Robot-assisted endoscopy navigation system

Abstract

The present invention provides a robotic endoscopic navigation system formed as a mechanical structure with physically articulated joints, capable of multi-directional bending controlled through a series chain of interconnected segment modules. [Solution] The present invention is a robotic endoscope navigation system 100 formed as a multi-segment mechanical structure having a physically articulated structure, which is capable of moving in a controlled serpentine motion within a narrow and curved passage. The system 100 comprises an elongated navigation body 102, an articulated segment module 104, a hinge interface assembly 106, a segment drive routing unit 108, and a control unit 114. The control unit 114 cooperates with the articulated segment module 104 by generating an operating signal based on a continuously updated predicted navigation path derived from real-time sensor data.

Description

Technical Field

[0001] The present invention relates to a robotic endoscopic navigation system for minimally invasive endoscopic surgery, and more specifically, to a navigation structure having a physical joint structure that can be driven cooperatively by a path prediction control system and can perform controlled multi-directional bending, internal load transmission, and guided movement through narrow anatomical or industrial passages.

Background Art

[0002] Conventional endoscopic and catheter-based navigation tools are typically limited to rigid or semi-flexible bodies, which prevent controlled navigation through curved, branched, or occluded paths. Such tools rely on passive flexibility and external pushing forces, often causing instability, loss of orientation, and damage to surrounding tissues. Existing robotic systems also suffer from poor force distribution, torsional instability, and lack of coordinated multi-segment control. Therefore, there is a need for a navigation structure having a physical joint structure with intelligent cooperative driving that can achieve serpentine motion, precise curvature control, torsional stability, and predictive path following in a constrained environment.

[0003] Robotic and endoscopic navigation systems have become essential tools in minimally invasive medical procedures and industrial inspection environments where access is restricted by narrow, winding, and branching pathways. These systems are required to navigate complex three-dimensional environments while maintaining positional stability, directional accuracy, and operational safety. Conventional flexible endoscopes and directional catheters are constructed using passively bending shafts, primarily consisting of polymer sheaths, embedded wire braids, or spring-reinforced tubes. While these devices offer limited flexibility, their bending behavior is largely uncontrolled and heavily reliant on manual intervention by the operator. This results in unpredictable curvature, uneven force distribution, and frequent loss of directional control, especially when navigating sharp curves or long, winding paths. Consequently, such systems are prone to buckling, excessive friction, and damage to surrounding tissues and structural surfaces.

[0004] To overcome these limitations, actively steerable endoscopic systems have been introduced that use tension cables or pull wires wired within the instrument body to bend the tip. These systems typically place one or two bending sections near the tip, while the rest of the shaft remains primarily flexible or semi-rigid. While this method allows for directional control of the tip, it does not provide distributed curvature along the entire length of the navigation body. As a result, when navigating complex paths, the proximal part of the instrument often collides with surrounding walls, generating large reaction forces that propagate toward the tip. This not only reduces accuracy but also increases the risk of structural fatigue and patient discomfort.

[0005] More advanced robotic navigation platforms have attempted to achieve multi-joint structures by dividing the navigation body into multiple connected sections. However, many existing designs rely on series hinge joints with limited degrees of freedom and are often constrained to a single bending surface or a connected axis of rotation. Mechanical backlash, torsional instability, and uneven load transfer between adjacent segments are common problems in these designs. The lack of an internal structural alignment framework means that torsional forces generated during joint movement are not evenly distributed, causing twisting, bending, or misalignment of internal channels. In many systems, internal wiring of drive cables and rods strains during bending, leading to frictional losses, hysteresis, and non-uniformity of segment response.

[0006] Another category of existing solutions includes those employing continuous robotic structures, such as concentric tube robots and spine-based flexible manipulators. These systems utilize hyperelastic materials, nested tubes, or flexible spines to achieve continuous bending profiles. While such structures can generate smooth curvature, they are extremely sensitive to external loads and exhibit complex nonlinear behavior. Their operation is highly dependent on material properties, boundary conditions, and contact forces, making real-time control and precise path following difficult. Furthermore, these systems often lack internal stabilization mechanisms, leading to unwanted torsional rotation and axial compression when external forces are applied. This severely limits their reliability in confined and load-bearing environments.

