Growable Continuum Instrument and Surgical Robot

Abstract

The present disclosure relates to the field of continuum devices, and discloses a growable continuum device, which includes a growable tube and one or more serially-connected continuum structures. The growable tube includes an inner layer, an outer layer, and a fluid cavity located between the inner and outer layers. The growable tube includes a deployable region, where the inner and outer layers are connected and deployable. The continuum structure is located in the growable tube. The continuum structure includes a plurality of spaced disks and a plurality of connecting structures. The connecting structure includes one or more flexible structural bones, the two ends of which are respectively fixedly connected to adjacent spaced disks and are distributed circumferentially along the spaced disks. Among them, the plurality of connecting structures at least include a first connecting structure and a second connecting structure, and the flexible structural bones of the first and second connecting structures are differently distributed circumferentially along the spaced disks. The plurality of continuum structures of the continuum device can bend in different directions to drive the growable tube to bend, so as to adapt to a complex bending environment and will not cause damage to the cavity.

Description

Technical Field

[0001] The present disclosure relates to the field of continuum devices, and particularly to a growable continuum device and a surgical robot. Background Art

[0002] Traditional disease diagnosis and surgical treatment are mainly divided into open diagnosis and surgery, as well as endovascular interventional diagnosis and treatment. Endovascular interventional diagnosis or treatment is to make an incision on a blood vessel or the skin to form a channel without opening the body to expose the lesion, or through the original body cavity of the human body, and reach the target position under the guidance of an imaging device to diagnose or treat the local lesion, which has the characteristic of less trauma.

[0003] Traditional endovascular interventional surgeries mainly rely on manual operations by doctors. In order to reduce the burden on doctors and improve the efficiency and safety of endovascular interventions, the method of using endovascular interventional devices to assist in interventional diagnosis or surgery has gradually become a research hotspot in the industry. Endovascular interventional devices can be remotely controlled to eliminate the risks brought by the physiological tremors of doctors during manual operations and misoperations during fatigue.

[0004] However, for currently used endovascular interventional devices, in order to facilitate control of operations, the interventional devices usually have isotropic bending. As a result, the flexibility of the interventional devices is relatively poor, the bending space is limited, they cannot adapt to the complexly bent human body cavities, and are likely to cause damage to the cavities. Summary of the Invention

[0005] In some embodiments, a growable continuum device includes:

[0006] A growable tube, which includes an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer, and the fluid cavity is used to hold fluid; the growable tube includes a deployable area at the distal end, and the inner layer and the outer layer are connected and deployable in the deployable area; and

[0007] One or more series-connected continuum structures disposed in a channel surrounded by the inner layer of the growable tube, and the continuum structures are bendable to drive the growable tube to bend. The continuum structures include:

[0008] A plurality of spaced disks; and

[0009] A plurality of connection structures, and the connection structures include:

[0010] One or more flexible structural bones, the first end and the second end of the one or more flexible structural bones are respectively fixedly connected to adjacent spaced disks, and the one or more flexible structural bones are distributed circumferentially along the spaced disks;

[0011] Among them, the multiple connection structures at least include a first connection structure and a second connection structure. The first connection structure includes one or more first flexible structural bones, and the second connection structure includes one or more second flexible structural bones. The circumferential distribution of the one or more first flexible structural bones along the spacer disk is different from the circumferential distribution of the one or more second flexible structural bones along the spacer disk.

[0012] In some embodiments, the present disclosure also provides a surgical robot, including the growable continuum instrument according to any one of the embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for description in the embodiments of the present disclosure. The drawings in the following description only show some embodiments of the present disclosure. For those of ordinary skill in the art, other embodiments can be obtained according to the content of the embodiments of the present disclosure and these drawings without creative efforts.

[0014] Figure 1 A three-dimensional structural schematic diagram showing a continuum structure according to some embodiments of the present disclosure;

[0015] FIG. 2(a) shows a three-dimensional structural schematic diagram of a continuum structure according to other embodiments of the present disclosure;

[0016] FIG. 2(b) shows a three-dimensional structural schematic diagram of a continuum structure according to other embodiments of the present disclosure;

[0017] FIG. 2(c) shows a three-dimensional structural schematic diagram of a continuum structure according to other embodiments of the present disclosure;

[0018] Figure 3 A partial exploded schematic diagram showing a continuum structure according to some embodiments of the present disclosure;

[0019] FIG. 4(a) shows a schematic diagram of the axial projection of the flexible structural bones of a continuum structure according to some embodiments of the present disclosure;

[0020] FIG. 4(b) shows a schematic diagram of the axial projection of the flexible structural bones of a continuum structure according to other embodiments of the present disclosure;

[0021] FIG. 5(a) shows a three-dimensional structural schematic diagram of a continuum structure according to other embodiments of the present disclosure;

[0022] FIG. 5(b) shows a three-dimensional structural schematic diagram of a continuum structure according to other embodiments of the present disclosure;

[0023] FIG. 5(c) shows a three-dimensional structural schematic diagram of a continuum structure according to other embodiments of the present disclosure;

[0024] FIG. 5(d) shows a schematic perspective view of a continuum structure according to other embodiments of the present disclosure;

[0025] FIG. 5(e) shows a schematic perspective view of a continuum structure according to other embodiments of the present disclosure;

[0026] FIG. 5(f) shows a schematic perspective view of a continuum structure according to other embodiments of the present disclosure;

[0027] FIG. 6(a) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0028] FIG. 6(b) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0029] FIG. 6(c) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0030] FIG. 6(d) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0031] FIG. 7(a) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0032] FIG. 7(b) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0033] FIG. 7(c) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0034] FIG. 8(a) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0035] FIG. 8(b) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0036] FIG. 9(a) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0037] FIG. 9(b) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0038] FIG. 9(c) shows a schematic axial projection view of a flexible structural bone of a continuum structure according to other embodiments of the present disclosure;

[0039] Figure 10Schematic structural diagram of a spacer disk of a continuum structure according to some embodiments of the present disclosure;

[0040] Figure 11 Schematic structural diagram of a continuum instrument according to some embodiments of the present disclosure;

[0041] Figure 12 Schematic structural diagram of a continuum instrument according to some other embodiments of the present disclosure;

[0042] Figure 13 Schematic structural diagram of a continuum instrument according to some other embodiments of the present disclosure;

[0043] Figure 14 Schematic structural diagram of the bone distribution of the drive structure of a continuum instrument according to some other embodiments of the present disclosure;

[0044] Figure 15(a) shows a schematic axial projection diagram of the bone of the drive structure of a continuum instrument according to some other embodiments of the present disclosure;

[0045] Figure 15(b) shows a schematic axial projection diagram of the bone of the drive structure of a continuum instrument according to some other embodiments of the present disclosure;

[0046] Figure 15(c) shows a schematic axial projection diagram of the bone of the drive structure of a continuum instrument according to some other embodiments of the present disclosure;

[0047] Figure 16 Schematic structural diagram of the distal part of a growable continuum instrument according to some embodiments of the present disclosure;

[0048] Figure 17 Schematic structural diagram of the distal part of a growable continuum instrument located in a cavity according to some embodiments of the present disclosure;

[0049] Figure 18(a) shows a schematic structural diagram of the distal part of a growable tube according to some embodiments of the present disclosure;

[0050] Figure 18(b) shows a schematic structural diagram of the distal part of a growable tube according to some other embodiments of the present disclosure;

[0051] Figure 19(a) shows a partial schematic structural diagram of a tube drive mechanism according to some embodiments of the present disclosure;

[0052] Figure 19(b) shows a partial schematic structural diagram of a tube drive mechanism according to some other embodiments of the present disclosure;

[0053] Figure 20 Schematic structural diagram of a surgical robot according to some embodiments of the present disclosure. Detailed implementation manners

[0054] To make the technical problems solved by the present disclosure, the technical solutions adopted, and the achieved technical effects clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0055] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the proximal part, the rear end, or the rear part, and the end close to the operation object (such as a surgical patient) is defined as the distal end, the distal part, the front end, or the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used in medical devices or surgical robots, and can also be used in other non-medical devices.

