A bronchoscope surgical robotic device

Abstract

The application provides a bronchoscope surgery robot device, which comprises a bronchoscope module, a driving module, a feeding module and a control unit, wherein the bronchoscope module comprises a plurality of intelligent segments which are flexibly connected in sequence along an axial direction; the driving module is connected with the bronchoscope module to drive the bronchoscope module to bend; the feeding module is connected with the driving module to drive the driving module and the bronchoscope module to move; each intelligent segment comprises a flexible shell, an electro-rheological fluid cavity arranged in the flexible shell, an electrode unit arranged on a shell wall of the flexible shell and a force sensor module arranged on an outer surface of the flexible shell. The bronchoscope surgery robot device provided by the application can realize flexible and active stiffness adjustment of the bronchoscope surgery robot based on the feedback of the contact force between the pipeline of the bronchoscope and the tissue in the body.

Description

Technical Field

[0001] This invention relates to the field of medical diagnostic device technology, and in particular to a bronchoscopic surgical robot device. Background Technology

[0002] Bronchoscopy robots are important auxiliary instruments in current medical diagnosis. Traditional bronchoscopic robots typically employ linear or hybrid actuation methods to improve their navigation capabilities in complex bronchial trees. However, existing technologies still have the following prominent drawbacks when dealing with the high curvature of the lung periphery and narrow, fragile airways:

[0003] First, existing bronchoscopic surgical robots struggle to meet the practical need for flexible stiffness adjustment when moving the bronchoscope within the patient's trachea. For example, Chinese patent CN119074226B discloses a line / fluid hybrid actuation bronchoscopic robot that uses fluid actuation to change the length of the active bending segment and line actuation to achieve bending. However, the stiffness of its active segment is fixed, making it difficult to flexibly adjust the stiffness when simultaneously meeting the low stiffness requirements of fragile tissues and the high stiffness requirements of supporting sampling instruments.

[0004] Secondly, existing stiffness adjustment methods have slow response speeds. For example, Chinese patent CN116369834A discloses a bronchoscope module, its biopsy method, and a surgical robot using it. The module heats a low-melting-point alloy tube to achieve stiffness changes. This heating and cooling process obviously has a slow response problem and cannot meet the needs of real-time interaction during surgery.

[0005] Finally, existing bronchoscopic surgical robots, while making flexible adjustments, are prone to overlooking the safety of internal tissues. Therefore, there is an urgent need for a bronchoscopic surgical robot that can balance operational flexibility, stability, and the safety of internal tissues. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a bronchoscopic surgical robot device that can balance operational flexibility, stability and in vivo tissue safety.

[0007] To achieve the above and other related objectives, the present invention provides a bronchoscopic surgical robot device, comprising:

[0008] The bronchoscope module comprises multiple intelligent segments that are flexibly connected sequentially along the axial direction;

[0009] A drive module is connected to the bronchoscope module to drive the bronchoscope module to bend;

[0010] A feed module, connected to the drive module, to drive the drive module and the bronchoscope module to move; and

[0011] Control unit;

[0012] Each of the intelligent segments includes:

[0013] Flexible shell;

[0014] An electrorheological fluid chamber is disposed within the flexible shell;

[0015] Electrode units are disposed on the shell wall of the flexible shell;

[0016] A force sensor is disposed on the outer surface of the flexible housing;

[0017] The electrode units and force sensors of each of the intelligent segments are electrically connected to the control unit, which is configured to adjust the control electric field strength of the electrode units based on the detection signal of the force sensor.

[0018] In one embodiment of the present invention, when the control unit adjusts the control electric field strength of the electrode unit based on the detection signal of the force sensor, it is also configured to execute a navigation mode or an operation mode.

[0019] In the navigation mode, the control unit adjusts the electric field strength of all the electrode units to a value lower than a preset safety value based on the detection signal from the force sensor.

[0020] In the operating mode, the control unit adjusts the electric field strength of the electrode unit of the final intelligent segment to a preset operating intensity value based on the detection signal of the force sensor.

