Expansion supporting device for bronchoscopy

Abstract

The invention provides an expansion supporting device for bronchoscopy. The expansion supporting device comprises a supporting base. The end effector is used for clamping the bronchoscope; one end of the multi-degree-of-freedom mechanical arm is connected to the supporting base, the other end of the multi-degree-of-freedom mechanical arm is connected with the end effector, the multi-degree-of-freedom mechanical arm comprises at least one rigidity adjusting joint, the rigidity adjusting joint comprises a rigidity adjusting mechanism, and the rigidity adjusting mechanism is configured to be switched between a low-damping state and a high-rigidity locking state. According to the extension supporting device for bronchoscopy provided by the invention, a doctor can switch between a low-damping flexible following state and a high-rigidity stable locking state through the rigidity adjusting mechanism only by executing a simple triggering action on the operation part, so that the surgical operation efficiency is greatly improved, and the operation difficulty is reduced. And the operation physical output of doctors is obviously reduced.

Description

Technical Field

[0001] This invention relates to the field of medical diagnostic instrument technology, and in particular to an extended support device for bronchoscopy. Background Technology

[0002] Bronchoscopy is a diagnostic and treatment technique that requires a high degree of concentration and meticulous operation from the physician. During the procedure, especially when performing prolonged examinations on pediatric patients, the physician needs to hold the endoscope in one hand and maintain its stable spatial position, while the other hand may be used for auxiliary operations or equipment adjustments. This makes the physician's arm prone to fatigue, which can lead to hand tremors, affecting the accuracy of observation and operation, and may even increase the risk of mucosal damage.

[0003] To reduce the burden on doctors, some robotic arms or supports have emerged in existing technologies to support bronchoscopes and related equipment. These devices are typically passive mechanical structures, maintaining their position through friction at joints or locking knobs. However, such devices face a prominent contradiction in practical applications. When doctors need to flexibly and extensively adjust the position of the endoscope, they desire a support device that completely follows hand movements, providing a zero-resistance or low-resistance movement experience. Conversely, when doctors need to perform precise observations or sampling, they desire a support device that can lock instantly, becoming an absolutely stable platform to eliminate hand tremors and endoscope displacement.

[0004] Existing mechanical support devices struggle to simultaneously meet these two conflicting needs. They are often cumbersome to adjust and cannot achieve rapid, seamless state transitions. When stability is required, the surgeon may miss the optimal moment due to slow locking operations. When flexible adjustments are needed, incomplete unlocking may cause dragging resistance. Furthermore, traditional mechanical locking methods have slow response times, posing a risk of misoperation in the stressful surgical environment. Therefore, there is an urgent need for a bronchoscopic support device that can intelligently and rapidly switch between flexible, responsive, and rigid stable states to meet the dynamic needs of the procedure. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an extended support device for bronchoscopy that can intelligently and quickly switch between two states: flexible follow-up and rigid stability, in order to meet the dynamic needs during surgery.

[0006] To achieve the above and other related objectives, the present invention provides an extended support device for bronchoscopy, comprising: a support base; an end effector for holding a bronchoscope; a multi-degree-of-freedom robotic arm, one end of which is connected to the support base and the other end of which is connected to the end effector, wherein the multi-degree-of-freedom robotic arm includes at least one stiffness adjustment joint, the stiffness adjustment joint including a stiffness adjustment mechanism configured to switch between a low-damping state and a high-rigidity locking state; an operating part disposed on the outer periphery of the stiffness adjustment joint, and the operating part having a trigger sensor for sensing user operation; and a control unit, wherein the trigger sensor and the stiffness adjustment mechanism are both signal-connected to the control unit; wherein the control unit is configured to control the stiffness adjustment mechanism to switch between the low-damping state and the high-rigidity locking state based on a trigger signal from the trigger sensor.

[0007] Preferably, the control unit is configured to control the stiffness adjustment mechanism to switch to the high-rigidity locking state when the duration of the trigger signal is greater than the anti-accidental touch time threshold, and to control the stiffness adjustment mechanism to return to the low-damping state when the trigger signal disappears.