[0056] Figure 1 A three-dimensional structural schematic diagram of the continuum structure 1000 according to some embodiments of the present disclosure is shown. In some embodiments, as Figure 1 shown, the serially connected continuum structure 1000 may include a plurality of spaced disks 1200 and a plurality of connection structures 1100. The connection structure 1100 may include one or more flexible structural bones 1110. The first end and the second end of one or more flexible structural bones 1110 are respectively fixedly connected to adjacent spaced disks 1200, and one or more flexible structural bones 1110 are circumferentially distributed along the spaced disks 1200. Among them, the plurality of connection structures 1100 may at least include the connection structure 1100a and the connection structure 1100b. Those skilled in the art can understand that although Figure 1 only two connection structures 1100a and 1100b are shown, the plurality of connection structures 1100 may also include other types of connection structures.

[0057] Figure 2(a)-Figure 2(c)Schematic diagrams of different three-dimensional structures of the continuum structure 1000 according to some embodiments of the present disclosure are respectively shown. As Figure 2(a)-Figure 2(c) shown, the connecting structure 1100a may include one or more flexible structural bones 1110a, the connecting structure 1100b may include one or more flexible structural bones 1110b, and the circumferential distribution of one or more flexible structural bones 1110a along the spacer disk 1200 is different from the circumferential distribution of one or more flexible structural bones 1110b along the spacer disk 1200. As shown in FIG. 2(a), the connecting structure 1100a may include one flexible structural bone 1110a, and the connecting structure 1100b may include one flexible structural bone 1110b. As shown in FIG. 2(b), the connecting structure 1100a may include two flexible structural bones 11110a, and the connecting structure 1100b may include two flexible structural bones 1110b. As shown in FIG. 2(c), the connecting structure 1100a may include three flexible structural bones 1110a, and the connecting structure 1100b may include three flexible structural bones 1110b. It should be understood that the connecting structure 1100a may further include more flexible structural bones 1110a, and the connecting structure 1100b may further include more flexible structural bones 1110b.

[0058] Figure 3 A partial exploded view of the continuum structure 1000 according to some embodiments of the present disclosure is shown. It should be understood that a plurality of spacer disks 1200 may be arranged at intervals, and one or more flexible structural bones 1110 may be included between adjacent spacer disks 1200 and arranged parallel to the central axis O of the continuum structure, as Figure 3 shown. In some embodiments, one or more flexible structural bones 1110 may be distributed along the inner contour line or inner circumference of the spacer disk 1200. It should be understood that the inner contour line or inner circumference may include curves, arcs, straight lines, etc. distributed circumferentially or radially from the central axis O of the continuum structure to the radial end face of the spacer disk 1200. For example, one or more flexible structural bones 1110a or one or more flexible structural bones 1110b may be distributed in a circular distribution, a curve distribution, a rectangular distribution, etc. along the inner contour line or inner circumference of the spacer disk 1200.

[0059] FIG. 4(a) and FIG. 4(b) respectively show different projection schematic diagrams of the flexible structural bones of the continuum structure along the axial direction according to some embodiments of the present disclosure. In some embodiments, as shown in FIG. 4(a), the projections of one or more flexible structural bones 1110a and one or more flexible structural bones 1110b along the axial direction of the continuum structure may be distributed along the same circumference A in the circumferential direction of the spacer disk 1200. Alternatively, as shown in FIG. 4(b), one or more flexible structural bones 1110a are respectively distributed along the circumferential direction of the spacer disk 1200 along the circumference A, and one or more flexible structural bones 1110b are respectively distributed along the circumferential direction of the spacer disk 1200 along the circumference B, and the circumference A and the circumference B are spaced apart radially.

[0060] Those skilled in the art should understand that the circumferential distribution of one or more flexible structural bones 1110a or one or more flexible structural bones 1110b along the spacer disk 1200 is different, including but not limited to, one or more flexible structural bones 1110a are distributed in the first region of the spacer disk 1200, and one or more flexible structural bones 1110b are distributed in the second region of the spacer disk 1200 different from the first region; or, one or more flexible structural bones 1110a are distributed in the first region of the spacer disk 1200, and one or more flexible structural bones 1110b are distributed in the second region that partially overlaps with the first region of the spacer disk 1200; or, one or more flexible structural bones 1110a are distributed in the first region of the spacer disk 1200, and one or more flexible structural bones 1110b are distributed in the second region of the spacer disk 1200, and the first region and the second region are staggered by a certain angle along the circumferential direction of the spacer disk; or, the number of flexible structural bones 1110a and flexible structural bones 1110b is different, resulting in different distributions of the two; or, the number of flexible structural bones 1110a and flexible structural bones 1110b is the same, and due to the difference in the distribution spacing between the flexible structural bones, the distributions of the two are different. By the different circumferential distributions of the flexible structural bones 1110a and the flexible structural bones 1110b along the spacer disk 1200, the continuum structure can be bent in different directions, and the bending direction and the degree of bending can be adjusted according to the number and distribution of the flexible structural bones. For example, the continuum structure can be bent toward the side where the flexible structural bones are less distributed or not distributed.

[0061] Figure 5(a)-Figure 5(f) Respectively show different three-dimensional structural schematic diagrams of the continuum structure according to some embodiments of the present disclosure. In some embodiments, as Figure 5(a)-Figure 5(f)As shown, a plurality of connection structures 1100 may include one or more serially-connected connection structures 1100a and one or more serially-connected connection structures 1100b, and the one or more serially-connected connection structures 1100a and the one or more serially-connected connection structures 1100b are distributed periodically or non-periodically along the axial direction of the continuum structure. For example, one connection structure 1100a and one connection structure 1100b may be alternately distributed in sequence to form a plurality of periodic units T. As shown in FIG. 5(a), the connection structure 1100a and the connection structure 1100b each include a flexible structural bone, which are alternately connected in series along the axial direction of the continuum structure. As shown in FIG. 5(b), the connection structure 1100a and the connection structure 1100b each include two flexible structural bones, which are alternately connected in series along the axial direction of the continuum structure. As shown in FIG. 5(c), the connection structure 1100a and the connection structure 1100b each include a flexible structural bone, and one connection structure 1100a and a plurality of serially-connected connection structures 1100b may be alternately distributed in sequence. It should be understood that the one or more serially-connected connection structures 1100a and the one or more serially-connected connection structures 1100b may also be non-periodically distributed, such as shown in FIG. 2(c).

[0062] As shown in FIG. 5(d), the connection structure 1100a and the connection structure 1100b each include two flexible structural bones, and a plurality of serially-connected connection structures 1100a and one connection structure 1100b may be alternately distributed in sequence. As shown in FIG. 5(e), the connection structure 1100a includes two flexible structural bones, and the connection structure 1100b includes three flexible structural bones, and a plurality of serially-connected connection structures 1100a and one connection structure 1100b may be alternately distributed in sequence. It should be understood that the plurality of serially-connected connection structures 1100a and one connection structure 1100b may also be non-periodically distributed. It should be understood that the plurality of serially-connected connection structures 1100a and the plurality of serially-connected connection structures 1100b may be alternately distributed periodically or non-periodically in sequence, which is not shown in the figure. It should be understood that the number of flexible structural bones included in the connection structure 1100a and the connection structure 1100b in some embodiments of the present disclosure may include, but is not limited to, one, two, three or more. The above embodiments are only examples and are not limited thereto.

