Control method for endoscope robot

Abstract

The invention relates to a control method for an endoscope robot. The technical problem of how to improve the working accuracy, passing ability and complex cavity environment adaptability of an endoscope is solved. Firstly, an inner pipe of the mechanical arm is actively bent, and then the rigidity of an outer pipe of the mechanical arm is adjusted in a negative pressure mode. The system has the functions of rapid variable stiffness adjustment, continuum active bending and magnetic-inertial fusion autonomous navigation. The device is widely applied to examination and operation of high-curvature cavities such as small intestines and the like.

Description

Technical Field

[0001] This invention relates to the fields of medical devices and robotics, and more specifically, to a control method for an endoscopic robot. Background Technology

[0002] Endoscopes are widely used in gastrointestinal examinations and can include colonoscopes, bronchoscopes, colposcopes, cystoscopes, esophagoscopes, gastroscopes, laparoscopes, thoracoscopes, colonoscopes, etc.

[0003] The diagnosis and treatment of small bowel diseases represent the "last mile" in the field of digestive endoscopy. The double-balloon enteroscope is a product designed for accurate and efficient examination and treatment, featuring an instrument channel and two balloons. However, limitations imposed by the small bowel's anatomical structure, mucosal folds, peristaltic intensity, and luminal narrowing still present challenges in achieving efficient, comprehensive, and comfortable examination and treatment throughout the entire length of the small intestine.

[0004] In complex surgical scenarios, surgeons must rely on manipulation devices to perform operations, making coordination between the endoscope and the manipulation device crucial. Patent application CN119768614A, entitled "Dynamic Rigidification Method and Device," discloses a method of placing numerous particles between a flexible inner tube and a flexible outer tube, adjusting stiffness through negative pressure. Patent application CN119212606A discloses a method for managing and manipulating a relatively long robotic endoscope.

[0005] Improving the accuracy, accessibility, and adaptability to complex cavitary environments of endoscopic work is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] This application aims to solve the technical problem of how to improve the accuracy, accessibility, and adaptability to complex cavity environments of endoscopic work, and provides a control method for endoscopic robots that can improve accuracy, accessibility, and adaptability to complex cavity environments.

[0007] A first aspect of this disclosure provides a control method for an endoscopic robot, comprising the following steps:

[0008] Step (1): Actively bend the inner tube of the robotic arm;

[0009] Step (2): Adjust the stiffness of the outer tube of the robotic arm by using negative pressure.

[0010] Preferably, the control method uses a fusion of magnetic navigation and a high-performance inertial measurement unit for navigation.

[0011] A second aspect of this disclosure provides a control method for an endoscopic robot, comprising the following steps:

[0012] Step S101: Inflate the distal balloon of the robotic arm to make it expand and make it come into close contact with the intestinal wall to achieve distal anchoring;

[0013] Step S102: Increase the rigidity of the outer tube of the robotic arm by using negative pressure;

[0014] Step S103: Deflat the proximal balloon of the robotic arm;

[0015] Step S104: Under the action of external force, the proximal end of the robotic arm moves forward to perform a propulsion operation, so that the proximal end of the robotic arm moves to the target position and / or the entire robotic arm is in the expected bending state.

[0016] Step S105: Inflate the proximal balloon to make it expand and make it come into close contact with the intestinal wall to achieve proximal anchoring.

[0017] Preferably, after step S105, the following is performed:

[0018] Step S106: Deflate the distal balloon to release it from anchoring;

[0019] Step S107: Maintain a certain rigidity in the outer tube of the robotic arm or depressurize it to restore it to a flexible state.

[0020] Preferably, in step S104, the stiffness of the outer tube is dynamically adjusted during the advancement process.

[0021] Preferably, navigation is achieved by fusing magnetic navigation with a high-performance inertial measurement unit.