[0008] Preferably, the stiffness adjustment mechanism includes a magnetorheological fluid damper, which includes a magnetorheological fluid cavity and an excitation coil wound around the magnetorheological fluid cavity. The excitation coil is electrically connected to the control unit. When the current of the excitation coil controlled by the control unit is greater than or equal to a current threshold, the magnetorheological fluid damper switches to the high-rigidity locked state. When the current of the excitation coil controlled by the control unit is less than the current threshold, the magnetorheological fluid damper switches to the low-damping state.

[0009] Preferably, the stiffness adjustment joint is further provided with an attitude sensor for detecting the rotation angle of the stiffness adjustment joint. The control unit is signal-connected to the attitude sensor. The control unit is also configured to adjust the damping output of the magnetorheological fluid damper based on the feedback signal of the attitude sensor when the stiffness adjustment mechanism is in the low-damping state, so as to provide gravity compensation.

[0010] Preferably, the operating part is annular and wraps around the outer periphery of the stiffness adjustment joint, and the trigger sensors are evenly distributed on the surface of the operating part.

[0011] Preferably, the extended support device for bronchoscopy further includes a safety coupling interface connected between the end effector and the bronchoscope, the safety coupling interface being configured such that when the separation force applied thereto exceeds a safety force threshold, the end effector and the bronchoscope separate from the safety coupling interface.

[0012] Preferably, the safety coupling interface includes a first magnetic component and a second magnetic component that attract each other. The first magnetic component is connected to the end effector, and the second magnetic component is connected to the bronchoscope. The safety force threshold is the attraction force between the first magnetic component and the second magnetic component.

[0013] Preferably, the operating unit is further provided with a vibration feedback device, which is signal-connected to the control unit. The control unit is also configured to synchronously drive the vibration feedback device to generate vibration when controlling the stiffness adjustment mechanism to switch to the high-rigidity locking state.

[0014] Preferably, the stiffness adjustment joint is provided with a limiting component, which includes a limiting protrusion and a limiting receiving part that cooperate with each other. When the stiffness adjustment joint is rotated to the limiting position, the limiting protrusion and the limiting receiving part abut against each other.

[0015] Preferably, the contact area between the limiting protrusion and the limiting receiving part is provided with an elastic buffer.

[0016] As described above, this invention provides an extended support device for bronchoscopy. First, in this invention, the surgeon only needs to perform a simple triggering action on the operating unit to switch between a low-damping, flexible following state and a high-rigidity, stable locking state via a stiffness adjustment mechanism, greatly improving the efficiency of the surgical procedure and significantly reducing the surgeon's physical exertion. Second, this invention introduces an anti-accidental touch time threshold logic, allowing the control unit to effectively distinguish between the surgeon's intentional locking command and unintentional brief touches, preventing accidental locking or unlocking due to accidental touches and enhancing the safety boundary of the operation. Furthermore, the vibration feedback device provides clear vibration confirmation during state switching, allowing the surgeon to perceive the device's status without distracting their visual attention, further enhancing operational reliability and surgical focus. Finally, this invention also incorporates a passive safety protection mechanism; the safety coupling interface automatically detaches the bronchoscope from the robotic arm when subjected to excessive tension, further preventing accidental tissue damage. Moreover, the limiting component constrains the range of motion of the robotic arm, thereby limiting the range of movement of the bronchoscope, providing further safety protection for surgeries on easily moving patients such as children. Attached Figure Description

[0017] 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.

[0018] Figure 1The diagram shown is an overall structural diagram of the present invention. Figure 2 The image shown is a partial cross-sectional view of the stiffness-adjustable joint of the present invention. Figure 3 The diagram shown is a structural diagram of the operating part on the surface of the stiffness-adjusting joint of the present invention; Figure 4 The diagram shown is a structural diagram of the secure coupling interface of the present invention. Figure 5 The diagram shown is a structural diagram of the limiting component of the present invention.