[0063] In some embodiments, as shown in FIG. 5(f), the plurality of connection structures 1100 may further include one or more additional connection structures 1100c. One or more serially connected additional connection structures 1100c are distributed periodically or aperiodically along the axial direction of the continuum structure with one or more serially connected connection structures 1100a and one or more serially connected connection structures 1100b. It should be understood that the additional connection structure 1100c may include one or more flexible structural bones 1110c, and the circumferential distribution of one or more flexible structural bones 1110c is different from the circumferential distribution of the flexible structural bones 1110a and / or the flexible structural bones 1110b along the circumferential direction of the spacer disk 1200. FIG. 5(f) shows only one flexible structural bone 1110c as an example. The number and distribution of the flexible structural bones of the various additional connection structures may be different. For example, as shown in FIG. 5(f), one additional connection structure 1100c, one connection structure 1100a, and one connection structure 1100b may be alternately distributed in sequence to form a plurality of periodic units T. It should be understood that one additional connection structure 1100c, one connection structure 1100a, and a plurality of serially connected connection structures 1100b may be alternately distributed in sequence or aperiodically. It should be understood that a plurality of additional connection structures 1100c, a plurality of serially connected connection structures 1100a, and one connection structure 1100b may be alternately distributed in sequence or aperiodically. It should be understood that one additional connection structure 1100c, a plurality of serially connected connection structures 1100a, and a plurality of serially connected connection structures 1100b may be alternately distributed in sequence or aperiodically. It should be understood that a plurality of serially connected additional connection structures 1100c, a plurality of serially connected connection structures 1100a, and a plurality of serially connected connection structures 1100b may be alternately distributed in sequence or aperiodically. It should be understood that various additional connection structures 1100c, a plurality of serially connected connection structures 1100a, and a plurality of serially connected connection structures 1100b may be alternately distributed in sequence or aperiodically. The above is only an example and is not limited thereto.

[0064] It should be understood that the embodiments of the present disclosure may further include other periodic or aperiodic distributions or combined distributions, or distribute a plurality of connection structures according to requirements to meet a specific bending direction. It should be understood that the number of flexible structural bones included in one or more additional connection structures 1100c in some embodiments of the present disclosure may include, but is not limited to, one, two, three, or more. The above embodiments are only examples and are not limited thereto. By one or more additional connection structures 1100c, one or more serially connected connection structures 1100a, and one or more serially connected connection structures 1100b, various different periodic or aperiodic distributions along the axial direction of the continuum structure can be achieved to increase the applicability of the continuum structure.

[0065] In some embodiments, the projections of the flexible structural bones 1110 of the plurality of connection structures 1100 (e.g., flexible structural bones 1110a, or 1110b, or 1110c) along the axial direction of the continuum structure may be asymmetrically distributed (e.g., as shown in FIGS. 4(a) and 4(b)) or non-centrosymmetrically distributed. In the present disclosure, the symmetric distribution may include axial symmetry distribution and central symmetry distribution. For example, the non-centrosymmetric distribution may include, but is not limited to, axial symmetry distribution that does not pass through the center of the spacer disk.

[0066] It should be understood that the projections of multiple flexible structural bones 1110a along the axial direction may be asymmetrically distributed or non-centrosymmetrically distributed; or, the projections of multiple flexible structural bones 1110b along the axial direction may be asymmetrically distributed or non-centrosymmetrically distributed; or, the projections of one or more flexible structural bones 1110a and one or more flexible structural bones 1110b along the axial direction may be asymmetrically distributed or non-centrosymmetrically distributed. It should be understood that it may also be that the projections of one or more flexible structural bones 1110c of the additional connection structures 1100c, one or more flexible structural bones 1110a and one or more flexible structural bones 1110b along the axial direction are asymmetrically distributed (e.g., as shown in FIGS. 4(a) and 4(b)) or non-centrosymmetrically distributed.

[0067] In some embodiments, as shown in FIGS. 2(a) and 5(a), the connection structure 1100a may include one flexible structural bone 1110a, the connection structure 1100b may include one flexible structural bone 1110b, and the flexible structural bones 1110a and 1110b are circumferentially staggered at an angle along the spacer disk 1200. For example, the projections of the flexible structural bones 1110a and 1110b along the axial direction may be distributed along the same circumference in the circumferential direction of the spacer disk 1200 and are spaced apart from each other in the circumferential direction, as shown in FIG. 4(a). It should be understood that the projections of the flexible structural bones 1110a and 1110b along the axial direction may be distributed along different circumferences in the circumferential direction of the spacer disk 1200 and are spaced apart from each other in the circumferential or radial direction, as shown in FIG. 4(b). The angle may include the angles formed by the central axis O and the projections of the flexible structural bones 11110a and 1110b.

[0068] In some embodiments, as shown in FIGS. 5(b), 5(d), and 5(e), the connection structure 1100a may include multiple flexible structural bones 1110a, and the connection structure 1100b may include multiple flexible structural bones 1110b. Figure 6(a)-Figure 6(d) Schematic diagrams of different projections along the axial direction of the flexible structural bones of the continuum structure according to some embodiments of the present disclosure are respectively shown. As Figure 6(a)-Figure 6(d)As shown, multiple flexible structural bones 1110a form line AA, and multiple flexible structural bones 1110b form line BB. For example, line AA can be a straight line formed by two flexible structural bones 1110a, and line BB can be a straight line formed by two flexible structural bones 1110b, as Figure 6(a)-Figure 6(d) shown. It should be understood that line AA can also be a straight line formed by three or more flexible structural bones 1110a, and line BB can be a straight line formed by three or more flexible structural bones 1110b.

[0069] The axial projections of line AA and line BB can include at least one of the following distributions: line AA and line BB intersect at an angle at the central axis O of the continuum structure (as shown in Fig. 6(a)), line BB passes through the central axis O of the continuum structure and intersects with line AA at an angle outside the central axis O of the continuum structure (as shown in Fig. 6(b)), line AA and line BB deviate from the central axis O of the continuum structure and intersect (as shown in Fig. 6(c)), or line AA and line BB deviate from the central axis O of the continuum structure and intersect on the extension line (as shown in Fig. 6(d)). It should be understood that when line AA and line BB intersect at an angle at the central axis O of the continuum structure, the continuum structure can be driven more stably and reliably, and the stability of the structure is also higher. When line AA and line BB deviate from the central axis O of the continuum structure and intersect at an angle, the continuum structure can be bent more easily to the side where the flexible structural bones are less distributed or not distributed.

[0070] Figure 7(a)-Figure 7(c) Schematic diagrams of different axial projections of the flexible structural bones of the continuum structure according to some embodiments of the present disclosure are respectively shown. In some embodiments, as Figure 7(a)-Figure 7(c) shown, multiple flexible structural bones 1110a form curve AA', and multiple flexible structural bones 1110b form curve BB'. For example, curve AA' can be an arc formed by two flexible structural bones 1110a, and curve BB' can be an arc formed by two flexible structural bones 1110b, as Figure 7(a)-Figure 7(c) shown. It should be understood that curve AA' can be an arc formed by three or more flexible structural bones 1110a, and curve BB' can be an arc formed by three or more flexible structural bones 1110b. It should be understood that forming an arc can facilitate the stable and controllable driving of the flexible structural bones. In some embodiments, curve AA' and curve BB' can also be irregular curves.