[0021] In one embodiment of the present invention, in the operating mode, the control unit is further configured to perform basic protection operations, the basic protection operations including:

[0022] A first force threshold and a second force threshold are preset, wherein the second force threshold is greater than the first force threshold;

[0023] When the detection signal of the force sensor of the last intelligent segment is greater than the first force threshold and less than the second force threshold, the control unit reduces the electric field strength of the intelligent segment adjacent to the last intelligent segment.

[0024] In one embodiment of the present invention, during the basic protection operation, the control unit linearly reduces the electric field strength of the smart segment adjacent to the final smart segment at a preset rate.

[0025] In one embodiment of the present invention, in the operating mode, the control unit is further configured to perform an emergency protection operation, the emergency protection operation including, when the detection signal of the force sensor is greater than or equal to the second force threshold, the control unit performs an electric field cutoff operation on the electrode unit of the terminal intelligent segment, and controls the feed module and the drive module to drive the bronchoscope module to move a preset distance along the direction away from the terminal intelligent segment.

[0026] In one embodiment of the present invention, at least a portion of the outer periphery of the flexible shell is covered with a radial constraint layer, the radial constraint layer being configured to limit the radial expansion of the smart segment and allow the axial extension and contraction of the smart segment. The drive module includes a fluid drive mechanism, the fluid drive mechanism including an injection pump and a fluid conduit, the injection pump controlling the fluid conduit to perform an injection or extraction of electrorheological fluid operation on the electrorheological fluid chamber to adjust the axial length of the corresponding smart segment.

[0027] In one embodiment of the present invention, the control unit is electrically connected to the injection pump to control the start and stop of the fluid drive mechanism. The control unit is configured to synchronously adjust the control electric field strength of the electrode unit when controlling the injection pump to perform an injection electrorheological fluid operation or an extraction electrorheological fluid operation.

[0028] In one embodiment of the present invention, the driving module includes a line driving mechanism, the line driving mechanism comprising:

[0029] Multiple winding drive components are electrically connected to the control unit; and

[0030] Multiple traction wires, with at least one end of each traction wire wound around each of the winding drive components, and the other end of each traction wire connected to the intelligent segment at the end of the bronchoscope module.

[0031] In one embodiment of the present invention, each of the intelligent segments is provided with multiple electrode units, and the multiple electrode units are arranged circumferentially along the corresponding flexible shell.

[0032] In one embodiment of the present invention, each of the intelligent segments is provided with multiple force sensors, which are arranged circumferentially along the corresponding intelligent segment.

[0033] As described above, this invention provides a bronchoscopic surgical robot. Firstly, based on feedback from the contact force between the bronchoscope tubing and internal tissues, the robot achieves flexible and proactive stiffness adjustment. The bronchoscope tubing can automatically switch between flexible and rigid states, ensuring the safe passage of the bronchoscope through complex airways while providing stable support for the distal surgical instruments. Secondly, the multi-level protection operation of the control unit can progressively adjust the stiffness based on the contact force between the bronchoscope tubing and internal tissues, maintaining operational stability while ensuring safety and maximizing the protection of internal tissues. Finally, through the coordination of the control unit, fluid drive mechanism, and electrorheological fluid chamber, it synchronously controls fluid drive extension and stiffness adjustment, achieving integrated and coordinated drive and stiffness control. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 The diagram shown is a modular structure diagram of the robot device of the present invention.

[0036] Figure 2 The diagram shows an application scenario of the present invention.

[0037] Figure 3 The diagram shown is an overall structural diagram of the robot device of the present invention.

[0038] Figure 4 The diagram shown is an internal structural diagram of the drive module of the present invention.

[0039] Figure 5 The image shown is a cross-sectional view of the intelligent segment of the present invention;

[0040] Figure 6 The diagram shown is an overall connection diagram of the intelligent segment of this invention.

[0041] Component designation explanation:

[0042] 1. Feed module; 11. Ball screw pair; 13. Moving platform; 2. Drive module; 21. Wire drive mechanism; 211. Wire winding drive assembly; 212. Wire winding drive motor; 213. Wire winding reel; 34. Traction line; 22. Fluid drive mechanism; 221. Injection pump; 222. Fluid pipeline; 3. Bronchoscope module; 4. Control unit; 30. Intelligent segment; 301. Flexible housing; 302. Electrorheological fluid chamber; 303. Electrode unit; 304. Force sensor; 305. Flexible connecting ring; 306. Radial constraint layer; 31. Bronchoscope mounting base. Detailed Implementation

[0043] 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.

