Octopus tentacle structure imitating micro-robot for biliary tract calculus removal

Abstract

The octopus tentacle structure imitating microrobot comprises a main body structure, the main body structure comprises a flexible epidermis layer, an intelligent muscle layer arranged on the inner side of the flexible epidermis layer and an elastic framework arranged in the intelligent muscle layer, a multispectral imaging system is arranged at the front end of the main body structure, and the multispectral imaging system is connected with the main body structure. A laser fiber lithotripsy unit and a lithotripsy grabbing unit are arranged at the front end of the main body structure in an extending mode, a plurality of bionic micro suction cups are arranged on the surface of the outer side of the flexible skin layer and communicate with a micro piezoelectric pump in the main body structure, a battery and an energy receiving coil are arranged in the main body structure, and the battery and the energy receiving coil are communicated with the micro piezoelectric pump. The in-vitro console transmits energy to the energy receiving coil through microwaves and stores the energy in the battery. The calculus in the biliary tract can be accurately and efficiently removed under the minimally invasive condition, trauma and pain to a patient are reduced, and the occurrence risk of complications is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and specifically to a micro-robot with an octopus tentacle-like structure for bile duct stone removal, which is used to enter the digestive tract through the oral cavity and penetrate deep into the bile duct for safe stone removal. Background Art

[0002] Bile duct stones are a common bile duct disease, and their incidence rates vary in different regions and populations. According to statistics, the incidence rate of cholelithiasis in Western countries is about 5%-22%, while the incidence rate of gallbladder stones in China is about 4%-5%, and about 11%-25% of patients with gallbladder stones are complicated with common bile duct stones. Bile duct stones may cause serious complications such as bile duct obstruction, cholangitis, and biliary pancreatitis. If not treated in time, it may endanger life.

[0003] Traditional treatment methods for bile duct stones mainly include surgical lithotomy, endoscopic lithotomy, etc. Although surgical lithotomy has significant effects, it has a large trauma, a long postoperative recovery time, and may cause complications such as bile fistula and bile duct stricture. Although endoscopic lithotomy has less trauma, it still has deficiencies in terms of operation complexity, stone clearance rate, and protection of the bile duct structure. In addition, when dealing with complex bile duct stones, endoscopic techniques may be difficult to achieve ideal treatment effects due to insufficient flexibility of the instruments.

[0004] In recent years, with the development of robot technology, the application of micro-robots in the medical field has gradually attracted attention. However, most of the existing bile duct stone removal robots have the following problems: First, their excessive rigidity makes it easy to damage the bile duct mucosa during operation in the narrow bile duct; second, their insufficient flexibility makes it difficult to accurately adapt to the complex anatomical structure of the bile duct; finally, the existing technologies still need to be improved in terms of stone clearance rate and control of postoperative recurrence rate. These problems limit the wide application of micro-robots in the treatment of bile duct stones. Summary of the Invention

[0005] The present invention provides a micro-robot with an octopus tentacle-like structure for bile duct stone removal, which can accurately and efficiently remove stones in the bile duct under minimally invasive conditions, reduce the trauma and pain of patients, and lower the risk of complications.

[0006] To achieve the above object, the present invention provides the following technical solution: A micro-robot with an octopus tentacle-like structure for bile duct lithotripsy, comprising a main body structure. The main body structure includes a flexible epidermal layer, an intelligent muscle layer disposed inside the flexible epidermal layer, and an elastic skeleton disposed inside the intelligent muscle layer. A multi-spectral imaging system is provided at the front end of the main body structure. A laser fiber lithotripsy unit and a lithotripsy grasping unit are provided to extend from the front end of the main body structure. A number of bionic micro-suction cups are provided on the outer surface of the flexible epidermal layer. The bionic micro-suction cups are communicated with a micro piezoelectric pump inside the main body structure. A battery and an energy receiving coil are provided inside the main body structure. The external console transmits energy to the energy receiving coil through microwave and stores it in the battery. By forming a main body structure similar to an octopus tentacle with the flexible epidermal layer, the intelligent muscle layer and the elastic skeleton, simulating the softness and flexibility of the octopus tentacle, and combining advanced robot control technology, it aims to achieve precise and safe removal of bile duct stones, while reducing damage to the bile duct, improving the stone clearance rate and the patient's recovery speed; the bionic micro-suction cups can achieve stable adsorption on the bile duct wall, the intelligent muscle layer can drive various movement modes, and the elastic skeleton can provide support for the robot and adapt to the pressure change inside the bile duct.