[0071] The curve AA' and the curve BB' may include at least one of the following distributions: the curve AA' and the curve BB' partially overlap (as shown in FIG. 7(a)), the curve AA' and the curve BB' are adjacent (as shown in FIG. 7(b)), the curve AA' and the curve BB' are opposite, the curve AA' and the curve BB' are circumferentially spaced apart (as shown in FIG. 7(c)), the curve AA' is an arc, or the curve BB' is an arc.

[0072] In some embodiments, the connection structure 1100a may include a plurality of flexible structural bones 1110a, and the connection structure 1100b may include a flexible structural bone 110b. The plurality of flexible structural bones 1110a form a connection line AA or a curve AA'. The projection of the flexible structural bone 1110b along the axial direction of the continuum structure overlaps, is adjacent to, or is opposite to the projection of the connection line AA or the curve AA' along the axial direction.

[0073] Similarly, the connection structure 1100a may include a flexible structural bone 1110a, and the connection structure 1100b may include a plurality of flexible structural bones 1110b. The plurality of flexible structural bones 1110b form a connection line BB or a curve BB'. The projection of the flexible structural bone 1110a along the axial direction of the continuum structure may overlap, be circumferentially spaced apart from, or be adjacent to the projection of the connection line BB or the curve BB' along the axial direction. FIGS. 8(a) and 8(b) respectively show schematic diagrams of different projections of the flexible structural bones of the continuum structure along the axial direction according to some embodiments of the present disclosure. As shown in FIG. 8(a), the plurality of flexible structural bones 1110a form a curve AA', and the projection of the flexible structural bone 1110b along the axial direction of the continuum structure is circumferentially spaced apart from the projection of the curve AA' along the axial direction.

[0074] In some embodiments, the connection structure 1100a may include a plurality of flexible structural bones 1110a, and the connection structure 1100b may include a plurality of flexible structural bones 110b. The plurality of flexible structural bones 1110a form a connection line AA or a curve AA'. The plurality of flexible structural bones 1110b form a connection line BB or a curve BB'. The connection line AA or the curve AA' and the connection line BB or the curve BB' may partially overlap, intersect, be adjacent to, or be circumferentially spaced apart. As shown in FIG. 8(b), the plurality of flexible structural bones 1110a form a curve AA', and the plurality of flexible structural bones 1110b (for example, two flexible structural bones 1110b) form a connection line BB. The curve AA' and the connection line BB are circumferentially spaced apart and are oppositely arranged. It should be understood that the plurality of flexible structural bones 1110a may form a connection line AA, and the plurality of flexible structural bones 1110b may form a curve BB'.

[0075] Figure 9(a)-Figure 9(c)Schematic diagrams of different axial projections of the flexible structural bone of the continuum structure according to some embodiments of the present disclosure are respectively shown. In some embodiments, as shown in FIG. 9(a), the projection of one or more flexible structural bones 1110 along the axial direction of the continuum structure may form a high-density distribution region M and / or a low-density distribution region N. It should be understood that the number of flexible structural bones in the high-density distribution region M may be greater than the number of flexible structural bones in the low-density distribution region N. Alternatively, the distribution pitch of the flexible structural bones in the high-density distribution region M may be smaller than the distribution pitch of the flexible structural bones in the low-density distribution region N.

[0076] In some embodiments, no flexible structural bones are provided in the low-density distribution region N. Those skilled in the art can understand that there may be multiple high-density distribution regions M and multiple low-density distribution regions N, and the high-density distribution region M and the low-density distribution region N are relative concepts, and the division is not absolute and can be adjusted according to actual applications. For example, as shown in FIG. 9(a), the high-density distribution region M may refer to the upper left semi-circular region, and the low-density distribution region N is the lower right semi-circular region.

[0077] It should be understood that the high-density distribution region M or the low-density distribution region N may be one or more arc-shaped regions, one or more rectangular regions, one or more irregular regions, etc. along the circumferential direction of the spacer disk 1200. The high-density distribution region M and the low-density distribution region N may be two adjacent regions, or two spaced-apart regions, or at least a part of the high-density distribution region M is opposite to the low-density distribution region N. The high-density distribution region M and the low-density distribution region N may form the entire circumferential direction of the spacer disk 1200, or may form an incomplete circumferential direction of the spacer disk 1200 (refer to FIG. 9(a)). For example, as shown in FIG. 9(b), multiple flexible structural bones 1110a may form a high-density distribution region M1 and a low-density distribution region N1, and multiple flexible structural bones 1110b may form a high-density distribution region M2 and a low-density distribution region N2. The high-density distribution region M1 and the high-density distribution region M2 may be adjacent, opposite, circumferentially spaced apart, or at least partially overlapped or completely overlapped. Similarly, the low-density distribution region N1 and the low-density distribution region N2 may be adjacent, opposite, circumferentially spaced apart, or at least partially overlapped or completely overlapped. The low-density distribution region N1 and the low-density distribution region N2 may be connected into a larger low-density distribution region, as shown in the lower right semi-circular region of FIG. 9(b) or the lower semi-circular region of FIG. 9(c). No flexible structural bones may be provided in the low-density distribution region N1 and the low-density distribution region N2, as shown in FIG. 9(c). It should be understood that the flexible structural bones 1110c of multiple additional connection structures may also form the high-density distribution region M and the low-density distribution region N together with the flexible structural bones 1110a or the flexible structural bones 1110b, or independently form a high-density distribution region and a low-density distribution region.

[0078] In some embodiments, one or more flexible structural bones 1110a and one or more flexible structural bones 1110b may form only a high-density distribution region M (such as M1 or M2), or form a high-density distribution region M and a low-density distribution region N (such as N1 or N2). For example, the axial projections of multiple flexible structural bones 1110a may be distributed along the same circumference, or along a partial circumference of the same circumference, or along different circumferences. In this way, they are distributed asymmetrically in the circumferential direction of the spacer disk 1200, so that the continuum structure can bend better in the direction of the low-density distribution region where fewer flexible structural bones are distributed. In some embodiments, the axial projections of multiple flexible structural bones 1110a and multiple flexible structural bones 1110b form a semi-circle. For example, multiple flexible structural bones 1110a may be distributed along a quarter circle, and multiple flexible structural bones 1110b may be distributed along a quarter circle adjacent to the multiple flexible structural bones 1110a. Alternatively, multiple flexible structural bones 1110a and multiple flexible structural bones 1110b may be evenly and staggeredly distributed along a semi-circle. The continuum structure 1000 may include one or more series-connected connection structures 1100a and one or more series-connected connection structures 1100b that are periodically and staggeredly distributed. By pushing or pulling the flexible structural bones 1110a and the flexible structural bones 1110b, the continuum structure is bent toward the side where no flexible structural bones are distributed, achieving stable and controllable bending in a specific direction.

[0079] In some embodiments, as Figure 1 shown, the continuum structure 1000 may include one or more drive structural bones 1300. One or more drive structural bones 1300 slide axially through a plurality of spacer disks 1200, and its first end is fixedly connected to the spacer disk 1200 located at the farthest end. By pushing or pulling one or more drive structural bones 1300, a plurality of connection structures 1100 are driven to bend. In some embodiments, the second end of one or more drive structural bones 1300 extends proximally through a plurality of spacer disks 1200 for fixedly connecting to a drive mechanism. The drive mechanism pushes or pulls one or more drive structural bones 1300 to drive a plurality of connection structures to bend. It should be understood that the drive mechanism may include a linear motion mechanism. For example, a lead screw nut structure or a double-headed screw structure, etc. The drive mechanism linearly pushes or pulls one or more drive structural bones 1300 to drive the continuum structure to bend.