[0007] To improve stability, some systems employ rigid segment frames connected by pin joints or spherical bearings. While these improve load-bearing capacity, they create discrete joint points that concentrate stress and limit the range of motion. Many systems rely on a single central drive axis or a limited operating path, resulting in coarse bending control and poor adaptability to changing path shapes. Furthermore, the mechanical complexity of these joints leads to increased wear, increased lubrication requirements, and wider assembly tolerances, reducing long-term reliability.

[0008] Existing robotic endoscope systems often lack internal torsion adjustment mechanisms. When bending forces act asymmetrically, the navigation body twists unpredictably due to the lack of rotational constraints. This twisting not only alters the orientation of the tip but also impairs the alignment of the internal lumen and cable routing. In systems without a segmented backbone or keyed alignment mechanism, torsional drift accumulates along the entire length of the device, resulting in a misalignment between the intended control input and the actual movement of the tip. This phenomenon significantly reduces navigation accuracy, especially along long or curved paths.

[0009] Another major drawback of the current design is the lack of a coordinated, distributed drive mechanism. Most systems rely on a small number of tension wires or drive rods that extend along the entire length of the device. When tension is applied, the resulting curvature is global rather than local, making it difficult to form complex multi-radius shapes. This lack of segment-specific drive mechanisms hinders adaptation to irregular pathways, such as those found in bronchial trees, vascular networks, and industrial piping systems. As a result, operators have to repeatedly adjust the position of the device, increasing treatment time and risk.

[0010] From a control perspective, many existing robot navigation systems operate using static or pre-programmed motion profiles that do not take real-time environmental feedback into account. While some systems incorporate imaging or force sensors at the end of the system, the mechanical structure is often unable to dynamically respond to updated path information. The rigid coupling between drive channels and structural segments makes it impossible to make local adjustments without affecting the entire system. This limitation hinders smooth navigation around obstacles and in dynamically changing environments.

[0011] Furthermore, current designs often directly integrate the distal sensor head into the curved structure, which transmits rotational and torsional loads due to curvature to the sensor assembly. This coupling can lead to misalignment of the image sensor and detection element, degradation of signal quality, and increased mechanical wear. The lack of a rotational separation mechanism hinders independent azimuth control of the sensor head, making precise target acquisition in confined spaces difficult.

[0012] Another significant drawback is poor load distribution at the joints. In many systems, bending and compressive forces are transmitted through a limited number of structural elements, leading to stress concentration at the joints. This causes material fatigue, loosening of joints, and mechanical failure over time. Furthermore, insufficient sealing between segments often allows for fluid intrusion and accumulation of foreign matter, further degrading performance.

[0013] Therefore, there is still a great need for a robotic endoscopic navigation system that integrates a multi-segment load distribution structure with a physically jointed structure and internal torsional adjustment function, a distributed and selectively controllable drive mechanism, and a separate distal sensor mount, all of which work together with a path prediction control system to achieve navigation that combines stability, accuracy, and adaptability in complex environments. [Overview of the Initiative] [Problems that the invention aims to solve]

[0014] The present disclosure provides a robotic endoscopic navigation system formed as a mechanically elongated structure consisting of articulated segment modules arranged in series. Each segment module is structurally interconnected via a hinge interface assembly that enables controlled angular displacement in multiple planes. A centrally located backbone structure penetrates all segment modules to maintain torsional alignment, while distributed drive members penetrate the main body and are fixed in alternating axial positions to selectively guide curvature across the entire segment group. A distal sensor carrier is mechanically isolated from bending forces via a rotational isolation collar, enabling independent rotational alignment. A control unit works in conjunction with the structural drive architecture to generate actuation signals based on a predicted navigation path, thereby causing the physical structure to adopt a curvature profile corresponding to a desired trajectory.