[0019] Component designation explanation: 10. Support base; 11. Multi-degree-of-freedom robotic arm; 20. End effector; 21. Safety coupling interface; 211. First magnetic component; 212. Second magnetic component; 22. Bronchoscope; 30. Stiffness adjustment joint; 311. Magnetorheological fluid damper; 312. Magnetorheological fluid chamber; 313. Excitation coil; 32. Operating unit; 321. Trigger sensor; 322. Vibration feedback device; 33. Attitude sensor; 40. Limiting component; 41. Limiting protrusion; 42. Limiting receiving part; 43. Elastic buffer part; 50. Control unit. Detailed Implementation

[0020] 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.

[0021] Please see Figure 1-5 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 the actual implementation. In the 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.

[0022] The extended support device for bronchoscopy provided in this invention is a core tool for the diagnosis and interventional treatment of modern respiratory diseases. The physician inserts a slender, flexible bronchoscope equipped with a miniature camera into the patient's mouth or nose, passing it sequentially through the pharynx, glottis, trachea, and bronchi until reaching the accessible distal airway. During this process, the physician must hold the bronchoscope handle with one hand, precisely controlling its advance, retreat, rotation, and the angle of its distal bending section, while the other hand may operate auxiliary instruments such as biopsy forceps, cell brushes, or ultrasound probes. The success of the procedure highly depends on the physician's ability to maintain bronchoscope stability, acquire clear images, and perform precise manipulations.

[0023] However, this process is accompanied by significant challenges. First, standard adult bronchoscopes are heavy, requiring surgeons to hold them suspended in mid-air and counteract their weight throughout the procedure. Maintaining image stability necessitates continuous arm muscle contraction, easily leading to fatigue and tremors, which in turn affects operational precision. Second, spontaneous breathing and cough reflexes, especially in children due to fear and discomfort, can disrupt the scope's position. Surgeons must react quickly to re-stabilize the scope, exacerbating mental stress and physical exhaustion. Finally, there are issues with the smoothness of switching operating modes. The surgical procedure frequently interweaves rapid, large-scale positioning with delicate operations requiring absolute stability, such as rapidly advancing the scope from the main bronchus to the target lung segment while simultaneously performing stable biopsies or ablation of small lesions. This invention presents a systematic solution to this unmet clinical need.

[0024] Please see Figure 1 and Figure 2 The physical support foundation of the extended support device for bronchoscopy of the present invention is a structurally stable support base 10. This support base 10 can be welded or cast from high-strength aluminum alloy profiles. The bottom of the support base 10 can integrate multiple medical casters with independent brake pedals, facilitating easy movement of the entire device by medical personnel within the operating room. Upon reaching the predetermined position, depressing the brake pedals locks the casters, ensuring that the device does not experience any unexpected displacement during surgery and providing stable support for all subsequent delicate procedures.

[0025] Please see Figure 1 Furthermore, a multi-degree-of-freedom robotic arm 11 can be connected to the support base 10. Here, "multi-degree-of-freedom" refers to the robotic arm having three or more independent motion joints, allowing its end effector to flexibly adjust its position and orientation in three-dimensional space. In this embodiment, the multi-degree-of-freedom robotic arm 11 can be composed of several arm segments connected in series via a series of rotary joints. The proximal end of the multi-degree-of-freedom robotic arm 11 can be fixedly connected to the support base 10, and the distal end of the multi-degree-of-freedom robotic arm 11 can be fixedly connected to the end effector 20 through the last arm segment.

[0026] Please see Figure 1 Furthermore, the end effector 20 can be any end connection mechanism adapted to the bronchoscope 22. For example, the end effector 20 can be a mounting plate with a bronchoscope 22 interface machined on it, allowing the physician to secure the handle of the bronchoscope 22 to the end effector 20. This connection establishes a direct force transmission path between the examination extension support device of the present invention and the bronchoscope 22.

[0027] Please see Figure 1 Furthermore, in the entire sequential kinematic chain of the multi-degree-of-freedom robotic arm 11 from the support base 10 to the end effector 20, at least one joint may be designed as a stiffness-adjustable joint 30. The stiffness-adjustable joint 30 may include a stiffness adjustment mechanism.

