A pneumatic soft robot for assisting small intestinal endoscopy

Abstract

This invention discloses a pneumatic soft robot for assisting enteroscopy, comprising a front air bladder, a corrugated tube, and a rear air bladder connected coaxially in sequence. Each air bladder has an independent ventilation path. The front and rear air bladders can expand radially with inflation, thus achieving anchorage within the small intestine. The corrugated tube can extend and retract axially with inflation. This invention differs from previous pneumatic robots for intestinal examination. Its core idea is to utilize a pneumatic robot to drag the small intestine, eliminating the need for the robot to crawl within the small intestine. This replaces the traditional method of using an enteroscopy cannula, facilitating related examinations for medical personnel.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a pneumatic soft robot for assisting in enteroscopy. Background Technology

[0002] Enteroscopy is an endoscopic examination method used to diagnose small bowel diseases. It typically uses a capsule endoscope or a balloon-assisted enteroscope to complete the examination. Capsule endoscopy often suffers from missed diagnoses and is expensive, hindering its widespread adoption. Traditional enteroscopy is divided into single-balloon and double-balloon enteroscopes, both requiring the use of an outer cannula. In double-balloon enteroscopes, both the outer cannula and the enteroscope have balloons, while in single-balloon enteroscopes, the balloon is only on the cannula. Both require manual operation by the physician. Inside the small intestine, the enteroscope and outer cannula work together, pulling and encasing the small intestine in the enteroscope to complete the examination. However, both require manual advancement by the physician, making the operation difficult and achieving a complete small bowel examination challenging. Physicians need a high level of skill and experience to perform this procedure effectively. Furthermore, the rigidity of both the enteroscope and the outer cannula can restrict advancement within the winding small intestine, causing patient discomfort or intestinal damage. Therefore, a flexible enteroscopy-assisted robot was invented that does not require an outer tube and can automatically drag the small intestine.

[0003] The application of pneumatic soft robots in intestinal examination is an emerging technology that has developed in recent years. It primarily utilizes a pneumatic drive system to give the robot flexible, deformable, and controllable characteristics, enabling efficient and low-invasive examination and treatment within the narrow and winding intestines. Pneumatic soft robots control their shape changes by inflating or deflating air, thereby altering the robot's stiffness and shape. This allows the robot to smoothly traverse the intestines and perform more flexible operations. The design of the pneumatic drive system gives the robot high flexibility, enabling it to adapt to the complex curves and narrow passages within the intestines. Furthermore, pneumatic soft robots are relatively inexpensive, can be used disposable, and are safer and more hygienic. Summary of the Invention

[0004] To address the aforementioned shortcomings, this invention provides a pneumatic soft robot for assisting enteroscopy, which can drag the small intestine to the enteroscope without the need for a cannula and is therefore safer.

[0005] A pneumatic soft robot for assisting enteroscopy includes an anterior air bladder, a corrugated tube, and a posterior air bladder connected coaxially in sequence. Each of the anterior air bladder, corrugated tube, and posterior air bladder is equipped with an independent ventilation path. The anterior and posterior air bladders can expand radially by inflation, thereby achieving anchorage within the small intestine. The corrugated tube can extend and retract axially by inflation, thereby pulling the small intestine toward the enteroscope.

[0006] Preferably, the front and rear airbags are spherical or ellipsoidal, with a smooth front end and a corrugated tube connected to the rear end.

[0007] Preferably, the outer ring of the front airbag and / or rear airbag is distributed with anti-slip particles.

[0008] Preferably, the pneumatic soft robot includes at least three ventilation connectors connected to an external pump, which are respectively connected to the rear airbag airway, the bellows airway, and the front airbag airway, for supplying air to the rear airbag, the bellows, and the front airbag.

[0009] Preferably, the rear airbag has two fully penetrating airways, namely the corrugated tube airway and the front airbag airway, and one partially penetrating airway, which is the rear airbag airway; the corrugated tube has a ventilation hose that connects directly to the front airbag, and the ventilation hose is connected to the front airbag airway.

[0010] Preferably, the posterior balloon has a groove to accommodate the enteroscope.

[0011] Preferably, one end of the corrugated tube is connected to the posterior balloon and the other end is connected to the anterior balloon. The posterior balloon is connected to the enteroscope. When the posterior balloon is inflated and anchored and the corrugated tube is inflated, it extends forward along the enteroscope, pushing the anterior balloon forward. When the anterior balloon is inflated and anchored and the corrugated tube is deflated, the corrugated tube contracts, and the anterior balloon pulls the small intestine backward.

[0012] As a preferred option, the front airbag, bellows, and rear airbag are all made of silicone.

