A peristaltic insertion guide robot system and a control method thereof

By using a peristaltic insertion guide robot system, and through the coordinated control of thermally responsive variable stiffness media and airbag assembly, flexible small-diameter insertion and rigid large-diameter expansion can be achieved. This solves the problems of thrust attenuation and tissue damage during the pushing of flexible endoscopes into human cavities, and improves operational convenience and safety.

CN122182198APending Publication Date: 2026-06-12ZHEJIANG SCI-TECH UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
ZHEJIANG SCI-TECH UNIV
Filing Date
2026-05-11
Publication Date
2026-06-12

AI Technical Summary

Technical Problem

Existing flexible endoscopes or flexible surgical instruments suffer from problems such as attenuation of thrust transmission, distortion of movement at the instrument tip, accumulation of local bending, and increased stress on the cavity wall during the process of pushing them into human cavities, making it difficult to achieve both flexible placement and rigid support.

Method used

The peristaltic insertion guide robot system utilizes a tubular braided carrier, a fluid thermal control unit, and a removable pneumatic drive assembly. By coordinating thermally responsive variable stiffness media and airbag assembly, it achieves flexible small-diameter insertion and rigid large-diameter expansion. Combined with the peristaltic propulsion and deployment support of the airbag segments, it realizes active peristaltic propulsion and release of the central instrument channel.

Benefits of technology

It significantly improves the ability to pass through complex cavities, avoids the shortcomings of passive pushing, reduces the risk of tissue damage, improves operational convenience and safety, and has a simple process, fast response, and reduces manufacturing difficulty and cost.

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Abstract

The present application relates to the field of minimally invasive medical instruments and surgical robot technology, and more particularly to a peristaltic placement guide robot system and a control method thereof. The technical scheme of the present application comprises: a tubular woven carrier woven from hollow microtubule fibers; a fluid thermal regulation unit for rendering the tubular woven carrier into a flexible state or a rigid state; a retractable pneumatic drive assembly comprising a gas bag group for placement in the inner cavity of the tubular woven carrier, for enabling the tubular woven carrier to advance and expand peristaltically; and a cooperative control unit for controlling the fluid thermal regulation unit and the retractable pneumatic drive assembly. The present application overcomes the problems of insufficient push force transmission, high risk of tissue damage, limited support capability after reaching the target position, and the problem of the drive structure occupying the central instrument channel space in the existing passive placement process of natural orifice instruments, and can achieve active and compliant placement in a complex cavity, rigid locking and support at the target position, and release and utilization of the central instrument channel.
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