[0028] Please see Figure 1 Specifically, when the extended support device for examination is powered on, the stiffness adjustment mechanism within the stiffness adjustment joint 30 can be set to a low-damping state by the control unit 50. In this state, the doctor can walk to the extended support device and directly grasp the handle of the bronchoscope 22, guiding it to the preparatory position near the patient's mouth and nose with ease, much like moving their own arm. Because the stiffness adjustment joint 30 experiences minimal rotational resistance in the low-damping state, the doctor can barely feel the presence of the multi-degree-of-freedom robotic arm 11, achieving a smooth examination experience. When stable support is required, the stiffness adjustment mechanism within the stiffness adjustment joint 30 can be switched to a high-rigidity locking state by the control unit 50, thus achieving rigid self-locking of the stiffness adjustment joint 30. At this moment, the relative positions of all components from the stiffness adjustment joint 30 to the bronchoscope 22 in space are stably fixed, providing a stable support platform for procedures such as biopsy and ablation.

[0029] Please see Figure 1 and Figure 3 Furthermore, in order to achieve efficient communication between doctors and the extended support device for examination, the present invention can integrate an operation unit 32 for human-computer interaction on the housing of the stiffness adjustment joint 30.

[0030] Please see Figure 1 and Figure 3 Furthermore, the operating part 32 can be designed as a ring-shaped component, which can be tightly wrapped and fixed to the outer periphery of the stiffness-adjusting joint 30 by interference fit or adhesive. This ring-shaped design allows the doctor to naturally contact the operating part 32 regardless of the posture in which the joint is held.

[0031] Please see Figure 1 and Figure 3Furthermore, a trigger sensor 321 for sensing user operations can be provided on the operation unit 32. The trigger sensor 321 may include multiple tiny sensor units, evenly distributed on the surface of the annular operation unit 32. Moreover, the trigger sensor 321 can be connected to the control unit 50 via a wiring harness inside the multi-degree-of-freedom robotic arm 11 to achieve the acquisition and transmission of trigger signals.

[0032] Please see Figure 1 and Figure 3 Furthermore, the control unit 50 is the control center of the extended support device for inspection. It can be installed inside the support base 10 and can be connected to the stiffness adjustment mechanism of the multi-degree-of-freedom robotic arm 11 and the trigger sensor 321 of the operation unit 32 via power lines, signal lines, etc. The control unit 50 can control the stiffness adjustment mechanism to switch between the low damping state and the high rigidity locking state based on the trigger signal of the trigger sensor 321.

[0033] Please see Figure 1 and Figure 3 Furthermore, this device can also prevent accidental touch operation. When the trigger sensor 321 detects a trigger signal, such as a doctor's finger pressing, the control unit 50 will not respond immediately. Instead, the control unit 50 will determine that this is a conscious and explicit locking command from the doctor, rather than a brief touch caused by adjusting the grip or accidentally brushing against the screen, only when the duration of the trigger signal exceeds a preset anti-accidental touch time threshold. When the control unit 50 confirms that the trigger signal is a valid locking command, it can send a drive command to the stiffness adjustment mechanism to switch to a high-rigidity locking state, enabling the doctor to complete a stable operation. Conversely, when the doctor completes a stable operation and needs to move the scope freely, their finger leaves the operating part 32, and the trigger signal disappears. After detecting the disappearance of the signal, the control unit 50 will send a command to the stiffness adjustment mechanism to restore to the low-damping state.

[0034] Please see Figure 1 and Figure 3 Furthermore, in a surgical environment where the doctor's visual attention is fully focused on the patient or the display screen, additional visual or auditory confirmation may cause interference. To address this, the operating unit 32 can also be equipped with a vibration feedback device 322, such as a vibration motor. This vibration feedback device 322 can be signal-connected to the control unit 50, which can synchronously drive the vibration feedback device 322 to vibrate when the stiffness adjustment mechanism switches to the high-rigidity locking state. Specifically, the vibration can be directly applied to the doctor's fingers through the operating unit 32, forming an immediate tactile confirmation signal that does not require visual distraction. The doctor knows immediately upon feeling the vibration that the high-rigidity locking state has been switched, allowing for completely confident subsequent two-handed operations, thus improving the overall safety and smoothness of the operation from an interactive perspective.