[0015] The objective of this invention is to provide a robotic endoscopic navigation system formed as a mechanical structure with physically articulated joints, capable of multi-directional bending controlled through a series chain of interconnected segment modules. This makes it possible to navigate through complex, curved, and narrow passages with improved stability and positional accuracy. Another object of this invention is to provide a navigation structure in which bending and compressive loads are distributed circumferentially across multiple hinge interface assemblies. This reduces localized stress concentration, minimizes structural fatigue, and extends the operational life of the system under repeated joint movement cycles.

[0016] A further object of this invention is to provide an internal torsion-resistant alignment framework that penetrates an articulated segment module. This framework is formed as a segmented backbone with keyed interconnects that allow controlled angular displacement while limiting relative rotational drift, thereby maintaining a consistent axial orientation and preserving the alignment of the internal channels during navigation.

[0017] Furthermore, another objective of the present invention is to provide a distributed drive transmission architecture in which multiple independently addressable drive members are fixed in alternating axial positions along the vessel. This allows for the selective operation of individual drive members, thereby inducing a coordinated curvature across the entire group of local segment modules, enabling the vessel to adapt to complex multi-radius paths.

[0018] A further object of this invention is to provide an internal guide structure that maintains the alignment of the drive member in a series of joints. This ensures predictable segment response while reducing friction, hysteresis, and energy loss during operation.

[0019] Another objective of this invention is to provide a sealing structure between adjacent segment modules that allows relative angular displacement while maintaining a closed internal environment, thereby protecting internal components from fluid intrusion, debris accumulation, and environmental contamination.

[0020] A further objective of this invention is to provide a distal sensor carrier that is mechanically isolated from torsional forces caused by bending by a rotational isolation collar. This allows for independent adjustment of the rotational direction of the detection element or imaging element while maintaining the structural integrity of the articulated navigation body.

[0021] Furthermore, another objective of this invention is to provide a cooperative structural and control architecture that dynamically updates the predicted navigation path using real-time sensor data and redistributes the operating force among the drive members. This makes it possible to avoid obstacles and navigate adaptively in a dynamically changing environment.

[0022] Another objective of this invention is to provide a mechanically robust and modular structure in which individual articulated segment modules, backbone sections, or drive members can be replaced or reconfigured, thereby improving maintainability, expandability, and customizability in a variety of medical or industrial applications.

[0023] A further objective of this invention is to provide a navigation system that maintains axial stability, minimizes torsional drift, and reduces unwanted lateral forces on surrounding structures. This improves safety, accuracy, and work efficiency in minimally invasive surgery and confined space examinations. [Means for solving the problem]

[0024] To achieve the above objective, the present invention provides a robotic endoscope navigation system having a multi-jointed serpentine structure, comprising: an elongated navigation body defining a proximal control interface end and a distal operating end, and surrounding an internal routing passage extending along a central longitudinal axis; a plurality of articulated segment modules arranged in a series chain along the navigation body; each of the articulated segment modules comprising: a circumferential outer frame ring defining the external boundary of the navigation body at the segment position; a coaxially arranged inner support ring defining a central routing opening; a plurality of radial supports rigidly connecting the outer frame ring and the inner support ring; a proximal connecting collar and a distal connecting collar positioned on both axial sides of the articulated segment module; and at least three circumferentially spaced hinge interface assemblies extending between the proximal coupling collar and the distal coupling collar, the hinge interface assemblies including pivot portions that engage with socket portions belonging to adjacent segment modules, thereby enabling adjacent segment modules to , angularly displaceable relative to each other in at least two orthogonal bending surfaces; a segment drive routing unit extending from the proximal control interface end through the central routing opening of the articulated segment module and terminating at a predetermined hinge interface assembly, the segment drive routing unit comprising a plurality of independently controllable drive members fixed in alternating axial positions along the navigation body, the actuation of the predetermined drive members causing a coordinated curvature across an adjacent group of articulated segment modules; a segment coupling alignment core unit penetrating the center of the articulated segment module, connected to each inner support ring by at least one radial stabilization connector, the segment coupling alignment core unit comprising a plurality of axially aligned core sections, each core section connected to an adjacent core section by a rotary key interface, the interface allowing angular displacement aligned with the hinge interface assembly while limiting relative torsional rotation;A distal sensor carrier attached to a distal operating end and connected to a distal joint segment module by a rotational separation collar, where this rotational separation collar enables the distal sensor carrier to rotate relative to the distal joint segment module independently of the flexion of the articulated segment module; and a control unit operatively connected to the distal sensor carrier and the segment drive routing unit, this control unit being configured to generate joint control signals based on a predicted navigation path through an anatomical region or a narrow access region; provided that the hinge interface assembly includes a concave bearing socket formed in a proximal coupling collar of one of the articulated segment modules and a convex pivot head formed in a distal coupling collar of an adjacent articulated segment module, where the concave bearing socket and the convex pivot head have dimensions that limit angular displacement at each flexion surface to a predetermined range while maintaining continuous load transfer between adjacent articulated segment modules, and where at least three of the hinge interface assemblies are arranged equidistantly around a central longitudinal axis, where the flexion force transmitted through the articulated segment module is dispersed circumferentially around the navigation body, reducing local stress concentration.;