[0080] In some embodiments, as shown in FIG. 9(a), the number of projections of one or more driving structural bones 1300 along the axial direction of the flexible structural bones 1110 of the plurality of connecting structures 1100 in the low-density distribution region N is greater than that in the high-density distribution region M. It should be understood that one or more driving structural bones 1300 may also be distributed only in the low-density distribution region. By arranging more driving structural bones in the low-density distribution region N, more precise and stable control of the bending of the continuum structure can be achieved, such as the bending angle, direction, etc.

[0081] For example, multiple driving structural bones 1300 are distributed along the same circumference, or along a partial circumferential direction of the same circumference (refer to FIG. 9(a)), or along different circumferences. In some embodiments, one or more driving structural bones 1300 may include driving structural bones 1300 distributed at the middle position of the low-density distribution region N. For example, as shown in FIG. 7(a), the flexible structural bones 1110a and the flexible structural bones 1110b form a high-density distribution region M (for example, the right semi-circular region), and a low-density distribution region N (for example, the left semi-circular region). No flexible structural bones are distributed in the low-density distribution region, and the driving structural bones 1300 may include driving structural bones distributed at the middle position of the low-density distribution region N. Through the driving structural bones 1300 distributed at the middle position of the corresponding low-density distribution region, stable and controllable driving can be achieved.

[0082] In some embodiments, multiple driving structural bones 1300 may be symmetrically distributed along the circumferential direction of the spacer disk 1200. For example, the projections of multiple flexible structural bones along the axial direction form a high-density distribution region M and a low-density distribution region N. The multiple driving structural bones 1300 may be symmetrically distributed about the center of the spacer disk 1200, or non-centrally symmetrically distributed, in the high-density distribution region M and the low-density distribution region N. In some embodiments, as shown in FIG. 9(a), multiple driving structural bones 1300 are non-symmetrically distributed along the circumferential direction of the spacer disk 1200. For example, the circumferential non-symmetric distribution may include, but is not limited to, that multiple driving structural bones 1300 may be distributed along different inner contour lines or inner circumferences in the high-density distribution region M and the low-density distribution region N respectively; or along the same inner contour line or inner circumference (refer to FIG. 9(a)), and the number of the low-density distribution region N is greater than that of the high-density distribution region M; or the distribution intervals of the multiple driving structural bones 1300 are different, etc., so as to form a non-symmetric distribution along the circumferential direction of the spacer disk 1200. Through the symmetrically or non-symmetrically distributed driving structural bones 1300, one or more flexible structural bones 1300 with different distributions can be driven to achieve bending in multiple directions. According to actual requirements, the number of flexible structural bones can be reduced in the desired bending direction, and the number of unnecessary driving structural bones 1300 can be reduced to realize the miniaturization of the continuum structure.

[0083] In some embodiments, as shown in FIG. 9(c), at least two of the plurality of flexible structural bones 1110a form a connection line AA, and at least two of the plurality of flexible structural bones 1110b form a connection line BB. One or more drive structural bones 1300 include drive structural bones 1300 (e.g., one drive structural bone 1300a can pass through the position of the perpendicular bisector of the connection line AA, and one drive structural bone 1300b can pass through the position of the perpendicular bisector of the connection line BB) that pass through the positions corresponding to the perpendicular bisectors of the connection line AA and / or the connection line BB on the spacer disk 1200. It should be understood that the low-density distribution region N may include the region corresponding to the perpendicular bisector formed by the connection line AA and / or the connection line BB. One or more drive structural bones 1300 are located in the low-density distribution region N, and some drive structural bones 1300 pass through the positions corresponding to the perpendicular bisectors of the connection line AA and / or the connection line BB on the spacer disk 1200. In some embodiments, the plurality of flexible structural bones 1110a form a curve AA', and the plurality of flexible structural bones 1110b form a curve BB'. The low-density distribution region N may include the region corresponding to the arc of the curve AA' and / or the curve BB'. One or more drive structural bones 1300 are located in the low-density distribution region N, and some drive structural bones 1300 are located at the positions of the arc center lines of the curve AA' and / or the curve BB'. Those skilled in the art should understand that the above distribution of the drive structural bones 1300 is only an example and is not limited thereto. It may also include other cases of asymmetric or symmetric distribution of the drive structural bones 1300.

[0084] Figure 10 FIG. shows a schematic structural diagram of the spacer disk 1200 of the continuum structure 1000 according to some embodiments of the present disclosure. In some embodiments, as Figure 10 shown, the plurality of spacer disks 1200 may include one or more mounting holes 1210 distributed along a first inner contour line or inner circumference (e.g., inner circular circumference) and one or more mounting holes 1220 distributed along a second inner contour line or inner circumference. The first inner contour line or inner circumference is radially spaced from the second inner contour line or inner circumference. One or more flexible structural bones 1110 are fixedly connected to the corresponding mounting holes 1210 of adjacent spacer disks 1200, and one or more drive structural bones 1300 are slidably disposed through the corresponding mounting holes 1220 of the plurality of spacer disks 1200. In some embodiments, as Figure 3As shown, the distance from the first inner contour line or inner perimeter line to the central axis O of the continuum structure is D1, and the distance from the second inner contour line or inner perimeter line to the central axis O of the continuum structure is D2, and the distance D2 is greater than the distance D1. For example, the first inner contour line or inner perimeter line can be the first circumference, the second inner contour line or inner perimeter line can be the second circumference, a plurality of mounting holes 1210 are distributed along the first circumference, a plurality of mounting holes 1220 are distributed along the second circumference, and the first circumference and the second circumference are spaced apart radially. In some embodiments, the first inner contour line or inner perimeter line and the second inner contour line or inner perimeter line can also be on the same circumferential line. For example, the first inner contour line or inner perimeter line can be distributed in the first region of the circumference, the second inner contour line or inner perimeter line can be distributed in the second region of the same circumference, and the first region and the second region are adjacent or at least partially opposite.

[0085] In some embodiments, the flexible structural bone 1110 and the drive structural bone 1300 can include, but are not limited to, thin rods or thin tubes made of deformable materials, such as nitinol alloy materials. It should be understood that the flexible structural bone 1110 can also be a deformable polymer material with biocompatibility.

[0086] Figure 11 A schematic structural diagram of a continuum instrument 100 according to some embodiments of the present disclosure is shown. As Figure 11 shown, the continuum instrument 100 can include a plurality of serially connected continuum structures. In some embodiments, as Figure 11 shown, the plurality of continuum structures of the continuum instrument 100 can include a continuum structure 1000 and a continuum structure 2000 connected in series with the continuum structure 1000. The plurality of connection structures 1100 of the continuum structure 1000 include a connection structure 1100a and a connection structure 1100b connected in series. The connection structure 1100a can include a flexible structural bone 1110a, and the connection structure 1100b can include a flexible structural bone 1110b. The flexible structural bone 1110a and the flexible structural bone 1110b are offset by a first angle in the circumferential direction of the spacer disk, and the projection along the axial direction of the continuum structure forms a projection connection line A1B1.