[0035] Please see Figure 1 and Figure 2 Furthermore, the stiffness adjustment mechanism may include a magnetorheological fluid damper 311, which may include a magnetorheological fluid cavity 312 and an excitation coil 313 wound around the magnetorheological fluid cavity 312. The cavity of the magnetorheological fluid cavity 312 may be filled with magnetorheological fluid. Multiple layers of excitation coil 313 may be wound around the periphery of the magnetorheological fluid cavity 312. The number of turns and layers of the coil may be optimized to generate a magnetic field strength that meets the requirements. Through the wiring harness inside the multi-degree-of-freedom robotic arm 11, the excitation coil 313 may be electrically connected to the control unit 50 to control the magnetic field strength applied to the magnetorheological fluid.

[0036] Please see Figure 1 and Figure 2 Specifically, when the surgeon performs extensive exploration in the early stages of surgery or needs to readjust the angle of the bronchoscope 22, the device must be in a low-damping state. At this time, the current output from the control unit 50 to the excitation coil 313 can be maintained below the current threshold. The magnetic field generated by the excitation coil 313 is extremely weak, insufficient to cause large-scale orderly arrangement of magnetic particles in the magnetorheological fluid, resulting in a very low and stable viscosity. When the surgeon applies torque to attempt manipulation, the shear resistance generated inside the magnetorheological fluid damper 311 is minimal, allowing the stiffness adjustment joint 30 to rotate smoothly with almost no delay. The surgeon can guide the end of the bronchoscope 22 to the target airway region with minimal force.

[0037] Please see Figures 1-3 Furthermore, when a doctor issues a high-rigidity locking command via the trigger sensor 321 of the operating unit 32, the control unit 50 can rapidly increase the current of the excitation coil 313 to a value greater than or equal to a preset current threshold. The strong current generates a strong magnetic field, and the magnetic particles in the magnetorheological fluid are magnetized within milliseconds, arranging themselves into a robust chain structure, exhibiting a near-solid state. This causes a sharp increase in the rotational resistance of the magnetorheological fluid damper 311, thereby achieving rigid locking of the stiffness adjustment mechanism. Since the rotational axis inside the stiffness adjustment joint 30 can be fixedly connected to the arm of the adjacent multi-degree-of-freedom robotic arm 11 to achieve relative rotation, when the stiffness adjustment mechanism is rigidly locked, the relative positions of all components from the stiffness adjustment joint 30 to the bronchoscope 22 in space are firmly fixed to provide a stable support platform.

[0038] Please see Figure 1 and Figure 2To further improve the operating experience in low-damped states, this invention can also add active gravity compensation. Specifically, an attitude sensor 33 can be installed inside the stiffness adjustment joint 30. This attitude sensor 33 can be fixedly installed inside the housing of the stiffness adjustment joint 30 using adhesives or screws, and can accurately measure the tilt angle of the stiffness adjustment joint 30. This attitude sensor 33 can be signal-connected to the control unit 50. At any time in the low-damped state, the attitude sensor 33 can measure the pitch and roll angles of the stiffness adjustment joint 30 in real time and send the signals to the control unit 50. The control unit 50 can calculate the entire gravitational load torque between the stiffness adjustment joint 30 and the bronchoscope 22 in the current attitude in real time, and calculate the compensation current value required to counteract the gravitational load torque. The calculation method is existing and will not be elaborated here. Thus, the control unit 50 can adjust the current output to the excitation coil 313 based on the compensation current value, thereby generating a compensation torque in the magnetorheological damper 311, which is equal in magnitude and opposite in direction to the gravitational load torque. As a result, when the doctor moves the bronchoscope 22, most of the weight of the device is canceled out, and only a small force is needed to overcome inertia and change the state of motion. This greatly reduces the fatigue of the forearm and shoulder muscles caused by long-term surgery, allowing the doctor to concentrate his precious physical energy and attention on lesion identification and instrument operation.