[0007] Preferably, the flexible epidermal layer includes a temperature-sensitive medical silicone layer and a lubricating coating provided on the surface of the temperature-sensitive medical silicone layer. The temperature-sensitive medical silicone layer can meet the passage in the bile duct, and the lubricating coating can reduce the damage to the bile duct tissue.

[0008] Preferably, thin-film micro pressure sensors are evenly distributed on the surface of the flexible epidermal layer for sensing the contact pressure with the bile duct wall.

[0009] Preferably, the intelligent muscle layer includes a shape memory alloy spring array layer, an IPMC fin layer and a magnetic response soft layer from outside to inside. The shape memory alloy spring array layer is formed by arranging shape memory alloy springs made of Ni-Ti material, with a diameter of 80 μm and a shrinkage rate of 30%, to achieve the drive of various movement modes.

[0010] Preferably, the elastic skeleton is a pre-deformed nickel-titanium alloy spiral skeleton.

[0011] Preferably, the multi-spectral imaging system includes a micro LED array and a CMOS sensor, which can analyze the stone composition in real time, and the recognition rate of cholesterol and calcium bilirubinate exceeds 95%.

[0012] Preferably, an electro-controlled nanofiber mesh and a micro Venturi pump located behind the electro-controlled nanofiber mesh are provided inside the main body structure for collecting and cleaning lithotripsy fragments.

[0013] Preferably, a distributed fiber Bragg grating is disposed inside the main body structure to help the robot sense the surrounding environment.

[0014] Preferably, a micro ToF sensor and a tactile feedback optical fiber are installed at the front end of the main body structure.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The main body structure similar to an octopus tentacle is composed of a flexible epidermal layer, an intelligent muscle layer and an elastic skeleton, simulating the softness and flexibility of an octopus tentacle. Combined with advanced robot control technology, it aims to achieve precise and safe removal of biliary tract stones, while reducing damage to the biliary tract, improving the stone clearance rate and the patient's recovery speed. The flexible epidermal layer is made of temperature-sensitive medical silicone, with micro-suction cups and a lubricating coating on the surface, and is equipped with micro pressure sensors to stably adsorb the biliary tract wall and reduce damage. The intelligent muscle layer is composed of shape memory alloy springs, ionic polymer-metal composite fins and magneto-responsive soft segments to achieve various motion modes; the super-elastic skeleton is a nickel-titanium alloy spiral skeleton to adapt to the pressure change in the biliary tract; the intelligent perception and navigation system combines multi-spectral imaging, tactile-force feedback and electromagnetic hybrid positioning to achieve stone composition analysis, three-dimensional contact force reconstruction and precise positioning; the lithotripsy-stone extraction module is equipped with a holmium laser fiber, a piezoelectric ultrasonic transducer, a bionic grasping mechanism and a debris management system for efficient fragmentation and grasping of stones; the energy and control system transmits energy through microwaves to achieve precise control of the robot's motion and functions, solving the deficiencies of traditional biliary tract stone treatment methods, such as large surgical trauma, poor flexibility of endoscopes and limitations of existing robot technologies. Description of the Drawings

[0016] Figure 1 is the overall sectional view structure diagram of the present invention; Figure 2 is the partial sectional view structure diagram of the flexible epidermal layer of the present invention; Figure 3 is the sectional view structure diagram of the intelligent muscle layer of the present invention; Figure 4 is the schematic diagram of the use state of the present invention.