[0013] The present invention also discloses a working method of a pneumatic soft robot for assisting enteroscopy. Based on the above-mentioned pneumatic soft robot, the enteroscope is connected to the posterior air bladder. The pneumatic soft robot achieves a peristaltic-like movement by sequentially inflating and deflating the posterior air bladder, the corrugated tube, and the anterior air bladder, and sequentially deflating and contracting the corrugated tube, the posterior air bladder, and the anterior air bladder, alternating in a cycle, thereby pulling the small intestine toward the enteroscope.

[0014] As a preferred embodiment, the working method includes the following steps: S1, and the pneumatic soft robot and the enteroscope are placed together in the small intestine, with the anterior air bladder, the bellows and the posterior air bladder not inflated in the initial state;

[0015] S2, the posterior balloon inflates and anchors in the small intestine; S3, the corrugated tube inflates, propelling the anterior balloon forward along the small intestine; S4, the anterior balloon inflates and anchors in the small intestine after reaching its position; S5, the posterior balloon and corrugated tube deflate and contract, dragging the anterior balloon and small intestine together towards the colonoscope; S6, the anterior balloon deflates and contracts, returning to its initial state.

[0016] Compared to existing enteroscopy techniques, the advantages of this invention are:

[0017] (1) The pneumatic soft robot disclosed in this invention is made of silicone material, which is soft overall and safer when in contact with the intestine. The unique design of silicone combined with a corrugated tube can adapt to the complex tortuous structure of the small intestine, enabling painless endoscopy.

[0018] (2) The pneumatic soft robot disclosed in this invention is covered on the enteroscope, which reduces the force of the enteroscope on the small intestine and further protects the small intestine from damage by the enteroscope.

[0019] (3) Compared with the traditional single-balloon and double-balloon enteroscopy detection process, the pneumatic soft robot disclosed in this invention avoids the use of an outer tube, which can help the enteroscope to be anchored in a certain position, making it convenient for doctors to perform related surgical operations.

[0020] (4) The pneumatic soft robot disclosed in this invention can more conveniently put the small intestine onto the enteroscope, realize a safer and more efficient enteroscopy detection process, and the soft robot has low manufacturing cost, can be used once, and is safer and more hygienic. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below.

[0022] Figure 1 This is a schematic diagram of the overall structure of a pneumatic soft robot according to an embodiment of the invention;

[0023] Figure 2 This is a schematic diagram of the internal structure of the rear airbag according to an embodiment of the invention;

[0024] Figure 3 This is a schematic diagram of the internal structure of a bellows according to an embodiment of the invention;

[0025] Figure 4 This is a cross-sectional view of a pneumatic soft robot according to an embodiment of the invention;

[0026] Figure 5 This is a motion gait diagram of a pneumatic soft robot according to an embodiment of the invention.

[0027] Figure labels: 1-colonoscope, 2-ventilation connector, 3-posterior balloon, 4-corrugated tube, 5-anterior balloon, 6-posterior balloon airway, 7-corrugated tube airway (posterior balloon portion), 8-anterior balloon airway (posterior balloon portion), 9-corrugated tube airway (corrugated tube portion), 10-anterior balloon airway (corrugated tube portion), 11-reference point, 12-diagram of the intestine, 13-inner wall of the posterior balloon, 14-inner wall of the corrugated tube, 15-inner wall of the anterior balloon. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] This invention provides a pneumatic soft robot for assisting enteroscopy. Specifically designed for enteroscopy, it can be abstracted into three chambers: a front air bladder, a bellows tube, and a rear air bladder structure connected coaxially in sequence. Each component—the front air bladder, the bellows tube, and the rear air bladder—has a hollow structure in the middle, through which the enteroscope passes. The rear air bladder is fixed to the enteroscope, and each component is equipped with an independent ventilation path to ensure that the airflow between the parts does not interfere with each other. The deformation of the chambers is controlled by inflating or deflating gas through three ventilation connectors via the airways, enabling anchoring within the small intestine, guiding the enteroscope, and efficiently completing the small intestine examination.

[0030] Specifically,

[0031] Anterior airbag 5 and posterior airbag 3 are located at the front and rear ends of the robot's forward direction, respectively. They expand radially through inflation to support the inner wall of the small intestine, providing a stable anchoring effect within the small intestine. In this embodiment, the anterior airbag 5 and posterior airbag 3 are shaped like a sphere or ellipsoid, with a relatively smooth front end and a rear end connected to the corrugated tube 4. Preferably, to aid in the robot's anchoring within the small intestine, anti-slip particles are evenly distributed around the outer ring of the anterior airbag 5 and posterior airbag 3. During use, the robot needs to be fitted onto the colonoscope 1 to assist in small intestine examination. Therefore, the posterior airbag 3 has a groove to accommodate the colonoscope 1 (and the connection between the posterior airbag 3 and the colonoscope 1 is relatively thick), and the posterior airbag 3 is generally an annular groove shape.