[0022] A third aspect of this disclosure provides a control method for an endoscopic robot, comprising the following steps:

[0023] Step S201: Inflate the distal balloon to make it expand and make it come into close contact with the intestinal wall to achieve distal anchoring;

[0024] Step S202: Deflat the proximal balloon.

[0025] Step S203: Bend the inner tube to move the proximal end of the robotic arm to the target position and / or bring the robotic arm as a whole into the desired bent state.

[0026] Step S204: Inflate the proximal balloon to make it expand and make it come into close contact with the intestinal wall to achieve proximal anchoring;

[0027] Step S205: Increase the rigidity of the outer tube by using negative pressure.

[0028] A fourth aspect of this disclosure provides a control method for an endoscopic robot, comprising the following steps:

[0029] Step S301: Inflate the distal balloon to make it expand and make it come into close contact with the intestinal wall to achieve distal anchoring;

[0030] Step S302: Deflat the proximal balloon.

[0031] Step S303: Bend the inner tube to move the proximal end of the robotic arm to the target position and / or bring the robotic arm as a whole into the desired bent state.

[0032] Step S304: Inflate the proximal balloon to make it expand and make it come into close contact with the intestinal wall to achieve proximal anchoring;

[0033] Step S305: Deflate the distal balloon to release it from anchoring;

[0034] Step S305: Maintain a certain rigidity in the outer tube of the robotic arm.

[0035] A fifth aspect of this disclosure provides an endoscopy robot that implements the control method described in any one of the preceding claims.

[0036] The beneficial effect of this disclosure is that it combines rapid stiffness adjustment with active bending function, providing a new way of working for endoscopic robots, and making them better suited for the diagnosis and treatment of digestive tract diseases, especially for the examination and surgical operation of complex cavities in the small intestine.

[0037] This system achieves variable stiffness and coordinated propulsion using two balloons, enabling a three-dimensional collaborative working mode of segmental advance and retreat, stiffness switching, and anchoring cycles. This coupling mechanism reduces shearing and compression of the intestinal wall during propulsion, improves patient comfort, and reduces the risk of mucosal damage, which has significant clinical safety implications.

[0038] By coupling variable stiffness, dual balloons, and magnetic-inertial fusion navigation, precise control can be achieved. Even in scenarios with strong magnetic disturbances and signal loss, millimeter-level positioning can still be achieved, improving robustness, safety, and autonomy in curvature cavities.

[0039] Further features and aspects of this disclosure will be clearly described in the following detailed description with reference to the accompanying drawings. Attached Figure Description

[0040] Figure 1 It is a schematic diagram of the robotic arm;

[0041] Figure 2 This is a schematic diagram of the robotic arm.

[0042] Figure 3 This is a schematic diagram of the robotic arm.

[0043] Figure 4This is a schematic diagram of a working mode of dual-balloon propulsion combined with stiffness adjustment of a robotic arm. Figure (a) shows the distal balloon inflated and the proximal balloon in deflated state. Figure (b) shows the state after the proximal balloon is moved. Figure (c) shows the proximal balloon inflated and the distal balloon in deflated state.

[0044] Figure 5 This is a schematic diagram of a working mode of a robotic arm with dual balloon propulsion combined with stiffness adjustment. Figure (a) shows the distal balloon inflated and the proximal balloon in deflated state. Figure (b) shows the state where the inner tube is bent, so that the proximal end of the robotic arm is in a certain position. Figure (c) shows the state where the proximal balloon is inflated and the distal balloon is inflated.

[0045] Explanation of symbols in the diagram:

[0046] 100. Outer tube; 101. Stacked interference layer; 200. Inner tube; 201. Working channel; 301. Proximal balloon; 302. Distal balloon. Detailed Implementation

[0047] The application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] The specific embodiments described below are merely preferred embodiments of this application, and the scope of protection of this application is not limited thereto. Those skilled in the art can make modifications or variations based on the principles, concepts, and spirit of this application, and the resulting technical solutions should all be covered within the scope of protection of this application.