[0017] Reference Signs: 1. Flexible epidermal layer, 11. Temperature-sensitive medical silicone layer, 12. Lubricating coating, 13. Micro ToF sensor, 2. Intelligent muscle layer, 21. IPMC fin layer, 22. Shape memory alloy spring array layer, 23. Magneto-responsive soft layer, 3. Elastic skeleton, 4. Electrically controlled nanofiber mesh, 5. Micro Venturi pump, 6. Bionic micro-suction cup, 7. Thin-film micro pressure sensor, 8. Laser fiber lithotripsy unit, 9. Lithotripsy grasping unit, 10. External console. Detailed Embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0019] The present invention aims to solve the deficiencies of traditional biliary calculus treatment methods, such as large surgical trauma, poor flexibility of endoscopes, and limitations of existing robot technologies. As Figures 1-4 shown, the following technical solutions are provided: A micro-robot with an octopus tentacle-like structure for biliary calculus extraction, including a main body structure. The main body structure includes a flexible epidermal layer 1, an intelligent muscle layer 2 arranged inside the flexible epidermal layer 1, and an elastic skeleton 3 arranged inside the intelligent muscle layer 2. A multi-spectral imaging system is arranged at the front end of the main body structure. A laser fiber lithotripsy unit 8 and a lithotripsy grasping unit 9 are arranged to extend out from the front end of the main body structure. A plurality of bionic micro-suction cups 6 are arranged on the outer surface of the flexible epidermal layer 1. The bionic micro-suction cups 6 are communicated with a micro piezoelectric pump inside the main body structure. A battery and an energy receiving coil are arranged inside the main body structure. The external console 10 transmits energy to the energy receiving coil through microwave and stores it in the battery. By forming a main body structure similar to an octopus tentacle with the flexible epidermal layer 1, the intelligent muscle layer 2, and the elastic skeleton 3, simulating the softness and flexibility of an octopus tentacle, combined with advanced robot control technology, it aims to achieve precise and safe extraction of biliary calculi, while reducing damage to the bile duct, improving the calculus clearance rate and the patient's recovery speed; the bionic micro-suction cups 6 can achieve stable adsorption on the bile duct wall, the intelligent muscle layer 2 can achieve driving of various motion modes, and the elastic skeleton 3 can provide support for the robot and adapt to the pressure change inside the bile duct.

[0020] Specifically, the flexible epidermal layer 1 includes a temperature-sensitive medical silicone layer 11 and a lubricating coating 12 arranged on the surface of the temperature-sensitive medical silicone layer 11. The temperature-sensitive medical silicone layer 11 can meet the requirement of passing through the bile duct, and the lubricating coating 12 can reduce damage to the bile duct tissue. Among them, the Shore hardness of the temperature-sensitive medical silicone is 10A at 37°C, the diameter of the bionic micro-suction cup 6 is 0.3 mm, and an adsorption force of -25 kPa is generated by means of the micro piezoelectric pump. The lubricating coating 12 is composed of polyethylene glycol and hyaluronic acid, and the friction coefficient is less than 0.05, which can reduce damage to the bile duct tissue. At the same time, thin-film micro pressure sensors 7 are evenly distributed on the surface of the flexible epidermal layer 1, with a detection range of 0 - 5 N, for sensing the contact pressure with the bile duct wall.

[0021] In this embodiment, the intelligent muscle layer 2 includes a shape memory alloy spring array layer 22, an IPMC fin layer 21, and a magnetic response soft body layer 23 from outside to inside. The shape memory alloy spring array layer 22 is formed by arranging shape memory alloy springs made of Ni-Ti material, with a diameter of 80 μm and a shrinkage rate of 30%, to achieve the drive of various motion modes. Among them, the Ni-Ti material, namely nickel-titanium alloy, is a functional material with unique properties, having shape memory characteristics, superelasticity, corrosion resistance, and good biocompatibility.