Effect of the Invention

[0025] The robot endoscope navigation system according to the present invention is formed as a multi-segment mechanical structure having a physical joint structure, and becomes a robot endoscope navigation system capable of moving in a narrow and curved passage with a controlled serpentine motion.

Brief Description of the Drawings

[0026] These and other features, aspects, and advantages of the present disclosure will be better understood when read in conjunction with the following detailed description and the accompanying drawings. In the drawings, the same reference numerals indicate the same parts throughout the drawings.

[0027] FIG. 1 shows a block diagram of a robotic endoscope navigation system having a joint structure like a multi-segment snake.

[0028] Furthermore, those skilled in the art will understand that the elements in the drawings are illustrated for simplicity and may not necessarily be drawn to scale. For example, a flowchart illustrates a method from the perspective of the most prominent steps involved so as to help improve the understanding of the aspects of the present disclosure. Further, with respect to the structure of the device, one or more components of the device may be represented in the drawings by conventional symbols, and the drawings may show only the specific details appropriate for understanding the embodiments of the present disclosure so as not to obscure the drawings with details that will be readily apparent to those skilled in the art having the benefit of the description herein.

Best Mode for Carrying Out the Invention

[0029] For the purpose of facilitating the understanding of the principle of the invention, reference is made to the embodiments shown in the drawings and specific terms are used in the description thereof. However, it is not intended to limit the scope of the invention thereby, and it should be understood that changes and further improvements in the illustrated system and further applications of the principle of the invention shown therein are within the scope that those skilled in the art can normally conceive.

[0030] Those skilled in the art will understand that the foregoing general description and the following detailed description are for the purpose of exemplifying and explaining the present invention and are not intended to limit it. Expressions such as "in one embodiment", "in another embodiment" or similar expressions throughout this specification mean that the specific functions, structures, or features described in relation to the embodiment are included in at least one embodiment. Therefore, the appearance of expressions such as "in one embodiment", "in another embodiment" and similar expressions throughout this specification does not necessarily refer to the same embodiment, but may do so in some cases.

[0031] The expressions “includes,” “is included,” or other similar expressions are intended to be non-exclusive, and a process or method containing a list of steps does not include only those steps, but may include other steps not expressly stated or inherent in the process or method. Similarly, one or more devices, subsystems, elements, structures, or components preceding “includes…” does not, unless further restricted, exclude the existence of other devices, other subsystems, other elements, other structures, other components, additional devices, additional subsystems, additional elements, additional structures, or additional components.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The systems, methods, and examples described herein are for illustrative purposes only and are not intended to limit the scope of this invention.

[0033] Embodiments of this specification will be described in detail below with reference to the accompanying drawings. Referring to Figure 1, a block diagram of a robotic endoscopic navigation system having a multi-jointed serpentine structure is shown. The system 100 comprises: - an elongated navigation body (102) defining a proximal control interface end and a distal operating end, and containing an internal wiring passage extending along the central longitudinal axis; and - a plurality of joint segment modules (104) arranged in series along the navigation body. Each module includes: - a circumferential outer frame ring defining the outer boundary of the navigation body at the segment position; a coaxially arranged inner support ring defining the central wiring opening; a plurality of radial supports rigidly connecting the outer frame ring and the inner support ring; a proximal and distal coupling collars positioned on both axial sides of the segment module; and at least three circumferentially spaced hinge interface assemblies (106) extending between the proximal and distal coupling collars. Each hinge interface assembly includes a pivot portion that engages with a socket portion belonging to an adjacent segment module, thereby allowing adjacent segment modules to be angularly deformable relative to each other in at least two orthogonal bending surfaces.