[0044] Please see Figure 1-6 It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0045] Please see Figure 1-2 As shown, the bronchoscopic surgical robot provided in this embodiment of the invention is mainly used for minimally invasive surgery of biopsy or ablation of peripheral pulmonary nodules. In actual deployment, this bronchoscopic surgical robot can be used as a complete end effector module, which can be integrated and mounted on the end flange of a multi-degree-of-freedom robotic arm. The robotic arm is responsible for performing macroscopic positioning tasks, that is, at the beginning of the surgery, moving the bronchoscopic surgical robot to the predetermined entrance position of the patient's oral cavity or nasal cavity and adjusting it to a suitable insertion posture, and then using the bronchoscopic surgical robot as an end effector module for precise intraoperative movement.

[0046] Please see Figure 1-2As shown, in actual surgery, the surgeon first reconstructs a three-dimensional bronchial tree model based on the patient's preoperative CT images, and then plans an airway path from the main bronchus to the target nodule on this model. This path typically traverses multiple bronchial branches, including many branch airways with high curvature, narrow lumen diameters, and fragile tissue walls. Traditional bronchoscopic surgical robots, due to the lack of autonomous shape adaptation and intelligent safety interaction capabilities of the tubing, struggle to accurately and safely reach and stabilize at the target location for operation, easily causing compression injuries to the airway walls. Furthermore, end-effector wobbling during operation can lead to biopsy failure. This invention aims to solve this problem. This bronchoscopic surgical robot can be adjusted to a low-stiffness, ultra-flexible state, flexibly navigating complex and tortuous airway structures, minimizing forward resistance and tissue compression. Moreover, upon reaching the target area, the end of the bronchoscopic surgical robot's tubing can quickly switch to a high-stiffness state to support the biopsy instruments for operation.

[0047] Please see Figure 1 It should be noted that the bronchoscopic surgical robot of this embodiment may include a feed module 1, a drive module 2, a bronchoscopic module 3, and a control unit 4. These four modules are connected to an electrical bus via a mechanical interface, and work together to realize the flexible movement and shape adjustment of the bronchoscopic module 3 during surgery.

[0048] Please see Figure 3 Furthermore, the feed module 1 serves as the mobile base of the entire robot, connected to the drive module to drive the drive module 2 and the bronchoscope module 3. The feed module 1 may include a ball screw pair 11 driven by a servo motor, a linear guide rail, and a moving platform 13. The housing of the drive module 2 can be fixed to the moving platform 13 via a connector, such as bolts or other fasteners. The control unit 4 is electrically connected to the servo motor of the feed module 1. When the control unit 4 controls the servo motor of the feed module 1 to operate, the ball screw pair drives the moving platform 13 and the entire drive module 2 and bronchoscope module 3 to move linearly along a preset axis. This achieves overall axial movement position control of the robot within the patient's airway.

[0049] Please see Figure 4Furthermore, the drive module 2 can drive the bronchoscope module 3 to generate actuators for extension or bending. It can be an integrated housing containing two independent but cooperating core drive mechanisms: a linear drive mechanism 21 for controlling bending and a fluid drive mechanism 22 for controlling extension. Specifically, the front end of the drive module 2 housing can be equipped with a bronchoscope mounting interface with a locking mechanism. The proximal end of the bronchoscope module 3 can be equipped with a rigid bronchoscope mounting base 31 that matches the bronchoscope mounting interface. A secure connection between the bronchoscope mounting base 31 and the drive module 2 is achieved through this connection; however, other connection methods are also possible and are not limited here.

[0050] Please see Figure 6 Furthermore, the bronchoscope module 3 is a terminal actuator and sensing front end that directly enters the human body cavity and trachea. It may include multiple intelligent segments 30 flexibly connected sequentially along the axial direction. In this embodiment, the number of intelligent segments 30 is preferably four, labeled as the first segment, second segment, third segment, and terminal segment from proximal to distal. Of course, the number of intelligent segments 30 can be arbitrarily set based on actual needs. Moreover, each intelligent segment 30 can integrate at least sensing, driving, and stiffness adjustment functions. Furthermore, the multiple intelligent segments 30 can be hinged end to end by flexible connecting rings 305, so that the entire bronchoscope module 3 can maintain movement while having multi-degree-of-freedom bending capabilities.