[0022] The IPMC fin layer 21 is an ion polymer-metal composite fin with a thickness of 0.1 mm, which is composed of an ion polymer film and flexible metal electrodes on the upper and lower surfaces. The ion polymer film is usually a perfluorosulfonic acid type proton exchange membrane, such as Nafion membrane, which has good ion conductivity and chemical stability. The metal electrodes generally use noble metals such as platinum, gold, and silver, or conductive materials such as carbon nanotubes and graphene. Under the action of an external electric field, the movable ions in the ion polymer film migrate directionally. The cations move towards the cathode direction, and the anions move towards the anode direction, resulting in the gradual accumulation of cations and anions on the surfaces of the two electrodes. Due to the difference in the volumes of cations and anions, the volume difference between the two electrodes gradually increases after ion migration, thereby generating a driving bending deformation to achieve the swing of the fin. It has high flexibility and can imitate complex actions such as the bending and twisting of biological fins, and can adapt to different water flow environments and motion requirements. Only by applying a relatively low voltage (generally less than 10V) can obvious deformation and driving effects be produced, reducing the energy consumption and the complexity of the drive system. It can respond to electrical signals in a short time, quickly change the shape and swing frequency of the fin, and achieve efficient propulsion and steering control. When applied in the fields of biomedicine and bionics, it has good compatibility with biological tissues and has little impact on the physiological activities of organisms.

[0023] The magnetoresponsive soft layer 23 is made of PDMS doped with NdFeB particles with 8% volume fraction of NdFeB particles. It is a new type of functional material that combines magnetic NdFeB particles with polydimethylsiloxane (PDMS). NdFeB is a high-performance rare-earth permanent magnet material with characteristics such as high remanence, high coercivity, and high magnetic energy product. When subjected to an external magnetic field, the NdFeB particles will be magnetized and generate magnetic force, thus causing the entire soft segment to exhibit corresponding magnetoresponsive behavior. PDMS is a silicone polymer with good flexibility, transparency, chemical stability, and biocompatibility. As the matrix material, it evenly disperses the NdFeB particles in it, forming a continuous three-dimensional network structure, providing support and protection for the NdFeB particles, and at the same time endowing the overall softness and processability of the soft segment. The doping ratio of 8% volume fraction of NdFeB particles is carefully designed and experimentally optimized. This ratio can not only ensure that the soft segment has sufficient magnetoresponsive intensity but also maintain the good flexibility and other properties of the PDMS matrix. If the content of NdFeB particles is too high, it may cause the soft segment to become hard and brittle, affecting its soft and deformable characteristics; while if the content is too low, the magnetoresponse effect may not be obvious. Specifically, under the action of an external magnetic field, the NdFeB particles will be subjected to magnetic force. Since the NdFeB particles are evenly dispersed in the PDMS matrix, these magnetic forces will cause the entire soft segment to undergo macroscopic deformation. For example, when the magnetic field direction changes, the soft segment may undergo different forms of deformation such as bending, twisting, or stretching. The degree and mode of its deformation are closely related to factors such as the intensity and direction of the magnetic field and the distribution state of the NdFeB particles. This magnetoresponsive soft segment can respond quickly to changes in the magnetic field. Due to the relatively rapid magnetization and demagnetization processes of the NdFeB particles, on the millisecond time scale, the soft segment can adjust its own shape according to the changes in the magnetic field. This fast response characteristic makes it have great advantages in some application scenarios that require real-time control and fast actions. The magnetoresponsive behavior has good reversibility. When the external magnetic field is removed, the soft segment can return to its initial shape because the PDMS matrix has elasticity. After the magnetic force on the NdFeB particles disappears, it can make the soft segment return to its original state by virtue of its own elastic force. This reversible magnetoresponsive characteristic enables the soft segment to work repeatedly under the action of a magnetic field multiple times, with high stability and reliability.