[0049] The stiffness-adjustable active bending small bowel endoscopy robot includes a robotic arm, a drive unit, a navigation and sensing system, a control system, and a human-machine interaction system.

[0050] like Figure 1-3 As shown, the robotic arm includes an outer tube 100, an inner tube 200, a proximal balloon 301, and a distal balloon 302. The outer tube 100 includes a stacked interference layer 101, which is based on the principle of layer blockage. It comprises multiple flexible films (at least two flexible films), stacked together, with fine particles filling the spaces between adjacent films; that is, the spaces between the flexible film layers are layers of fine particles. Under normal pressure, the flexible film layers can slide relative to each other, exhibiting overall flexibility. When negative pressure is applied, atmospheric pressure causes the film layers to adhere tightly, increasing interlayer friction sharply, while simultaneously compacting the granular material, significantly improving overall stiffness. By precisely controlling the magnitude and distribution of negative pressure, continuous adjustment and localized control of stiffness can be achieved. This not only adapts to the complex morphology of the intestine but also provides sufficient support when needed, resolving the contradiction between flexibility and support in traditional endoscopes.

[0051] The inner tube 200 is a biomimetic continuum structure that mimics the flexible movement mechanism of organisms such as an elephant's trunk. This continuum structure consists of multiple interconnected bending units, each of which can independently control its bending direction and angle (for example, it can adopt the snake-bone structure described in patent application CN120130899A). Bending is driven by a cable, achieving bending motion by precisely controlling the length of the drive cable. The advantage of the continuum structure lies in its ability to produce smooth and continuous bending patterns, avoiding the movement singularities and dead points of traditional articulated structures. Simultaneously, the compliant nature of the continuum allows it to adaptively deform upon contact with the intestinal wall, reducing the risk of injury.

[0052] The inner tube 200 has a working channel 201 in the middle for tissue biopsy or treatment procedures.

[0053] The outer tube 100 acts as an outer sleeve, enclosing the inner tube 200. The inner tube 200 and the outer tube 100 are coaxial.

[0054] The proximal balloon 301 is connected to one end of the outer tube 100, and the distal balloon 302 is connected to the other end of the outer tube 100. The distal balloon 302 is responsible for distal anchoring, and the proximal balloon 301 is responsible for proximal propulsion; the two balloons work together. The first endotracheal tube for inflating and deflating the proximal balloon 301 is conventionally positioned between the outer tube 100 and the inner tube 200. The second endotracheal tube for inflating and deflating the distal balloon 302 is conventionally positioned between the outer tube 100 and the inner tube 200.

[0055] The drive unit includes a wire drive unit, an inflation / deflation unit, and a negative pressure unit. The wire drive unit drives the inner tube 200 to bend. The inflation / deflation unit inflates or deflates the proximal balloon 301 and the distal balloon 302. The negative pressure unit evacuates the outer tube 100, creating negative pressure, which increases the stiffness of the outer tube and the overall stiffness of the robotic arm.

[0056] The navigation and sensing system can employ a magnetic-inertial fusion navigation method. An external magnetic field generator uses a matrix Halbach permanent magnet array to generate the magnetic field, which is positioned outside the robotic arm; the corresponding magnetometer is installed inside the inner tube 200. A high-performance inertial measurement unit (IMU) is also installed inside the inner tube 200. A fusion algorithm combines the data from the magnetometer and the IMU to achieve high-precision 3D positioning and attitude estimation.

[0057] The human-computer interaction system provides an intuitive operating interface and enables functions such as path planning, motion control, and image display.

[0058] The diameter of the outer tube 100 can be ≤12mm, and the length of the outer tube 1 can be approximately 1.6m. The diameter of the inner tube 200 can be ≤2mm.