[0039] Please see Figure 1 and Figure 4 This invention also adds a passive safety protection device to the active control, which is independent of the control unit 50 and can provide the patient with final physical protection even in extreme failure situations. Specifically, a safety coupling interface 21 can be provided between the end effector 20 and the bronchoscope 22. This safety coupling interface 21 may include a first magnetic element 211 and a second magnetic element 212 that attract each other. The first magnetic element 211 can be connected to the end effector 20, and a matching second magnetic element 212 can be connected to a corresponding position on the bronchoscope 22. The specific setting position and magnetic element structure can be set according to actual needs and are not limited here. When the doctor puts the handle of the bronchoscope 22 into the end effector 20 and brings it close, the two automatically align and lock together under the action of magnetic force, and the connection process is simple and quick. During the operation, if an unforeseen accident occurs, such as the child having a generalized seizure causing the limbs to swing violently and pull on the tubing of the bronchoscope 22, the separation force applied to the safety coupling interface 21 will increase sharply and instantaneously. Once this separation force exceeds the preset safety force threshold, the magnetic attraction of the first magnetic component 211 and the second magnetic component 212 will be overcome, and the handle of the bronchoscope 22 will disengage from the end effector 20 at the safety coupling interface 21. Thus, the unexpected pulling force will not continue to pull on the patient's internal tissues, providing a more complete safety barrier for the patient's airway mucosa.

[0040] Please see Figure 1 and Figure 5 To prevent the bronchoscope 22 from moving beyond the safe zone due to control errors, malfunctions, or human error, the present invention may also provide a mechanical limiting component 40 at the stiffness adjustment joint 30. This limiting component 40 may consist of a pair of cooperating limiting parts, for example, a limiting protrusion 41 may be installed on the joint seat connecting the stiffness adjustment joint 30 and the adjacent arm, which may be a sector block, a cylindrical pin, or other adaptable protrusion. A corresponding limiting receiving part 42 may be machined on the rotating component opposite the joint seat, which may be any adaptable limiting structure, such as a limiting groove or a limiting stop.

[0041] Please see Figure 1 and Figure 5 Specifically, during normal surgery, the movement of the stiffness-adjustable joint 30 is always within a safe range, and the limiting protrusion 41 and the limiting receiving part 42 slide freely relative to each other without affecting the operation. If, for any reason, the joint attempts to rotate beyond its limit in a dangerous direction, the limiting protrusion 41 will abut against the limiting receiving part 42, physically preventing further movement of the stiffness-adjustable joint 30.

[0042] Please see Figure 1 and Figure 5 Furthermore, an elastic buffer 43 can be covered in the contact area of ​​the limiting protrusion 41 or the limiting receiving part 42. This buffer can be made of silicone material and has energy absorption properties, which convert the kinetic energy of the collision into internal energy and dissipates it. Thus, it can prevent the vibration generated by the violent collision from being transmitted to the bronchoscope 22 and avoid causing secondary disturbance to the airway tissue that has been contacted.

[0043] In summary, this invention provides an extended support device for bronchoscopy. First, the surgeon only needs to perform a simple triggering action on the operating unit to switch between a low-damping, flexible following state and a high-rigidity, stable locking state via a stiffness adjustment mechanism, greatly improving the efficiency of the surgical procedure and significantly reducing the surgeon's physical exertion. Second, this invention introduces an anti-accidental touch time threshold logic, allowing the control unit to effectively distinguish between the surgeon's intentional locking command and unintentional brief touches, fundamentally preventing accidental locking or unlocking due to accidental touches and enhancing the safety boundary of the operation. Furthermore, the vibration feedback device provides clear vibration confirmation during state switching, allowing the surgeon to perceive the device's status without visual distraction, further enhancing operational reliability and surgical focus. Finally, this invention also incorporates a passive safety protection mechanism; the safety coupling interface automatically detaches the bronchoscope from the robotic arm under excessive tension, further preventing accidental tissue damage. Moreover, the limiting component constrains the range of motion of the robotic arm, thereby limiting the range of movement of the bronchoscope, providing further safety protection for surgeries on easily moving patients such as children.