[0024] In this embodiment, the elastic skeleton 3 is a pre-deformed nickel-titanium alloy spiral skeleton with a diameter of Φ0.15 mm, a distal stiffness of 0.08 N / mm², and a proximal stiffness of 1.5 N / mm². Nickel-titanium alloy is a shape memory alloy with unique shape memory effect and superelasticity. Within a certain temperature range, it can remember the pre-set shape. When deformed under external force, it can return to its original shape under specific conditions (such as heating or removing the external force). At the same time, the superelasticity enables it to withstand large strains within the elastic deformation range without permanent deformation, which endows the nickel-titanium alloy spiral skeleton with good flexibility and fatigue resistance; the skeleton is spiral-shaped, and this structure imparts some special mechanical properties. The spiral structure can absorb energy through its own twisting and deformation when subjected to external force, and can transmit force and displacement to a certain extent along the axial and radial directions, enabling the skeleton to have certain load-bearing and deformation capabilities in different directions. After pre-deformation treatment, it means that during the manufacturing process, the skeleton is pre-given a specific shape or deformation state. This pre-deformation can be designed according to specific application requirements, such as making it have a certain curvature or torsion angle in the natural state, so as to better adapt to a specific working environment and achieve specific functions in actual use. The distal stiffness of the elastic skeleton 3 is less than the proximal stiffness, indicating that the distal end of the skeleton is relatively soft and easy to deform, and can produce a large displacement under a small external force, which is suitable for parts that need to contact soft tissues or objects and have high flexibility requirements. While the proximal stiffness is higher, indicating that the proximal end has a strong ability to resist deformation and can withstand large external forces while maintaining a relatively stable shape, which is more beneficial for functions such as connection and fixation or providing support. This design with different distal and proximal stiffnesses enables the spiral skeleton to achieve a better balance between flexibility and stability according to the functional requirements of different parts.

[0025] In this embodiment, the multi-spectral imaging system includes a micro LED array and a CMOS sensor, which can analyze the stone composition in real time, and the recognition rate of cholesterol and calcium bilirubinate exceeds 95%. The micro LED array can achieve illumination, and the CMOS sensor can analyze the stone composition in real time.

[0026] In this embodiment, an electrocontrolled nanofiber mesh 4 and a micro Venturi pump 5 located behind the electrocontrolled nanofiber mesh 4 are provided inside the main body structure for collecting and cleaning gravel fragments. The pore size of the electrocontrolled nanofiber mesh 4 is <50 μm, and the unfolding speed is 0.2 s. The electrocontrolled nanofiber mesh is a mesh-structured material composed of nanofibers, and the fiber diameter is usually between dozens and hundreds of nanometers. It realizes the manipulation and performance regulation of fibers through the action of an electric field. During the preparation process, technologies such as electrospinning are used to spray and stretch a polymer solution or melt under a strong electric field to form nanofibers, which are deposited on a collecting device to form a fiber mesh. By changing parameters such as the electric field strength, frequency, and waveform, the structural parameters such as the diameter, orientation, morphology of the nanofibers, and the porosity of the fiber mesh can be precisely controlled, thereby regulating its physical, chemical, and mechanical properties. The flow rate of the micro Venturi pump 5 is 0.05 - 0.8 mL / s. It is a small fluid delivery device based on the Venturi effect. The overall structure of the micro Venturi pump is relatively compact, and the size is usually small, which can adapt to application scenarios with limited space, such as miniaturized experimental equipment, small medical devices, portable instruments, etc.

[0027] In this embodiment, a distributed fiber Bragg grating is threaded inside the main body structure to help the robot sense the surrounding environment. It is an optical device with important applications in the fields of optical fiber communication, optical fiber sensing, etc. The distributed fiber Bragg grating is provided with 50 measurement points, which are distributed at specific intervals and layouts to achieve a three-dimensional contact force reconstruction with an accuracy of ±0.02 N. The fiber Bragg grating is formed by introducing a periodic refractive index modulation into the fiber core. When a broadband light beam is transmitted in the fiber, light with a specific wavelength that satisfies the Bragg condition will be reflected back, and the light with the remaining wavelengths will continue to be transmitted in the fiber.