[0051] Please see Figure 3 Furthermore, the control unit 4 is the decision-making brain of the bronchoscopy surgical robot. It can be integrated into the bronchoscopy surgical robot as an embedded control motherboard, for example, within the drive module 2 housing; of course, it can also be installed in other locations based on the actual design. The control unit 4 can be electrically connected to the feed module 1, drive module 2, and bronchoscope module 3 via an electrical bus. The control unit 4 can be electrically connected to the servo motor of the feed module 1. When the servo motor is working, it can drive the entire drive module 2 and bronchoscope module 3 to move linearly along a preset axis. Based on the real-time detection signal from the force sensor 304, the control unit 4 can dynamically calculate and adjust the control electric field strength applied to the corresponding intelligent segment 30 to flexibly adjust the stiffness state.

[0052] Please see Figure 5 Furthermore, each intelligent segment 30 is a highly integrated microsystem that may include a flexible housing 301, an electrorheological fluid chamber 302, an electrode unit 303, and a force sensor module 304.

[0053] Please see Figure 5Specifically, the flexible shell 301, as the basic load-bearing structure of the intelligent segment 30, can be an elastomer material, preferably an elastomer material with good biocompatibility and strong fatigue resistance, such as thermoplastic polyurethane elastomer, liquid silicone, or other elastomer materials, without limitation. Its basic shape is preferably a thin-walled circular tube with uniform wall thickness to ensure uniform stress distribution during deformation.

[0054] Please see Figure 5 Specifically, the electrorheological fluid cavity 302 can be a completely sealed cavity enclosed by the inner wall of the flexible shell 301, and the cavity can be filled with an electrorheological fluid of a specific formulation. It is important to understand that when no external electric field is applied, the particles of the electrorheological fluid are randomly distributed, and the fluid behaves as a low-viscosity Newtonian fluid. When a control electric field is applied, under the influence of electric field polarization, the particles align themselves into a rigid chain-like or even columnar structure along the electric field lines within milliseconds, causing the fluid to exhibit a reversible phase transition from liquid to near-solid state. This change in stiffness is continuous and reversible, and the stiffness can be adjusted by regulating the electric field strength, allowing for switching between flexible and rigid states.

[0055] Please see Figure 5 Specifically, to apply an electric field to the electrorheological fluid within the cavity, electrode units 303 can be arranged on the inner wall of the electrorheological fluid cavity 302, i.e., the shell wall of the flexible shell 301. Preferably, multiple independent electrode units 303 can be provided on each smart segment 30. These units can be made of flexible conductive materials, such as metal films formed by physical vapor deposition (PVD) processes, which are not limited to this, or other flexible conductive materials. The multiple electrode units 303 can be evenly arranged along the circumferential spacing of the smart segment 30. More preferably, the control unit 4 can independently apply electric fields of different intensities to each electrode unit 303. Thus, the control unit 4 enables the individual smart segment 30 to not only become harder or softer as a whole, but also to achieve a circumferentially differentiated stiffness distribution. For example, if a high electric field is applied only to the electrode unit 303 on the right side, the right side of the smart segment 30 will become harder than the left side. Under the action of internal stress, the smart segment 30 will generate a slight active bending tendency to the left, which can achieve more complex shape control.