[0032] Bellows 4: One end is connected to the posterior air sac 3, and the other end is connected to the anterior air sac 5. Axial extension and retraction are achieved through inflation (and bellows 4 can move on the enteroscope 1 to extend the travel distance), enabling the enteroscope 1 to move back and forth within the small intestine. Due to its flexible nature, bellows 4 automatically extends along the intestinal extension direction when inflated and retracts in the intestinal direction when deflated, enhancing the robot's flexibility and adaptability.

[0033] The robot also includes at least three venting connectors 2 for supplying air to the rear airbag 3, the bellows 4, and the front airbag 5. In this embodiment, the front airbag 5, the rear airbag 3, and the bellows 4 are all independently connected to the front airbag airway, the rear airbag airway 6, and the bellows airway, and each airway extends a venting connector 2 at the end face of the rear airbag 3 to connect to an external air pump.

[0034] like Figure 2The diagram shows a cross-section of the rear airbag 3 of the present invention. The rear airbag 3 has two fully penetrating air passages for supplying air to the bellows 4 and the front airbag 5, and one partially penetrating air passage for supplying air to the rear airbag 3. Specifically, the rear airbag air passage 6 supplies air to the rear airbag 3, while the bellows air passage (rear airbag portion) 7 and the front airbag air passage (rear airbag portion) 8 supply air to the bellows 4 and the front airbag 5, respectively. Both the bellows air passage (rear airbag portion) 7 and the front airbag air passage (rear airbag portion) 8 penetrate the rear airbag 3 and extend outwards to the ventilation connector 2. Figure 3 The diagram shows a cross-section of the bellows 4 of the present invention. A flexible ventilation tube is installed inside the bellows 4 to supply air to the front airbag 5. Specifically, the bellows air passage (bellows section) 9 is connected to the bellows air passage (rear airbag section) 7 in the rear airbag 3 to supply air to the bellows 4. The front airbag air passage (bellows section) 10 is connected to the front airbag air passage (rear airbag section) 8 in the rear airbag 3 for supplying air to the front airbag 5. Figure 4 As shown, in the actual manufacturing process, the inner wall 13 of the rear airbag and the inner wall 14 of the corrugated tube are designed to be the thickest to accommodate the air passages. The inner wall of the rear airbag has three air passages (supplying air to the rear airbag, corrugated tube, and front airbag respectively), and the inner wall of the corrugated tube has two air passages (connected to the air passages on the inner wall of the rear airbag, used for supplying air to the corrugated tube and the front airbag). The inner wall 15 of the front airbag is the thinnest, requiring only one air passage (the air passage is integrally formed with the inner wall). Furthermore, the rear airbag can be integrally molded with the external expansion layer or manufactured separately and then assembled. This design not only optimizes the internal structure but also improves overall manufacturing flexibility and assembly convenience.

[0035] During operation, the posterior air bladder 3 of the pneumatic soft robot is anchored to the enteroscope 1 and inserted into the small intestine through the enteroscope 1. The posterior air bladder 3 and the anterior air bladder 5 are inflated through the venting connector 2, causing radial deformation. When they come into contact with the intestinal wall, they generate a certain anchoring force, the magnitude of which can be controlled by adjusting the amount of inflation. The bellows 4, after being inflated through the venting connector 2, undergoes axial expansion and contraction. The degree of elongation and contraction of the bellows 4 is controlled by the amount of inflation, simultaneously moving the anterior air bladder 5.

[0036] Preferably, considering the robot's physical and chemical stability, biocompatibility and environmental friendliness, the rear airbag 3, the bellows 4, and the front airbag 5 are all made of silicone.

[0037] The robot disclosed in this application can move stably in the complex small intestine environment, and the materials and shape used in the robot ensure the safety and effectiveness of the operation.

[0038] Example 2

[0039] This embodiment discloses a working method of a pneumatic soft robot for assisting enteroscopy in Embodiment 1: the pneumatic soft robot expands and inflates in an orderly manner through the rear air bladder, the bellows, and the front air bladder, and expands and inflates in an orderly manner through the sequential deflation and contraction of the bellows, the rear air bladder, and the front air bladder, alternating between these actions. The movement pattern mimics the peristaltic movement of an earthworm, enabling it to move smoothly and continuously forward inside the intestine.