[0034] A segment drive routing unit (108) extends from the proximal control interface end through the central routing opening of the articulated segment module and terminates at a selected hinge interface assembly. This segment drive routing unit includes a plurality of independently controllable drive members fixed in alternating axial positions along the navigation body, and the actuation of the selected drive members induces a coordinated curvature across the adjacent group of articulated segment modules. A segment linkage alignment core unit (110) extends through the center of the articulated segment module and is connected to each inner support ring by at least one radial stabilization connector. The core unit consists of a plurality of axially aligned core sections, each core section connected to an adjacent core section by a rotary key interface, limiting relative torsional rotation while allowing angular displacement aligned with the hinge interface assembly; a distal sensor carrier (112) is attached to the distal operating end and connected to the terminal articulated segment module by a rotary separation collar. This collar allows the sensor carrier to rotate relative to the terminal joint segment module independently of the bending motion of the joint segment module; and a control unit (114) operationally connected to the distal sensor carrier and segment drive routing unit, the control unit is configured to generate joint motion control signals based on a predicted navigation path through an anatomical region or a limited access region.

[0035] In one embodiment, each hinge interface assembly (106) includes a recessed bearing socket formed on the proximal coupling collar of one articulated segment module and a convex pivot head formed on the distal coupling collar of an adjacent articulated segment module. The recessed bearing socket and convex pivot head are sized to limit the angular displacement at each bending surface to a predetermined range while maintaining continuous load transfer between adjacent articulated segment modules.

[0036] In one embodiment, at least three hinge interface assemblies (106) are arranged at substantially equal angular intervals around the central longitudinal axis. This distributes the bending forces transmitted through the articulated segment modules circumferentially around the navigation body, reducing localized stress concentrations.

[0037] In one embodiment, each articulated segment module (104) includes a circumferential sealing band positioned between the proximal and distal coupling collars of adjacent segment modules, the sealing band maintaining a closed joint gap while allowing relative angular displacement between the segment modules.

[0038] In one embodiment, each drive member of the segment drive routing unit (108) is guided through a curved internal guide channel formed within the radial strut of the articulated segment module. This ensures that the tension vectors applied to the drive members during articulation remain aligned throughout the continuous hinge interface assembly.

[0039] In one embodiment, the segment drive routing unit (108) includes at least four drive members arranged circumferentially around a central longitudinal axis, each drive member being fixed to a group of hinge interface assemblies in different axial directions, selectively guiding local or dispersed curvature profiles along the navigation body.

[0040] In one embodiment, each core section of the segment-joining alignment core unit (110) has a male spline portion at one axial end and a female spline portion at the opposite axial end. The male spline portion of one core section meshes with the female spline portion of an adjacent core section to form a rotary key interface.

[0041] In one embodiment, each radial stabilizing connector connecting the segment-connected alignment core unit (110) to the inner support ring includes an elastically adaptable segment that maintains axial alignment while absorbing lateral deflection forces generated during joint movement. In one embodiment, the rotational isolation collar includes an annular thrust bearing positioned between the terminal joint segment module and the distal sensor carrier, thereby separating the rotational motion of the sensor carrier from the rotation due to bending of the joint segment module.

[0042] In one embodiment, each hinge interface assembly (106) includes a biasing element positioned between adjacent coupling collars, configured to push the joint segment module toward the neutral axial alignment when the drive member is not actuated.

[0043] In one embodiment, the control unit (112) is configured to continuously update the predicted navigation path derived by artificial intelligence based on real-time sensor data from the distal sensor carrier, and to dynamically redistribute the operating force between the drive members of the segmental drive path unit in order to avoid obstacle areas.