[0087] As Figure 11As shown, multiple connection structures 2100 of the continuum structure 2000 may include a connection structure 2100a and a connection structure 2100b in series. The connection structure 2100a may include a flexible structural bone 2110a, and the connection structure 2100b may include a flexible structural bone 2110b. The flexible structural bone 2110a and the flexible structural bone 2110b are circumferentially offset by a second included angle along the circumference of the spacer disc, and a projection connection line A2B2 is formed by their projection along the axial direction of the continuum structure. The projection connection line A1B1 and the projection connection line A2B2 include at least one of the following distributions: the projection connection line A1B1 and the projection connection line A2B2 intersect at an angle at the central axis O of the continuum structure; the projection connection line A1B1 passes through the central axis O of the continuum structure and intersects the projection connection line A2B2 at an angle outside the central axis O of the continuum structure; the projection connection line A1B1 and the projection connection line A2B2 deviate from the central axis O of the continuum structure and intersect; or the projection connection line A1B1 and the projection connection line A2B2 deviate from the central axis O of the continuum structure and intersect on the extension line. In some embodiments, the first included angle is equal to the second included angle, but the projection connection line A1B1 and the projection connection line A2B2 form an included angle. For example, the continuum structure 1000 and the continuum structure 2000 are the same in structure, but are connected in series with a circumferential offset angle along the continuum instrument. Those skilled in the art can understand that although Figure 11 only two continuum structures 1000 and 2000 are shown, multiple continuum structures may also include one or more other types of continuum structures.

[0088] In some embodiments, the easy-bending direction of the continuum structure 1000 is different from the easy-bending direction of the continuum structure 2000. It should be understood that in the present disclosure, the easy-bending direction refers to the direction in which the continuum structure is most likely to bend as a whole or at the connection structure. The easy-bending direction of the continuum structure is the direction in which the multiple connection structures included therein are most likely to bend as a whole. In some embodiments, the direction in which bending is likely to occur includes a fan-shaped area centered on the central axis of the continuum structure or the connection structure, and the easy-bending direction may refer to the central direction of the fan-shaped area. In some embodiments, the easy-bending direction of the continuum structure refers to the central direction of the low-density distribution area formed by the flexible structural bones of the multiple connection structures along the axial direction and opposite to the high-density distribution area. For example, if the continuum structure includes a fan-shaped area where no flexible structural bones (such as flexible structural bones 1110a, 1110b, 2110a, 2110b) are distributed, the easy-bending direction may refer to the central direction of the fan-shaped area. If there are multiple fan-shaped areas where no flexible structural bones are distributed, the easy-bending direction may refer to the central direction of the largest fan-shaped area. It should be understood that as Figure 11 shown, the easy-bending direction of the continuum structure 1000 is different from the easy-bending direction of the continuum structure 2000.

[0089] In some embodiments, the bendable directions of the continuum structures 1000 and 2000 are different. For example, the bendable directions of the continuum structures 1000 and 2000 may be opposite, and when the continuum structures 1000 and 2000 are bent, they may form a shape similar to an "S". It should be understood that when the continuum structures 1000 and 2000 are bent, they may also form a wavy shape, or an irregular curve, etc. It should be understood that bending into an "S" shape can make the driving of the continuum instrument 100 more stable and controllable.

[0090] In some embodiments, the bending curvatures of the continuum structures 1000 and 2000 are different. For example, the bending curvature of the continuum structure 1000 may be greater than that of the continuum structure 2000. With different bending curvatures, the continuum instrument 100 can achieve complex configurations and can be achieved controllably.

[0091] Figure 12 A schematic structural diagram of a continuum instrument 200 according to some embodiments of the present disclosure is shown. As Figure 12 shown, the multiple continuum structures of the continuum instrument 200 may include a continuum structure 1000 and a continuum structure 2000 connected in series with the continuum structure 1000. The multiple connection structures 1100 of the continuum structure 1000 include a connection structure 1100a and a connection structure 1100b connected in series. The connection structure 1100a may include multiple (for example, two as Figure 12 shown) flexible structural bones 1110a, and the connection structure 1100b may include multiple (for example, two as Figure 12 shown) flexible structural bones 1110b. The multiple flexible structural bones 1110a form a line AA1, and the multiple flexible structural bones 1110b form a line BB1. The line AA1 and the line BB1 may include at least one of the following distributions: the line AA1 and the line BB1 intersect at a first angle at the central axis O of the continuum structure 1000, the line AA1 passes through the central axis O of the continuum structure 1000 and intersects the line BB1 at a first angle outside the central axis O of the continuum structure 1000, the line AA1 and the line BB1 deviate from the central axis O of the continuum structure and intersect at a first angle, or the line AA1 and the line BB1 deviate from the central axis O of the continuum structure and intersect at a first angle on the extension line.

[0092] As Figure 12 shown, the multiple connection structures 2100 of the continuum structure 2000 include a connection structure 2100a and a connection structure 2100b connected in series. The connection structure 2100a includes multiple (for example, two as Figure 12 shown) flexible structural bones 2110a, and the connection structure 2100b includes multiple (for example, two as Figure 12Two flexible structural bones 2110b as shown. Multiple flexible structures 2110a form a connection line AA2, and multiple flexible structural bones form a connection line BB2. The connection line AA2 and the connection line BB2 may include at least one of the following distributions: the connection line AA2 and the connection line BB2 intersect at a second angle at the central axis O' of the continuum structure 2000, the connection line AA2 passes through the central axis O' of the continuum structure 2000 and intersects with the connection line BB2 at a second angle outside the central axis O' of the continuum structure 2000, the connection line AA2 and the connection line BB2 deviate from the central axis O' of the continuum structure 2000 and intersect at a second angle, or the connection line AA2 and the connection line BB2 deviate from the central axis O' of the continuum structure 2000 and intersect at a second angle on the extension line.

[0093] For example, as Figure 12 shown, the connection line AA1 and the connection line BB1 may intersect at a first angle (for example, an obtuse angle formed between the connection line AA1 and the connection line BB1) at the central axis O of the continuum structure 1000, and the connection line AA2 and the connection line BB2 intersect at a second angle (for example, an obtuse angle formed between the connection line AA2 and the connection line BB2) at the central axis O' of the continuum structure 2000. Such structures of the continuum structure 1000 and the continuum structure 2000 are more stable and have better controllability. The second angle may be greater than the first angle, so that the bending curvature of the continuum structure 2000 is greater than the bending curvature of the continuum structure 1000. The easy bending direction of the continuum structure 1000 may be opposite to the easy bending direction of the continuum structure 2000, so that the continuum instrument 2000 can achieve an S-shaped bend. By adjusting the first angle and the second angle, the bending characteristics of the continuum instrument 200 can be easily changed.

[0094] In some embodiments, as Figure 12 shown, the connection line AA1 and the connection line BB1 form a first included angle (for example, an obtuse angle formed between the connection line AA1 and BB1), and the connection line AA2 and the connection line BB2 form a second included angle (for example, an obtuse angle formed between the connection line AA2 and the connection line BB2). In some embodiments, the first included angle may be equal to the second included angle, but the first included angle and the second included angle are circumferentially offset by an angle. In this way, the continuum structure 2000 is the same as the continuum structure 1000 in structure and is connected in series circumferentially offset by an angle along the continuum instrument.

[0095] It should be understood that the connection line (such as AA1 or BB1) of the flexible structural bones in the continuum structure 1000 may be replaced by a curve, and the connection line (such as AA2 or BB2) of the flexible structural bones in the continuum structure 2000 may also be replaced by a curve.