[0056] Please see Figure 5Specifically, to achieve contact force sensing between the intelligent segment 30 and the tissue inside the body, a force sensor 304 can be integrated on the outer surface of the flexible housing 301. Multiple miniature force sensors 304 can be set on each intelligent segment 30, such as piezoresistive or capacitive thin-film sensors, without limitation, or other types of sensors. Multiple force sensors 304 can be evenly arranged circumferentially along the corresponding intelligent segment 30. It should be noted that each force sensor 304 can measure the contact force between its local area and the airway wall inside the body in real time. The array-like arrangement of multiple force sensors 304 on each intelligent segment 30 allows the control unit 4 not only to acquire the contact force detection signal but also to determine the direction of the contact by comparing the detection signals of each force sensor 304. For example, if the reading of the force sensor 304 on the right side is significantly greater than that on the left, it indicates that the intelligent segment 30 is in contact with the right airway wall. This detection signal with directional information is more accurate and reliable. Each intelligent segment 30's electrode unit 303 and force sensor 304 can be electrically connected to the control unit 4. The control unit 4 can be configured to adjust the control electric field strength of the electrode unit 303 based on the detection signal of the force sensor 304.

[0057] Please see Figure 6 Furthermore, the ends of the flexible housings 301 of every two intelligent segments 30 can be connected together by a flexible connecting ring 305, which can be made of a plastic material that is stiffer than the flexible housings 301 but still flexible. The flexible connecting ring 305, through its own flexibility, provides a flexible hinge between the intelligent segments 30, ensuring smooth continuity of the overall bending. Moreover, multiple micro-channels can be formed inside the flexible connecting ring 305, serving as the through-path and protective conduit for the traction wires 34, the signal and power lines for power communication of the electrode units 303 and force sensors 304, as well as the fluid conduit 222, thus orderly constraining all pipelines near the robot's central axis and isolating them from external interference. Specifically, the signal and power lines of the electrode units 303 and force sensors 304 can be integrated into a flexible multilayer printed circuit and then embedded in the channels of the flexible connecting ring 305 to further improve reliability and reduce size. It should be understood that the flexible connecting ring 305 and the end of the flexible housing 301 can achieve a high-strength, high-sealing connection through medical adhesives or interference fit to ensure the sealing integrity of the electrorheological fluid chamber 302.

[0058] Please see Figure 4Furthermore, the wire drive mechanism 21 is responsible for performing the active bending function of the bronchoscopic surgical robot, and it can include multiple wire drive components 211 and multiple traction wires 34. Each wire drive component 211 can include a wire drive motor 212 and a corresponding winding wheel 213. Each pair of wire drive motors 212 and winding wheels 213 can form an independent drive channel, which is installed on a fixed base inside the drive module 2. Multiple traction wires 34 can be provided. At least one end of a traction wire is wound on the winding wheel 213 of each wire drive component 211. Multiple traction wires 34 can be emitted from multiple wire drive components 211, pass through the bronchoscope mounting base 31, and then sequentially pass through the connecting hole at the end of each intelligent segment 30 and the micro-perforated channel reserved in the flexible connecting ring 305. Finally, the other end of each traction wire 34 can be finally converged and fixed together at different preset positions of the intelligent segment 30 at the end. Multiple winding drive assemblies 211 can be electrically connected to the control unit 4. The control unit 4 differentially controls multiple winding drive motors 212, meaning that different winding drive motors 212 rotate at different speeds and directions, thereby achieving differentiated winding and unwinding of multiple traction cables 34. For example, if three traction cables 34 are provided, simultaneously tightening two of them and loosening the third will generate a resultant torque in the final intelligent segment 30, pulling the entire bronchoscope module 3 to bend in a specific direction. Thus, the wire drive mechanism 21 provides direct and precise bending drive capability.

[0059] Please see Figure 5-6 Furthermore, the fluid drive mechanism 22 is responsible for adjusting the axial length of the smart segment 30, which, combined with the radial constraint structure of the radial constraint layer 306, solves the problem of expansion jamming of the soft actuator.

[0060] Please see Figure 4 It should be noted that the fluid drive mechanism 22 may include an injection pump 221, a reservoir for containing electrorheological fluid, and a fluid conduit 222. One end of the fluid conduit 222 can be connected to the output port of the injection pump 221, and the other end can pass through the drive module 2 and the bronchoscope mounting base 31, and then connect to the communication holes at the ends of the electrorheological fluid chambers 302 of all intelligent segments 30. The control unit 4 can be electrically connected to the injection pump 221 to control the start and stop of the fluid drive mechanism 22. Specifically, the injection pump 221 can control the fluid conduit 222 to perform injection or extraction of electrorheological fluid into the electrorheological fluid chambers 302 to adjust the axial length of the corresponding intelligent segment 30. For example, the fluid conduit 222 connects to the communication holes at the ends of all electrorheological fluid chambers 302, so that the electrorheological fluid flows through each chamber sequentially. When the control unit 4 controls the push rod of the injection pump 221 to move forward, a certain amount of electrorheological fluid is injected into the conduit and enters each chamber, causing the internal pressure of the chamber to increase. Under the action of internal pressure, the flexible shell 301 expands and deforms.