[0044] The robotic endoscope navigation system is comprised of an elongated navigation body that defines the proximal control interface end and the distal operating end. The navigation body contains an internal wiring passage that extends along the central longitudinal axis. The navigation body is constructed as a series chain of articulated segment modules, each module defining an individual mechanical link in the overall structure.

[0045] Each articulated segment module includes a circumferential outer frame ring that defines the outer boundary of the navigation body in its axial position. An inner support ring, coaxially positioned within this outer frame ring, defines a central wiring opening that coincides with the longitudinal axis. Multiple rigid radial struts extend between the outer frame ring and the inner support ring, forming a load-bearing grid that transmits bending and compressive forces while maintaining a central passage.

[0046] Each articulated segment module further includes a proximal coupling collar and a distal coupling collar positioned on opposite sides of the module's axial direction. Between the proximal coupling collar of one module and the distal coupling collar of an adjacent module, at least three circumferentially spaced hinge interface assemblies are formed. Each hinge interface assembly features a concave bearing socket in one collar and a convex pivot head that engages with the adjacent collar. These assemblies allow for angular displacement at at least two orthogonal bending surfaces between adjacent modules while maintaining continuous load transfer throughout the navigation body. The hinge interface assemblies are positioned substantially equally spaced around the central axis, distributing bending forces circumferentially and reducing localized stress concentrations.

[0047] A circumferential sealing band is positioned between adjacent coupling collars of adjacent segment modules. This sealing band maintains a closed joint gap while allowing relative angular displacement, thereby protecting the internal piping passage from the ingress of fluids and foreign matter.

[0048] A segment drive wiring unit is provided, extending from the proximal control interface end through the central wiring opening of the articulated segment module. This unit includes a plurality of independently addressable drive members extending through internal guide channels formed within the radial supports of the segment module. The drive members are fixed in alternating axial positions along the navigation body, and the operation of a selected drive member induces a coordinated curvature across the entire group of adjacent articulated segment modules.

[0049] The internal guide channels are curved and oriented so that the tension vectors acting on each drive member maintain alignment between consecutive hinge interface assemblies during joint movement. At least four drive members are arranged circumferentially around a central longitudinal axis, with each drive member fixed to a group of hinge interface assemblies in different axial directions, selectively guiding local or dispersed curvature profiles along the navigation body.

[0050] The bias element is positioned between adjacent coupling collars and guides the articulated segment module to the neutral axial position when the drive member is not in operation, thereby providing passive structural centering.

[0051] The segment-linked alignment backbone unit runs through the center of all articulated segment modules and is connected to each inner support ring by at least one radial stabilization connector. This backbone unit consists of multiple axially aligned backbone sections. Each backbone section has a male spline at one axial end and a female spline at the opposite axial end. The male spline of one backbone section meshes with the female spline of an adjacent backbone section, forming a rotary key interface. This limits relative torsional rotation while allowing angular displacement along the hinge interface assembly.

[0052] Each radial stabilizing connector features an elastically adaptable segment that absorbs lateral deflection forces generated during joint movement while maintaining the axial alignment of the spinal unit. The distal sensor carrier is attached to the distal operating end of the navigation unit. The distal sensor carrier is connected to the terminal articulated segment module via a rotational isolation collar. This rotational isolation collar includes an annular thrust bearing positioned between the terminal articulated segment module and the distal sensor carrier. This bearing isolates the rotational motion of the sensor carrier from the rotation caused by the bending of the articulated segment module, thereby allowing the sensor carrier to rotate independently of the curvature of the navigation unit.

[0053] The control unit is operationally connected to the distal sensor carrier and the segment drive path setting unit. The control unit is configured to generate joint control signals based on a predicted navigation path through an anatomical or narrow access area. The control unit continuously updates the predicted path based on real-time sensor data from the distal sensor carrier and dynamically redistributes the operating force between the drive members to avoid obstacle areas and maintain controlled navigation.