[0059] When the aforementioned adjustable-stiffness active bending small bowel endoscopy robot is in operation, in a compliant state where the outer tube 200 is not under negative pressure, the entire robotic arm enters the small intestine under external force. Then, the stiffness of the outer tube 200 is increased and locked through the negative pressure unit, allowing surgical instruments or detection mechanisms extending from the working channel 201 of the inner tube 200 to operate. It is evident that the robotic arm can rapidly switch between a compliant state and a certain stiffness state, completing the stiffness switch in the 100-200 millisecond range, significantly improving its flexibility in handling complex cavities.

[0060] The robotic arm can also operate as follows: the inner tube 200 actively bends, while the outer tube 200 rapidly changes stiffness for dual-function coupling, ensuring safe advancement in the small intestine (especially the narrow segment). The stiffness control of the outer tube 200 is based on a negative pressure stiffening mechanism using a multi-layered flexible membrane and granular interlayer, controlled by a negative pressure unit. A specific process of the coordinated mechanism of dual-balloon propulsion and stiffness switching is as follows:

[0061] Step S101: Inflate the distal balloon 302 to allow it to expand, making it come into close contact with the intestinal wall to form an anchoring point, thus achieving distal anchoring. Figure 4 As shown in Figure (a).

[0062] In step S102, the stiffness of the outer tube 200 is rapidly increased by the negative pressure unit, which can provide a stable support foundation for the subsequent near-end propulsion.

[0063] Step S103: Deflate the proximal balloon 301. Figure 4 As shown in Figure (a).

[0064] In step S104, the doctor manually operates the endoscope. Under external force, the proximal end of the robotic arm (i.e., the corresponding part of the proximal balloon 301) moves forward, completing the advancement operation according to the required advancement path and step distance, so that the proximal end of the robotic arm moves to the target position and / or the entire robotic arm is in the expected bent state. Figure 4 As shown in Figure (b).

[0065] During the process, the stiffness of the outer tube 200 can be dynamically adjusted to avoid excessive compression or damage to the intestinal wall.

[0066] Step S105: Inflate the proximal balloon 301 to make it expand, so that it makes close contact with the intestinal wall to form an anchoring point and achieve proximal anchoring.

[0067] Step S106: Deflate the distal balloon 302 to release it from anchoring. (As...) Figure 4 As shown in Figure (c).

[0068] Step S107: For the outer tube 200, maintain a certain rigidity as needed, or depressurize it to restore it to a soft state.

[0069] After any of the above steps are completed, surgery or testing may be performed as needed.

[0070] Repeating the above process allows for continuous, safe, and efficient entry into the work area, enabling safe and efficient examinations and surgeries.

[0071] In all the above-mentioned processes, magnetic inertial fusion navigation improves robustness, safety and autonomy in high curvature cavities, and can still achieve millimeter-level positioning in scenarios with strong magnetic disturbances and signal loss.

[0072] Another specific process of the synergistic mechanism between dual-balloon propulsion and stiffness switching is:

[0073] Step S201: Inflate the distal balloon 302 to make it expand, so that it makes close contact with the intestinal wall to form an anchoring point and achieve distal anchoring.

[0074] Step S202: Deflate the proximal balloon 301. Figure 5 As shown in Figure (a).

[0075] In step S203, the operating line drive unit bends the inner tube 200, moving the proximal end of the robotic arm to the target position and / or placing the entire robotic arm in the desired bent state. Figure 5 As shown in Figure (b).

[0076] Step S204: Inflate the proximal balloon 301 to allow it to expand, making it come into close contact with the intestinal wall to form an anchoring point, thus achieving proximal anchoring. Figure 5 As shown in Figure (c).

[0077] Step S205: The stiffness of the outer tube 200 is rapidly increased by the negative pressure unit.

[0078] Another specific process of the synergistic mechanism between dual-balloon propulsion and stiffness switching is:

[0079] Step S301: Inflate the distal balloon 302 to make it expand, so that it makes close contact with the intestinal wall to form an anchoring point, thereby achieving distal anchoring.

