above working modes can be combined to enter airways with different curvatures:

[0048] For small curvature airways, when reaching the starting point of the small curvature airway, first use the bending mode to align the active segment with the airway, and then use the feed mode to drive the passive bending segment into the airway.

[0049] For high curvature airways, when the starting point of the high curvature airway is reached, the normal curvature mode is first used to allow the active segment to pass through the airway, and then the feed mode is used to drive the passive curvature segment into the airway.

[0050] The bending mode of this invention is similar to the existing bronchoscope working mode, where the bronchoscope length is fixed before bending. However, the length of the active segment of this invention can be adjusted, offering greater flexibility compared to existing technologies. The constant curvature mode, by bending while the active segment extends, effectively conforms to the shape of the airway as it passes through, avoiding contact between the bronchoscope and the airway surface. This reduces the impact on the human body during the examination and improves the safety of bronchoscopy.

Claims

1. A line / fluid hybrid driven bronchoscopic robot, characterized in that, It includes a feed module (1), a drive module (2), and a bronchoscope module (3). The bronchoscope module (3) is connected to the drive module (2). The feed module (1) is used to drive the drive module (2) and the bronchoscope module (3) to move. The drive module (2) includes a fluid drive module (21) and several line drive modules (22). The fluid drive module (21) includes a second drive mechanism (211) and a syringe (212). The second drive mechanism (211) is used to push the syringe (212) to inject. The line drive module (22) includes a third drive mechanism (221) and a winding mechanism. The third drive mechanism (221) is used to drive the winding mechanism to rotate. The bronchoscope module (3) includes a bronchoscope mounting base (31), a passive bending section (32), an active bending section (33), several wires (34), and a miniature camera (35). One side of the bronchoscope mounting base (31) is connected to the injection end of a syringe (212). One end of the passive bending section (32) is connected to the other side of the bronchoscope mounting base (31), and the other end of the passive bending section (32) is connected to the active bending section (33). One end of each wire (34) is fixed to the top of the active bending section (33), and the other end of each wire (34) passes through the active bending section (33) and the passive bending section (32) and is fixed to a winding mechanism. The miniature camera (35) is mounted on the top of the active bending section (33). The syringe (212) is connected to the active bending section (33). When the syringe (212) injects liquid into the active bending section (33), the length of the active bending section (33) increases. The winding mechanism is used to wind up and unwind the line (34) to control the bending angle of the active bending section (33).

2. The bronchoscopic robot as described in claim 1, characterized in that, The feed module (1) includes a first drive mechanism (11), a ball screw mounting base (12), a ball screw (13), a slider on the ball screw (13), and a drive module mounting base (14) fixed on the slider. The drive module (2) is fixed on the drive module mounting base (14). The ball screw (13) is connected to the output shaft of the first drive mechanism (11). The first drive mechanism (11) drives the drive module (2) to move along the length of the ball screw.

3. The bronchoscopic robot as described in claim 1, characterized in that, The winding mechanism includes a worm (222) connected to the output shaft of the third drive mechanism (221) and a worm wheel (223) cooperating with the worm (222), with one end of the wire (34) fixed on the worm wheel (223).

4. The bronchoscopic robot as described in claim 3, characterized in that, The line drive module (22) is also provided with a line guide seat (224). One end of the line guide seat (224) is connected to the bronchoscope mounting base (31). The bronchoscope mounting base (31) and the line guide seat (224) are provided with a connected line channel (2241). The line (34) passes through the line channel (2241) and is fixed on the worm gear (223).

5. The bronchoscopic robot as described in claim 1, characterized in that, The active bending section (33) includes a chassis (331) connected to the passive bending section (32) and a top chassis (332) located at the top. There are alternating spacer discs (333) and corrugated pipes (334) between the top chassis (332) and the chassis (331). The outer diameter of the spacer discs (333) is larger than the outer diameter of the corrugated pipes (334). One end of the line (34) is fixed on the top chassis (332) and passes through each spacer disc (333) and the chassis (331). The corrugated pipes (334) are made of elastic material. The deformation of the corrugated pipes (334) is controlled by the line (34) to control the bending angle of the active bending section (33).

6. The bronchoscopic robot as described in claim 5, characterized in that, The chassis (331), spacer (333), and top plate (332) are made of biocompatible photosensitive resin, the line (34) is made of polyethylene, and the corrugated pipe (334) is made of thermoplastic polyurethane elastomer.

7. The bronchoscopic robot as described in claim 1, characterized in that, The syringe (212) includes an outer barrel (2121), an injection head (2122) connected to the outer barrel (2121), an injection tube (2123) located at one end of the injection head (2122), and a movable block (2124) located inside the injection head (2122). The second drive mechanism (211) pushes the movable block (2124) to perform injection. The injection tube (2123) passes through the bronchoscope mounting base (31), the passive bending section (32), and communicates with the active bending section (33).

8. The bronchoscopic robot as described in claim 7, characterized in that, The top of the movable block (2124) is provided with a fluid pressure sensor (2125) for detecting the fluid pressure inside the injection head (2122). When the fluid pressure sensor (2125) detects that the pressure is greater than a preset value, the second drive mechanism (211) stops working.

9. A control method for a bronchoscopic robot as described in any one of claims 1-8, characterized in that, The following working modes are included respectively: Bending mode: The second drive mechanism (211) pushes the syringe (212) to inject, so that the active bending section (33) extends to a preset length, and then the third drive mechanism (221) controls the extension and retraction of the line (34) to bend the active bending section (33); Constant curvature mode: When the active bending segment (33) is in the initial state with the shortest length, the second drive mechanism (211) is controlled to continuously push the syringe (212) to inject, while the third drive mechanism (221) controls the extension and retraction of the control line (34) so ​​that the active bending segment (33) bends during the elongation process; Feeding mode: The bronchoscope module (3) is moved as a whole by the feeding module (1).

10. The control method as described in claim 9, characterized in that, The bronchoscope robot includes three circularly distributed line drive modules (22) and three lines (34). Each line drive module (22) controls the extension and retraction of one line (34). The three lines (34) are circularly distributed at the fixed point at the top of the active bending section (33). The curvature κ of the constant curvature mode is calculated as follows: l1, l2, l3 are the lengths of the three lines (34) on the active bending segment (33), and d is the diameter of the circle determined by the fixed point at the top of the three lines (34) on the active bending segment (33).

Images