[0054] The drawings and the preceding description illustrate examples of embodiments. Those skilled in the art will understand that one or more of the described elements may be integrated into a single functional element. Alternatively, certain elements may be divided into multiple functional elements. It is also possible to add elements of one embodiment to another. For example, the order of processes described herein is modifiable and is not limited to the methods described herein. Furthermore, the operations in the flowchart do not necessarily have to be implemented in the order shown, nor do all operations necessarily have to be performed. Operations that do not depend on other operations may be performed in parallel with other operations. The scope of embodiments is by no means limited by these specific examples. Numerous variations are possible, including differences in structure, dimensions, and use of materials, whether or not they are expressly described in the specification. The scope of embodiments is at least as broad as or broader than the scope given by the following claims.

[0055] The advantages, other benefits, and solutions to problems have been described above with respect to specific embodiments. However, these advantages, benefits, solutions to problems, and any components that may result in the occurrence or enhancement of any advantages, benefits, or solutions should not be construed as essential, necessary, or intrinsic features or components in any or all of the claims.

Claims

1. A robotic endoscopic navigation system having a multi-segmented serpentine joint, A slender navigation body, comprising a proximal control interface end and a distal operating end, and enclosing an internal routing passage extending along a central longitudinal axis; It comprises multiple articulated segment modules arranged in a series chain along the navigation unit; Each of the aforementioned articulated segment modules is, A circumferential outer frame ring that defines the external boundary of the navigation unit at the segment location; Coaxially arranged inner support rings defining the central routing opening; Multiple radial supports rigidly connect the outer frame ring and the inner support ring; A proximal connecting collar and a distal connecting collar positioned on both axial sides of the articulated segment module; A hinge interface assembly extending between a proximal coupling collar and a distal coupling collar, comprising at least three circumferentially spaced hinge interface assemblies, each including a pivot portion that engages with a socket portion belonging to an adjacent segment module, thereby enabling the adjacent segment modules to be angularly displaced relative to each other in at least two orthogonal bending surfaces; A segment drive routing unit extending from the proximal control interface end through the central routing opening of the articulated segment module and terminating at a predetermined hinge interface assembly, the segment drive routing unit comprising a plurality of independently controllable drive members fixed in alternating axial positions along the navigation body, the actuation of the predetermined drive members causing a coordinated curvature across an adjacent group of articulated segment modules; A segment coupling alignment core unit, which penetrates the center of the articulated segment module, is connected to each inner support ring by at least one radial stabilization connector, and the segment coupling alignment core unit consists of a plurality of core sections aligned axially, each core section being connected to an adjacent core section by a rotary key interface, which allows angular displacement aligned with the hinge interface assembly while limiting relative torsional rotation; A distal sensor carrier attached to the distal operating end and connected to the distal joint segment module by a rotational separation collar, wherein the rotational separation collar allows the distal sensor carrier to rotate relative to the distal joint segment module independently of the bending of the articulated segment module; and A control unit operationally connected to the distal sensor carrier and the segment drive routing unit, the control unit being configured to generate joint control signals based on a predicted navigation path through an anatomical region or a narrow access region; Here, the hinge interface assembly includes a concave bearing socket formed on the proximal coupling collar of one of the articulated segment modules and a convex pivot head formed on the distal coupling collar of an adjacent articulated segment module. Here, the concave bearing socket and the convex pivot head have dimensions that limit the angular displacement at each bending surface to a predetermined range while maintaining continuous load transmission between adjacent articulated segment modules. Here, at least three of the hinge interface assemblies are arranged at equal intervals around the central vertical axis, Herein, the robotic endoscopic navigation system is characterized in that the bending force transmitted via the articulated segment module is distributed in the circumferential direction of the navigation body, thereby reducing localized stress concentration.

2. The articulated segment module includes a circumferential sealing band positioned between the proximal coupling collar and distal coupling collar of adjacent segment modules. The robotic endoscope navigation system according to claim 1, characterized in that the circumferential sealing band maintains a closed joint gap while allowing relative angular displacement between the articulated segment modules, and each drive member of the segment drive routing unit is guided through a curved internal guide channel formed within the radial strut of the articulated segment module, so that the tension vector applied to the drive member during articulation is continuous and the alignment of the entire hinge interface assembly is maintained.

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