[0061] Please see Figure 5 It is important to understand that, to avoid damage to the stenotic bronchus caused by a significant increase in the radial dimension of the intelligent segment 30 due to the aforementioned expansion and deformation, the present invention can tightly cover at least a portion of the outer periphery of the flexible shell 301 with a radial restraint layer 306. The radial restraint layer 306 can be configured to limit the radial expansion of the intelligent segment 30 and allow the axial extension and contraction of the intelligent segment 30. The radial restraint layer 306 can be a tubular mesh sleeve woven from high-strength, inextensible fibers at a specific angle, such as aramid fibers, ultra-high molecular weight polyethylene fibers, or other suitable fibers. The specific weaving parameters of the radial restraint layer 306, such as fiber type, weaving density, weaving angle, etc., can be optimized according to the typical diameter of the target bronchus and the required extension / contraction ratio. When internal pressure attempts to expand the diameter of the intelligent segment 30, the mesh of the woven fibers strongly resists this radial expansion due to the inextensibility of the fibers themselves. At the same time, the weaving structure is mechanically designed to allow the fibers to slide at the mesh nodes, thereby converting the internal pressure into axial elongation. Therefore, when the injection pump 221 performs the injection operation, the radial expansion of the smart segment 30 is effectively limited by the radial constraint layer 306, while the radial constraint layer 306 allows the axial extension and contraction of the smart segment 30, thereby realizing a safe and reliable axial length adjustment drive without causing blockage in the bronchial airway.

[0062] Please see Figure 1 Specifically, when the control unit 4 adjusts the control electric field strength of the electrode unit 303 based on the detection signal of the force sensor 304, it can be configured to execute either a navigation mode or an operation mode to optimally meet the needs of different stages. In navigation mode, when the robot is advancing towards the target area in the bronchial tree, the control unit 4 can continuously monitor the detection signal of the force sensor 304. In the absence of abnormal signals, in navigation mode, the control unit 4 sets the control electric field strength of all electrode units 303 of all intelligent segments 30 to a safe value less than the threshold for a significant phase change in the electrorheological fluid. At this time, the intelligent fluid in all electrorheological fluid chambers 302 is in a liquid state, and the bending stiffness of the entire bronchoscope module 3 is extremely low, exhibiting compliant characteristics. In this state, the robot relies entirely on the traction of the line drive mechanism 21 to shape its overall form, resulting in low forward resistance and extremely low pressure on the inner wall of the curved airway, minimizing tissue trauma during navigation.

[0063] Please see Figure 1Specifically, in operation mode, the control unit 4 can continuously monitor the detection signal of the force sensor 304. If no abnormal signal is detected, and real-time imaging confirms that the distal segment of the bronchoscope module 3 has reached or is very close to the target lesion, the doctor can issue a mode switching command via the human-machine interface. The control unit 4 can respond to the command and instantly increase the electric field strength of the electrode unit 303 of the distal intelligent segment 30 to a preset operating intensity value. This field strength is sufficient to completely solidify the electrorheological fluid within the segment cavity. Thus, the distal intelligent segment 30 quickly transitions from a compliant state to a highly rigid state, providing anti-bending and anti-shaking mechanical support for subsequently extended biopsy needles, ablation probes, and other instruments, greatly improving the accuracy of sampling or treatment.

[0064] Please see Figure 1 Furthermore, to protect the fragile airway tissue, in operating mode, the control unit 4 activates its multi-level intelligent protection algorithm based on real-time force feedback. This algorithm presets two key force thresholds: a first force threshold and a second force threshold. The first force threshold is for mild contact pressure, and the second force threshold is for critical pressure that may cause tissue damage.