[0028] Meanwhile, a micro ToF sensor 13 and a tactile feedback optical fiber are installed at the front end of the main body structure. The micro ToF sensor 13 is a miniaturized sensor that measures distance based on the principle of Time of Flight (ToF). The micro ToF sensor emits light pulses (usually near-infrared light) towards the target object, and then measures the time it takes for the light pulses to be emitted, reflected by the target object, and received by the sensor. According to the speed of light propagation in air (a known constant) and combined with the flight time, the distance between the sensor and the target object can be calculated, enabling distance measurement with millimeter-level or even higher precision. It is suitable for application scenarios with high requirements for distance accuracy, can complete multiple distance measurements in a short time, has a high measurement frame rate, can obtain the distance information of the target object in real time, and meets the measurement requirements in dynamic scenarios. The tactile feedback optical fiber is a special optical fiber that can achieve the tactile feedback function. When the optical fiber is subjected to external forces, the stress distribution inside it will change, resulting in changes in the light propagation characteristics (such as light intensity, wavelength, phase, etc.). By detecting these changes in light signals, information such as the magnitude, direction, and position of the external force can be sensed, thereby achieving tactile perception. In terms of feedback, usually, some devices that can generate forces or vibrations are arranged around the optical fiber. When tactile feedback is required, these devices will apply corresponding forces or vibrations to the optical fiber according to the control signal, and then the user can feel the tactile stimulation.

[0029] The laser fiber lithotripsy unit 8 and the piezoelectric ultrasonic transducer can form a dual-mode lithotripsy tool. The laser fiber lithotripsy unit 8 is equipped with a holmium laser fiber with a diameter of 200μm and a peak power of 15W. The frequency of the piezoelectric ultrasonic transducer is 20MHz, and the cavitation threshold is controllable.

[0030] The lithotripsy grasping unit 9 is composed of three layers of IPMC jaws, with an opening and closing range of 0.2 - 5mm, and uses vacuum-assisted adsorption with an instantaneous flow rate of 0.3mL / s to achieve the grasping of stones.

[0031] A battery and an energy receiving coil are arranged inside the main body structure. The external console 10 delivers energy to the energy receiving coil through microwaves and stores it in the battery. Specifically, the external console transmits energy to the energy receiving coil through 5.8GHz microwaves and stores it in a 7.4V / 150mAh battery. The magnetic navigation system transmits signals to the motion control algorithm module to achieve the switching control of the three states of the robot's peristalsis, turning, and lithotripsy.

[0032] Robot operation steps: Preoperative preparation: Conduct a comprehensive examination of the patient, obtain CT or MRI image data, and use the electromagnetic hybrid positioning system for preoperative positioning planning. Send the robot into the digestive tract through oral or other minimally invasive methods.

[0033] Biliary tract intervention: Under the guidance of an external magnetic field, the robot enters the biliary tract through the oral cavity and digestive tract. Using a multi-modal motion system, according to the shape of the biliary tract and the position of the stone, a suitable motion mode is selected, such as bionic peristalsis, spiral penetration or magnetic control steering, so that the robot reaches the stone position.

[0034] Stone extraction operation: Through a multi-spectral imaging system and a tactile-force feedback network, the composition, size and position of the stone are determined. The stone is broken using a dual-mode lithotripsy tool, and then the crushed stones are removed through a bionic grasping mechanism and a debris management system.

[0035] Post-operative treatment: After the stone extraction is completed, the robot is safely withdrawn from the body through an emergency withdrawal mode. The patient is examined postoperatively to ensure that there is no residual stone and no biliary tract injury.

[0036] When in use, it can perform bionic peristalsis through the intelligent muscle layer 2, with a propulsion speed of 1.8 cm / min. By relying on the rotation of the elastic skeleton 3 and the swing of the IPMC fin layer 21, the torque can reach 0.15 mN·m, which is used to cross complex biliary tract structures. Using external magnetic field gradient control (0.5 T / m), a steering accuracy of ±0.3 mm is achieved to realize magnetic control steering. Triaxial magnetic markers are used in the patient's body, with a positioning accuracy of 0.4 mm; outside the body, through CT / MRI image fusion, the registration error is less than 1 mm, ensuring the precise positioning of the robot in the biliary tract.