[0096] Figure 13 A schematic structural diagram of a continuum instrument 300 according to some embodiments of the present disclosure is shown. As Figure 13As shown, the continuum device 300 may include continuum structures 1000, 2000, 3000, and 4000 connected in series. In some embodiments, at least two of the continuum structures 1000, 2000, 3000, and 4000 may have different bending directions. It should be understood that the continuum device may also include more continuum structures connected in series. For example, the connection structure 1100a of the continuum structure 1000 may include two flexible structural bones 1110a, and the two flexible structural bones 1110a form a connection line AA1. The connection structure 1100b of the continuum structure 1000 may include two flexible structural bones 1110b, and the two flexible structural bones 1110b form a connection line BB1. The connection line AA1 and the connection line BB1 may intersect at the central axis. The connection structure 2100a of the continuum structure 2000 may include three flexible structural bones 2110a, and the three flexible structural bones 2110a form an arc AA2. The connection structure 2100b of the continuum structure 21000 may include two flexible structural bones 2110b, and the two flexible structural bones 2110b form a connection line BB2. The arc AA2 and the connection line BB2 may be disposed opposite to each other. The connection structure 3100a of the continuum structure 3000 may include one flexible structural bone 3110a, and the connection structure 3100b of the continuum structure 3000 may include one flexible structural bone 3110b. The projections of the flexible structural bone 3110a and the flexible structural bone 3110b along the axial direction are spaced apart. The connection structure 4100a of the continuum structure 4000 may include two flexible structural bones 4110a, and the two flexible structural bones 4110a form a connection line AA4. The connection structure 4100b of the continuum structure 4000 may include two flexible structural bones 4110b, and the two flexible structural bones 4110b form a connection line BB4. The connection line AA4 and the connection line BB4 may intersect in the extension direction. The continuum device 300 can achieve complex and controllable configurations. For example, the different bending directions of the continuum structures 1000, 2000, 3000, and 4000 can form a complex S shape. In addition, the continuum structure 3000 is more flexible and has a smaller bending curvature, and can be used as a more flexible joint to achieve more precise control and operation.

[0097] It should be understood that the above is only an example and not limited thereto. The multiple continuum structures 1000, 2000, 3000, and 4000 of the continuum device 300 may also be other types of continuum structures.

[0098] In some embodiments, a continuum device (e.g., continuum devices 100, 200, or 300) may further include at least one rigid connecting body (not shown in the figures). The rigid connecting body may be disposed between at least a pair of adjacent continuum structures among a plurality of continuum structures (e.g., continuum structures 1000, 2000, 3000, or 4000). It should be understood that the rigid connecting body can prevent interference between the plurality of continuum structures. Additionally, the rigid connecting body can endow the continuum device with appropriate rigidity so that it can enter deeper and more complex curved channels, and can prevent the plurality of continuum structures from being too flexible to be driven precisely and stably.

[0099] In some embodiments, a continuum device (e.g., continuum devices 100, 200, or 300) may include multiple driving structure bones. One end of each of the multiple driving structure bones is fixedly connected to the distal spacer disks of a plurality of continuum structures, and the other end is configured to receive driving to independently drive the plurality of continuum structures to bend.

[0100] Figure 14 A schematic structural diagram showing the distribution of the driving structure bones of a continuum device according to some embodiments of the present disclosure. In some embodiments, as Figure 14 shown, the multiple driving structure bones may at least include one or more driving structure bones 1300 and one or more driving structure bones 2300. The first end of the one or more driving structure bones 1300 is fixedly connected to the distal spacer disk 1200 of the continuum structure 1000 among the plurality of continuum structures. The first end of the one or more driving structure bones 2300 is fixedly connected to the distal spacer disk 2200 of the continuum structure 2000 among the plurality of continuum structures. In some embodiments, as Figure 14 shown, the multiple driving structure bones may further include one or more driving structure bones 3300 and one or more driving structure bones 4300. The first end of the one or more driving structure bones 3300 is fixedly connected to the distal spacer disk 3300 of the continuum structure 3000 among the plurality of continuum structures. The first end of the one or more driving structure bones 4300 is fixedly connected to the distal spacer disk 4200 of the continuum structure 4000 among the plurality of continuum structures. Figure 14 Only the case including one driving structure bone 1300, one driving structure bone 2300, one driving structure bone 3300, and one driving structure bone 4300 is shown in the figure. It should be understood that the corresponding continuum structures may further include two, three, or more driving structure bones. Through the driving structure bones, each of the continuum structures 1000, 2000, 3000, 4000 can be independently controlled, improving the controllability, flexibility, and operability of the continuum device.

[0101] Figure 15(a)-Figure 15(c)The distribution shows schematic diagrams of different axial projections of the driving structure bones of the continuum device according to some embodiments of the present disclosure. In some embodiments, multiple driving structure bones may include multiple driving structure bones 1300 and multiple driving structure bones 2300. It should be understood that multiple driving structure bones 1300 may be symmetrically distributed circumferentially around the spacer disk (as shown in FIG. 15(a)) or asymmetrically distributed. It should be understood that circumferential symmetric distribution may be circumferential axial symmetry or central symmetry distribution. Alternatively, multiple driving structure bones 2300 are symmetrically distributed circumferentially around the spacer disk (as shown in FIG. 15(a)) or asymmetrically distributed. Alternatively, multiple driving structure bones 1300 and multiple driving structure bones 2300 are symmetrically distributed circumferentially around the spacer disk (as shown in FIG. 15(a)) or asymmetrically distributed (as shown in FIG. 15(b)). Alternatively, driving structure bones 1300 and driving structure bones 2300 are staggered (as shown in FIG. 15(c)). It should be understood that the circumferential symmetric distribution of the driving structure bones can make the driving of multiple continuum structures more stable and controllable.

[0102] In some embodiments, as shown in FIG. 15(a), the number of low-density distribution regions N of the projections of one or more driving structure bones 1300 and one or more driving structure bones 2300 along the axis of the continuum structure is greater than the number of high-density distribution regions M. In this way, through the driving structure bones, the bending of the continuum device can be controlled more conveniently and precisely, for example, bending in the direction of easy bending. For example, the projections of one or more flexible structure bones 1110 and one or more flexible structure bones 2110 along the axis may be distributed in the high-density distribution region M (for example, the lower half circle), and the projections of one or more driving structure bones 1300 and one or more driving structure bones 2300 along the axis may be distributed in the low-density distribution region N (for example, the upper half circle) to drive the continuum structures 1000 and 2000 to bend towards the side of the low-density distribution region N. It should be understood that the above distribution of flexible structure bones and driving structure bones is only an example and is not limited thereto.

[0103] In some embodiments, the cross-sectional dimensions (e.g., radius) of multiple consecutive body structures in series decrease one by one along the axial direction of the body structure from the proximal end to the distal end. For example, the multiple consecutive body structures may include consecutive body structure 1000, consecutive body structure 2000, consecutive body structure 3000, and consecutive body structure 4000 that are connected in series in sequence from the proximal end to the distal end. The cross-sectional dimension of the consecutive body structure 1000 located at the proximal end is the first cross-sectional dimension, the cross-sectional dimension of the consecutive body structure 2000 is the second cross-sectional dimension, the cross-sectional dimension of the consecutive body structure 3000 is the third cross-sectional dimension, and the cross-sectional dimension of the consecutive body structure 4000 is the fourth cross-sectional dimension. The first cross-sectional dimension is greater than the second cross-sectional dimension, the second cross-sectional dimension is greater than the third cross-sectional dimension, and the third cross-sectional dimension is greater than the fourth cross-sectional dimension. It should be understood that the cross-sectional dimension may be the cross-sectional dimension of the spacer disk of the corresponding body structure. It should be understood that the cross-sectional dimensions of the multiple consecutive body structures in series decreasing one by one from the proximal end to the distal end can enable the distal end of the body instrument to enter a deep and narrow cavity without damaging the cavity tissue, and can better adapt to complex cavities and complex operation tasks.