[0040] During a enteroscopy, the robot's posterior balloon is fitted onto the enteroscope and inserted into the small intestine along with it. A simplified diagram illustrating the operation is shown below. Figure 5 As shown, there is colonoscope 1, reference point 11, and small intestine diagram 12. The robot's movement process is as follows:

[0041] a. Place the robot inside the small intestine along with the enteroscope;

[0042] b. The posterior sac inflates and anchors itself within the small intestine;

[0043] c. The corrugated tube is inflated, propelling the anterior air bladder forward along the small intestine;

[0044] d. The anterior balloon inflates and anchors the small intestine;

[0045] e. The posterior balloon and corrugated tube are deflated and contracted, dragging the anterior balloon and small intestine together towards the colonoscope;

[0046] f. The front airbag deflates and contracts, returning to the initial state a.

[0047] Repeated buffing (bf) allows the robot to move within the small intestine, guiding it onto the enteroscope for easier examination by medical staff. The difference between the inflation and deflation of the corrugated tube can be approximated as the length of the small intestine being dragged. Simultaneously, during surgical procedures, air can be supplied to the anterior and posterior balloons to anchor the enteroscope within the small intestine, stabilizing it and facilitating the procedure. After the surgery, the robot is removed from the patient along with the enteroscope.

[0048] Because of its flexible overall structure, the robot can passively adapt to the curvature of the intestine during expansion and elongation, thereby dragging the curved intestine onto the enteroscope for easy examination by doctors.

[0049] Unlike previous pneumatic robots for intestinal examination, the core idea of ​​this invention is to use a pneumatic robot to drag the small intestine without the robot crawling inside the small intestine. This can replace the traditional method of using a small enteroscope cannula, making it more convenient for medical staff to perform related examinations.

[0050] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pneumatic soft robot for assisting in enteroscopy, characterized in that, It includes an anterior airbag, a corrugated tube, and a posterior airbag connected coaxially in sequence. Each of the anterior airbag, the corrugated tube, and the posterior airbag is equipped with an independent ventilation path. The anterior and posterior airbags can expand radially with inflation, thereby achieving anchorage in the small intestine. The corrugated tube can expand axially with inflation, thereby pulling the small intestine into the enteroscope. The operation method of the pneumatic soft robot includes the following steps: S1, and place the pneumatic soft robot and the enteroscope together in the small intestine. In the initial state, the anterior air bladder, the bellows and the posterior air bladder are not inflated. S2, the posterior air sac inflates and anchors itself in the small intestine; S3, the corrugated tube is inflated, propelling the anterior air bladder forward along the direction of the small intestine; S4, after the anterior air sac reaches its position, it inflates and anchors itself in the small intestine; S5, the rear balloon and corrugated tube are deflated and contracted, dragging the front balloon and small intestine together towards the colonoscope. S6, the front airbag deflates and contracts, returning to its initial state.

2. The pneumatic soft robot according to claim 1, characterized in that, The front and rear airbags are spherical or ellipsoidal, with smooth front ends and connected to a bellows at the rear ends.

3. The pneumatic soft robot according to claim 1, characterized in that, The outer rings of the front and rear airbags are covered with anti-slip particles.

4. The pneumatic soft robot according to claim 1, characterized in that, The pneumatic soft robot includes at least three air inlets connected to an external pump, which are respectively connected to the rear airbag airway, the bellows airway, and the front airbag airway, for supplying air to the rear airbag, the bellows, and the front airbag.

5. The pneumatic soft robot according to claim 4, characterized in that, The rear airbag has two fully penetrating airways, namely the corrugated tube airway and the front airbag airway, and one partially penetrating airway, which is the rear airbag airway; the corrugated tube has a ventilation hose that connects directly to the front airbag, and the ventilation hose is connected to the front airbag airway.

6. The pneumatic soft robot according to claim 1, characterized in that, The posterior balloon has a groove for accommodating a small enteroscope.

7. The pneumatic soft robot according to claim 1, characterized in that, One end of the corrugated tube is connected to the posterior balloon, and the other end is connected to the anterior balloon. The posterior balloon is connected to the enteroscope. When the posterior balloon is inflated and anchored and the corrugated tube is inflated, it extends forward along the enteroscope, pushing the anterior balloon forward. When the anterior balloon is inflated and anchored and the corrugated tube is deflated, the corrugated tube contracts, and the anterior balloon pulls the small intestine backward.

8. The pneumatic soft robot according to any one of claims 1-7, characterized in that, The front airbag, bellows, and rear airbag are all made of silicone.

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