[0037] The robot in this embodiment also includes a tissue protection system and a fault response plan. The tissue protection system enables the robot to automatically retreat when the contact pressure exceeds 0.5 N; at the same time, it monitors the temperature of the working area to ensure that it is below 41 °C to prevent damage to the biliary tract tissue. The fault response plan has a dual dissolution mechanism. When pH > 7.4, the hydrogel degrades and completely dissolves within 6 hours; at the same time, an oxidation-responsive magnesium framework is used, which disintegrates in the bile environment within 72 hours to deal with the situation where the robot malfunctions in the body. It meets the ISO 10993 - 5 cytotoxicity standard. Compared with traditional endoscopes, the surface bacterial attachment rate is less than 5%, ensuring the safety of human tissues.

[0038] Generally speaking, the design of the micro-robot in this embodiment enables it to enter the biliary tract through a minimally invasive method, reducing the trauma to the patient and shortening the postoperative recovery time and pain; the combination of a multi-modal motion system and an intelligent perception and navigation system enables the robot to quickly and accurately reach the stone position and efficiently remove the stone through a dual-mode lithotripsy tool and a bionic grasping mechanism.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0040] In addition, in the present invention, descriptions such as "primary" and "secondary" are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "primary" and "secondary" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0041] In the present invention, unless otherwise clearly specified and defined, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

Claims

1. A micro-robot with an octopus tentacle-like structure for bile duct stone extraction, characterized in that, The invention comprises a main structure, wherein the main structure comprises a flexible epidermis layer (1), an intelligent muscle layer (2) arranged on the inner side of the flexible epidermis layer (1), and an elastic skeleton (3) arranged inside the intelligent muscle layer (2); a multi-spectral imaging system is arranged at the front end of the main structure; a laser fiber lithotripsy unit (8) and a lithotripsy grabbing unit (9) are extended from the front end of the main structure; a plurality of bionic micro-suckers (6) are arranged on the outer surface of the flexible epidermis layer (1); the bionic micro-suckers (6) are connected to a micro piezoelectric pump inside the main structure; a battery and an energy receiving coil are arranged inside the main structure; an external control console (10) transmits energy to the energy receiving coil through microwaves and stores the energy in the battery.

2. The micro-robot with an octopus tentacle-like structure for bile duct lithotripsy according to claim 1, characterized in that: The flexible epidermal layer (1) comprises a temperature-sensitive medical silicone layer (11) and a lubricating coating (12) arranged on the surface of the temperature-sensitive medical silicone layer (11).

3. The micro-robot with an octopus tentacle-like structure for bile duct lithotripsy according to claim 2, characterized in that: The surface of the flexible epidermis (1) is uniformly distributed with thin film micro pressure sensors (7).

4. The micro-robot with an octopus tentacle-like structure for bile duct lithotripsy according to claim 1, characterized in that: The smart muscle layer (2) comprises, from outside to inside, a shape memory alloy spring array layer (22), an IPMC fin layer (21) and a magnetic response soft layer (23), wherein the shape memory alloy spring array layer (22) is formed by arranging shape memory alloy springs made of Ni-Ti material, with a diameter of 80 μm and a shrinkage rate of 30%.

5. The micro-robot with an octopus tentacle-like structure for bile duct lithotripsy according to claim 1, wherein: The elastic skeleton (3) is a pre-deformed nickel-titanium alloy spiral skeleton.

6. The micro-robot with an octopus tentacle-like structure for bile duct stone extraction according to any one of claims 1-5, characterized in that: The multispectral imaging system includes a micro LED array and a CMOS sensor.

7. The micro-robot with an octopus-tentacle-like structure for bile duct stone extraction according to claim 6, characterized in that: An electrically controlled nanofiber net (4) and a micro-Venturi pump (5) located at the rear side of the electrically controlled nanofiber net (4) are provided inside the main structure.

8. The micro-robot with an octopus-tentacle-like structure for bile duct stone extraction according to claim 7, wherein: A distributed fiber Bragg grating is provided inside the main structure.

9. The micro-robot with an octopus tentacle-like structure for bile duct lithotripsy according to claim 7, characterized in that: A micro ToF sensor (13) and a tactile feedback optical fiber are installed at the front end of the main structure.

Images