[0065] Please see Figure 1 and Figure 6 It should be noted that in operating mode, control unit 4 can be configured to perform basic protection operations at the first level. Control unit 4 continuously monitors the detection signal of force sensor 304 on the last intelligent segment 30. When the detected contact force is greater than the first force threshold but less than the second force threshold, it indicates that the last segment has made a large but not yet dangerous contact with the tissue. At this time, the primary principle of control unit 4 is to maintain the rigidity of the last intelligent segment 30 as much as possible to ensure the stability of the surgical instrument. Therefore, control unit 4 can actively reduce the electric field strength of the electrode unit 303 of the intelligent segment 30 directly adjacent to the last intelligent segment 30, which makes the adjacent segment relatively soft, forming a flexible hinge. When the last intelligent segment 30 is pushed due to contact, the last intelligent segment 30 and the adjacent segment can generate a small elastic deflection using this flexible hinge as a fulcrum, thereby buffering part of the contact force, avoiding the continuous accumulation of contact force on the last intelligent segment 30, and preventing the last intelligent segment 30 from making dangerous contact with the tissue in the body.

[0066] Please see Figure 6Furthermore, during basic protective operations, the control unit 4 can linearly reduce the electric field strength of the intelligent segment 30 adjacent to the terminal intelligent segment 30 at a preset rate, for example, by 20% of the total decrease in electric field strength per second. This is a smooth, controlled stiffness decay process, rather than a sudden shutdown. It allows the end-effector support force to gradually and predictably weaken, enabling the physician to clearly perceive changes in operational resistance and have ample time to decide whether to fine-tune the instrument's posture, stop advancing, or withdraw.

[0067] Please see Figure 1 Furthermore, in operating mode, the control unit 4 is also configured to perform emergency protection operations. Specifically, when any force sensor 304 detects a contact force greater than or equal to a second force threshold, it indicates an immediate risk of damage, such as the terminal intelligent segment 30 hitting the blood vessel wall. The control unit 4 can immediately bypass the aforementioned logic and execute the highest priority emergency response, completely cutting off the electric field supply to all electrode units 303 of the terminal intelligent segment 30, instantly reducing its stiffness to a minimum. Simultaneously, the control unit 4 can send commands to the feed module 1 and drive module 2 to control them to rapidly move the entire bronchoscope module 3 along the axial direction away from the terminal intelligent segment 30 by a preset safe distance. This linkage between electronic softening and mechanical retraction softens the rigid terminal segment, preventing the intelligent segment 30 from scratching tissue during retraction, thus eliminating dangerous contact.

[0068] Please see Figure 1 Furthermore, the control unit 4 can also be configured to synchronously adjust the control electric field strength of the electrode unit 303 when controlling the injection pump 221 to perform injection or extraction of electrorheological fluid. The control unit 4 can couple the functions of fluid-driven extension and extension with electric field control for stiffness adjustment. The algorithm of the control unit 4 can preset multiple cooperative action modes. For example, in the extension and locking cooperative action mode, the control unit 4 will simultaneously issue two commands: one to the injection pump 221, commanding it to inject a certain volume of electrorheological fluid at a specific speed; the other to the electrode unit 303 of the terminal intelligent segment 30, commanding its electric field strength to synchronously and linearly increase to the operating intensity value during the injection process. Thus, the stiffness of the terminal intelligent segment 30 increases synchronously while it extends, reaching the target stiffness precisely when the target length is reached. As another example, in the shortening and retraction cooperative action mode, the operation of extracting liquid and reducing the electric field is performed simultaneously. This coordination avoids the time delay and energy waste caused by step-by-step execution, making the robot's movement smoother and more efficient.

[0069] In summary, the bronchoscopic surgical robot provided by this invention firstly enables flexible and proactive stiffness adjustment based on the feedback of the contact force between the bronchoscope tubing and the internal tissue. The bronchoscope tubing can automatically switch between flexible and rigid states, ensuring the safe passage of the bronchoscope through complex airways within the body and providing stable support for the terminal surgical instruments. Secondly, the multi-level protection operation of the control unit can progressively adjust the stiffness based on the contact force between the bronchoscope tubing and the internal tissue, maintaining operational stability while ensuring safety and maximizing the safety of the internal tissue. Finally, through the coordination of the control unit, the fluid drive mechanism, and the electrorheological fluid chamber, it synchronously controls the fluid drive extension and stiffness adjustment, achieving integrated and coordinated drive and stiffness control.