[0080] Step S302: Deflat the proximal balloon 301.

[0081] In step S303, the operation line drive unit bends the inner tube 200, moves the proximal end of the robotic arm to the target position and / or puts the entire robotic arm in the expected bent state.

[0082] Step S304: Inflate the proximal balloon 301 to make it expand, so that it makes close contact with the intestinal wall to form an anchoring point and achieve proximal anchoring.

[0083] Step S305: Deflat the distal balloon 302 to release it from anchoring.

[0084] Step S305: For the outer tube 200, maintain a certain rigidity according to actual needs.

[0085] It is evident that implementing the above-mentioned working methods can achieve precise control, reduce the rate of missed diagnoses, improve the maneuverability of the robotic arm, and shorten the detection time; it ensures stable advancement and repositioning under different cavity curvatures, improving stability and safety in complex cavity environments. This achieves full small bowel coverage, integrated diagnosis and treatment, and safe and efficient operation.

Claims

1. A control method for an endoscopic robot, characterized in that, Includes the following steps: Step (1): Actively bend the inner tube of the robotic arm; Step (2): Adjust the stiffness of the outer tube of the robotic arm by using negative pressure.

2. The control method for an endoscopic robot according to claim 1, characterized in that, The control method uses a fusion of magnetic navigation and a high-performance inertial measurement unit for navigation.

3. A control method for an endoscopic robot, characterized in that, Includes the following steps: Step S101: Inflate the distal balloon of the robotic arm to make it expand and make it come into close contact with the intestinal wall to achieve distal anchoring; Step S102: Increase the rigidity of the outer tube of the robotic arm by using negative pressure; Step S103: Deflat the proximal balloon of the robotic arm; Step S104: Under the action of external force, the proximal end of the robotic arm moves forward to perform a propulsion operation, so that the proximal end of the robotic arm moves to the target position and / or the entire robotic arm is in the expected bending state. Step S105: Inflate the proximal balloon to make it expand and make it come into close contact with the intestinal wall to achieve proximal anchoring.

4. The control method for an endoscopic robot according to claim 3, characterized in that, After step S105, the following is performed: Step S106: Deflate the distal balloon to release it from anchoring; Step S107: Maintain a certain rigidity in the outer tube of the robotic arm or depressurize it to restore it to a flexible state.

5. The control method for an endoscopic robot according to claim 3 or 4, characterized in that, In step S104, the stiffness of the outer tube is dynamically adjusted during the advancement process.

6. The control method for an endoscopic robot according to claim 3 or 4, characterized in that, Navigation is achieved by fusing magnetic navigation with a high-performance inertial measurement unit.

7. A control method for an endoscopic robot, characterized in that, Includes the following steps: Step S201: Inflate the distal balloon to make it expand and make it come into close contact with the intestinal wall to achieve distal anchoring; Step S202: Deflat the proximal balloon. Step S203: Bend the inner tube to move the proximal end of the robotic arm to the target position and / or bring the robotic arm as a whole into the desired bent state. Step S204: Inflate the proximal balloon to make it expand and make it come into close contact with the intestinal wall to achieve proximal anchoring; Step S205: Increase the rigidity of the outer tube by using negative pressure.

8. A control method for an endoscopic robot, characterized in that, Includes the following steps: Step S301: Inflate the distal balloon to make it expand and make it come into close contact with the intestinal wall to achieve distal anchoring; Step S302: Deflat the proximal balloon. Step S303: Bend the inner tube to move the proximal end of the robotic arm to the target position and / or bring the robotic arm as a whole into the desired bent state. Step S304: Inflate the proximal balloon to make it expand and make it come into close contact with the intestinal wall to achieve proximal anchoring; Step S305: Deflate the distal balloon to release it from anchoring; Step S305: Maintain a certain rigidity in the outer tube of the robotic arm.

9. An endoscopic robot, characterized in that, The endoscopic robot implements the control method described in any one of claims 1-8.

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