[0044] 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.

[0045] 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. An extended support device for bronchoscopy, characterized in that, include: Support base; End effector for holding the bronchoscope; A multi-degree-of-freedom robotic arm, one end connected to the support base and the other end connected to the end effector, wherein the multi-degree-of-freedom robotic arm includes at least one stiffness-adjustable joint, the stiffness-adjustable joint including a stiffness-adjustable mechanism configured to switch between a low-damping state and a high-rigidity locked state; an operating part disposed on the outer periphery of the stiffness-adjustable joint, and the operating part having a trigger sensor for sensing user operation; and a control unit, wherein the trigger sensor and the stiffness-adjustable mechanism are both signal-connected to the control unit; wherein the control unit is configured to control the stiffness-adjustable mechanism to switch between the low-damping state and the high-rigidity locked state based on the trigger signal of the trigger sensor.

2. The extended support device for bronchoscopy according to claim 1, characterized in that, The control unit is configured to switch the stiffness adjustment mechanism to the high-rigidity locking state when the duration of the trigger signal is greater than the anti-accidental touch time threshold, and to restore the stiffness adjustment mechanism to the low-damping state when the trigger signal disappears.

3. The extended support device for bronchoscopy according to claim 1, characterized in that, The stiffness adjustment mechanism includes a magnetorheological fluid damper, which includes a magnetorheological fluid cavity and an excitation coil wound around the magnetorheological fluid cavity. The excitation coil is electrically connected to the control unit. When the current of the excitation coil controlled by the control unit is greater than or equal to a current threshold, the magnetorheological fluid damper switches to the high-rigidity locked state. When the current of the excitation coil controlled by the control unit is less than the current threshold, the magnetorheological fluid damper switches to the low-damping state.

4. The extended support device for bronchoscopy according to claim 3, characterized in that, The stiffness adjustment joint is also equipped with an attitude sensor for detecting the rotation angle of the stiffness adjustment joint. The control unit is connected to the attitude sensor and is also configured to adjust the damping output of the magnetorheological fluid damper based on the feedback signal of the attitude sensor when the stiffness adjustment mechanism is in the low damping state, so as to provide gravity compensation.

5. The extended support device for bronchoscopy according to claim 1, characterized in that, The operating part is ring-shaped and wraps around the outer periphery of the stiffness adjustment joint, and the trigger sensors are evenly distributed on the surface of the operating part.

6. The extended support device for bronchoscopy according to claim 1, characterized in that, It also includes a safety coupling interface connected between the end effector and the bronchoscope, the safety coupling interface being configured such that when the separation force applied thereto exceeds a safety force threshold, the end effector and the bronchoscope separate from the safety coupling interface.

7. The extended support device for bronchoscopy according to claim 6, characterized in that, The safety coupling interface includes a first magnetic component and a second magnetic component that attract each other. The first magnetic component is connected to the end effector, and the second magnetic component is connected to the bronchoscope. The safety force threshold is the attraction force between the first magnetic component and the second magnetic component.

8. The extended support device for bronchoscopy according to claim 1, characterized in that, The operating unit is also equipped with a vibration feedback device, which is signal-connected to the control unit. The control unit is also configured to synchronously drive the vibration feedback device to generate vibration when controlling the stiffness adjustment mechanism to switch to the high-rigidity locking state.

9. The extended support device for bronchoscopy according to claim 1, characterized in that, The stiffness adjustment joint is provided with a limiting component, which includes a limiting protrusion and a limiting receiving part that cooperate with each other. When the stiffness adjustment joint is rotated to the limiting position, the limiting protrusion and the limiting receiving part abut against each other.

10. The extended support device for bronchoscopy according to claim 9, characterized in that, The contact area between the limiting protrusion and the limiting receiving part is provided with an elastic buffer.

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