[0070] In the description of this specification, the references to terms such as "this embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0071] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A bronchoscopic surgical robot device, characterized in that, include: A bronchoscope module includes multiple intelligent segments flexibly connected sequentially along the axial direction; a drive module connected to the bronchoscope module to drive the bronchoscope module to bend; and a feed module connected to the drive module to drive the drive module and the bronchoscope module to move. The smart segment includes a control unit; wherein each smart segment comprises: a flexible housing; an electrorheological fluid chamber disposed within the flexible housing; an electrode unit disposed on the shell wall of the flexible housing; and a force sensor disposed on the outer surface of the flexible housing; wherein the electrode unit and the force sensor of each smart segment are electrically connected to the control unit, and the control unit is configured to adjust the control electric field strength of the electrode unit based on the detection signal of the force sensor; at least a portion of the flexible housing is covered with a radial constraint layer on its outer periphery, and the radial constraint layer is configured to restrict the radial expansion of the smart segment and allow... The drive module allows for axial extension and retraction of the intelligent segment. The drive module includes a fluid drive mechanism, which comprises an injection pump and a fluid conduit. The injection pump controls the fluid conduit to perform an injection or extraction of electrorheological fluid into the electrorheological fluid chamber, thereby adjusting the axial length of the corresponding intelligent segment. The control unit is electrically connected to the injection pump to control the start and stop of the fluid drive mechanism. The control unit is configured to synchronously adjust the control electric field strength of the electrode unit when controlling the injection pump to perform an injection or extraction of electrorheological fluid into the electrorheological fluid chamber.

2. The bronchoscopic surgical robot device according to claim 1, characterized in that, When the control unit adjusts the control electric field strength of the electrode unit based on the detection signal of the force sensor, it is also configured to execute a navigation mode or an operation mode; in the navigation mode, the control unit adjusts the electric field strength of all the electrode units to a value lower than a preset safety value based on the detection signal of the force sensor. In the operating mode, the control unit adjusts the electric field strength of the electrode unit of the final intelligent segment to a preset operating intensity value based on the detection signal of the force sensor.

3. The bronchoscopic surgical robot device according to claim 2, characterized in that, In the operating mode, the control unit is also configured to perform basic protection operations, which include: presetting a first force threshold and a second force threshold, wherein the second force threshold is greater than the first force threshold; when the detection signal of the force sensor of the last intelligent segment is greater than the first force threshold and less than the second force threshold, the control unit reduces the electric field strength of the intelligent segment adjacent to the last intelligent segment.

4. The bronchoscopic surgical robot device according to claim 3, characterized in that, In the basic protection operation, the control unit linearly reduces the electric field strength of the smart segment adjacent to the final smart segment at a preset rate.

5. The bronchoscopic surgical robot device according to claim 3, characterized in that, In the operating mode, the control unit is also configured to perform an emergency protection operation, which includes, when the detection signal of the force sensor is greater than or equal to the second force threshold, the control unit performs an electric field cutoff operation on the electrode unit of the terminal intelligent segment, and controls the feed module and the drive module to move the bronchoscope module a preset distance away from the terminal intelligent segment.

6. The bronchoscopic surgical robot device according to claim 1, characterized in that, The drive module includes a wire drive mechanism, which includes: multiple wire winding drive components electrically connected to the control unit; and multiple traction wires, with at least one end of a traction wire wound around each wire winding drive component, and the other end of each traction wire connected to the intelligent segment at the end of the bronchoscope module.

7. The bronchoscopic surgical robot device according to claim 1, characterized in that, Each of the intelligent segments is provided with multiple electrode units, which are arranged circumferentially along the corresponding flexible shell.

8. The bronchoscopic surgical robot device according to claim 1, characterized in that, Each of the intelligent segments is equipped with multiple force sensors, which are arranged circumferentially along the corresponding intelligent segment.

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