[0104] In some embodiments, the driving structure bones (e.g., driving structure bone 1300) of the consecutive body structure (e.g., consecutive body structure 1000) located at the proximal end among the multiple consecutive body structures are distributed outside the driving structure bones (e.g., driving structure bones 2300, 3300, or 4300) of the consecutive body structures (e.g., consecutive body structures 2000, 3000, or 4000) located at the distal end. For example, the cross-sectional dimension of the consecutive body structure 1000 located at the proximal end being greater than the cross-sectional dimension of the consecutive body structure 2000 (or consecutive body structures 3000, 4000) located at the distal end can enable the driving structure bone 1300 to be distributed outside the driving structure bone 2300. Alternatively, the cross-sectional dimension of the consecutive body structure 1000 located at the proximal end is the same as the cross-sectional dimension of the consecutive body structure 2000 (or consecutive body structures 3000, 4000) located at the distal end, the driving structure bone 1300 is distributed on the third inner contour line or the third inner circumference, and the driving structure bone 2300 is distributed on the fourth inner contour line or the fourth inner circumference. The third inner contour line or the third inner circumference is outside the fourth inner contour line or the fourth inner circumference and is farther from the central axis, so that the driving structure bone 1300 is distributed outside the driving structure bone 2300.

[0105] Figure 16 A schematic diagram of the structure of the distal part of a growable body instrument 500 according to some embodiments of the present disclosure is shown. As Figure 16As shown, the growable continuum device 500 may include a growable tube 110 and a continuum device 100 (or continuum devices 200, 300) located in the internal channel 1111 of the growable tube 110. The continuum device 100 (or continuum devices 200, 300) may include one or more tandem continuum structures (such as continuum structures 1000, 2000, 3000, 4000).

[0106] Figure 17 Schematic diagram of the distal portion structure of the growable continuum device 500 located in a body cavity 115 (such as in a human body or an animal body), such as a blood vessel, a trachea, an esophagus, a vagina, an intestine, etc., according to some embodiments of the present disclosure. The growable continuum device 500 may enter the cavity 115 through an opening (such as an incision or a natural opening). The growable tube 110 may include a flexible material, such as, but not limited to, plastics, rubbers, such as low-density polyethylene, silicone-containing polymers, or fluoropolymer-containing polymers, etc. The flexible growable tube 110 may avoid damaging the cavity 115. In some embodiments, the cross-section of the growable tube 110 may be circular, elliptical, rectangular, polygonal, or other shapes, etc.

[0107] In some embodiments, as Figure 16 shown, the growable tube 110 includes an inner layer 111, an outer layer 112, and a fluid cavity 113 located between the inner layer 111 and the outer layer 112. The fluid cavity 113 is used to hold a fluid 140. The growable tube 110 further includes a deployable region 114 at the distal end, where the inner layer 111 and the outer layer 112 are connected and deployable in the deployable region 114.

[0108] In some embodiments, the radial dimension of the proximal end of the outer layer 112 is greater than the radial dimension of the distal end of the outer layer 112, as Figure 16As shown, to adapt to a gradually narrowing channel. Those skilled in the art should understand that in some embodiments, the radial dimension of the proximal end of the outer layer 112 may be equal to or less than the radial dimension of the distal end of the outer layer 112. The inner layer 111 can be turned outwards in the deployable region 114 to form the outer layer 112, or the outer layer 112 can be turned inwards in the deployable region 114 to form the inner layer 111. Through the deployment between the inner layer 111 and the outer layer 112, the growable tube 110 can grow distally (e.g., extend or expand) or retract, so as to facilitate the growable continuum instrument 500 to grow to the target position in the channel 115 or retract from the channel 115. For example, the inner layer 111 moves distally by a length L, and the inner layer 111 with a length of L in the deployable region 114 is turned outwards to form the outer layer 112, and the fluid 140 fills the fluid cavity 113 grown by the outward turning of the inner layer 111, so that the growable tube 110 can grow forward. The inner layer 111 moves proximally by a length L', and the outer layer 112 with a length of L' in the deployable region 114 is turned inwards to form the inner layer 111, so that the growable tube 110 can retract.

[0109] As Figure 16 As shown, the inner layer 111 of the growable tube 110 encloses to form a channel 1111, and the continuum instrument 100 (or continuum instruments 200, 300) of the growable continuum instrument 500 is arranged in the channel 1111. One or more series-connected continuum structures (e.g., continuum structures 1000, 2000, 3000, 4000) of the continuum instrument 100 (or continuum instruments 200, 300) can drive the growable tube 110 to bend when bending. Through the bending guidance of one or more continuum structures, the turning of the growable tube 110 can be realized to adapt to the complexly curved channel 115. Thus, the growable tube 110 can grow distally, pass through the channel 115, and grow to the target position. In some embodiments, the radial dimension of the proximal end of the outer layer 112 may be greater than the radial dimension of the distal end of the outer layer 112. In this way, the growable instrument 100 can adapt to the gradually narrowing channel 115 to reduce or avoid touching and friction with the channel 115.

[0110] FIG. 18(a) and FIG. 18(b) respectively show schematic diagrams of the distal part structures of the gradually variable growable tubes 110 and 210 according to some embodiments of the present disclosure. It can be understood that the morphologies of the growable tubes 110 and 210 shown in FIG. 18(a) and FIG. 18(b) may be the morphologies during the growth process or when the growth stops.

[0111] As shown in FIG. 18(a), in some embodiments, the radial dimension of the outer layer 112 may gradually decrease in the proximal-to-distal extension direction. The profile of the outer layer 112 may be a straight line, a curve, or a combination thereof. The inner layer 111 of the growable tube 110 may remain substantially unchanged in the proximal-to-distal extension direction. In the state where the flipping stops (e.g., in the fully grown state or when approaching the lesion location), the thickness of the fluid cavity 113 gradually decreases in the proximal-to-distal extension direction. The inner layer 111 encloses to form a channel 1111, and the radial dimension of the channel 1111 remains substantially unchanged in the proximal-to-distal extension direction. The channel 1111 can be used to accommodate the continuum structure (e.g., continuum structures 1000, 2000, 3000, 4000) of the continuum instrument 100 (or 200, 300). The inner layer 111 or the outer layer 112 can be driven to move distally or proximally.

[0112] As shown in FIG. 18(b), the radial dimension of the outer layer 212 may gradually decrease in the proximal-to-distal extension direction. The profile of the outer layer 212 may be a straight line, a curve, or a combination thereof. The inner layer 211 of the growable tube 210 may gradually decrease in the proximal-to-distal extension direction. In the state where the flipping stops (e.g., in the fully grown state or when approaching the lesion location), the thickness of the fluid cavity 213 remains substantially unchanged or gradually decreases in the proximal-to-distal extension direction. The inner layer 211 encloses to form a channel 2111, and the radial dimension of the channel 2111 gradually decreases in the proximal-to-distal extension direction. The channel 2111 can be used to accommodate the continuum structure (e.g., continuum structures 1000, 2000, 3000, 4000) of the continuum instrument 100 (or 200, 300). The inner layer 111 or the outer layer 112 can be driven to move distally or proximally, such that the inner layer 211 can be flipped out to form the outer layer 212 in the flippable region 214, or the outer layer 212 can be flipped in to form the inner layer 211 in the flippable region 214.

[0113] It should be understood that the radial dimension of the outer layer 212 may include, but is not limited to, remaining substantially unchanged, gradually decreasing, or stepwise decreasing in the proximal-to-distal extension direction; and / or the radial dimension of the inner layer 211 may include, but is not limited to, remaining unchanged or gradually decreasing in the proximal-to-distal extension direction. The radial dimensions of the outer layer 212 and the inner layer 211 can be combined in any of the above ways.

[0114] In some embodiments, the growable continuum instrument 500 may further include a tube drive mechanism 120. FIG. 19(a) shows a partial structural schematic diagram of the tube drive mechanism 120 according to some embodiments of the present disclosure. As shown in FIG. 19(a), the tube drive mechanism 120 is connected to the growable tube 110 (or 210), and the tube drive mechanism 120 can move linearly to drive the outer layer 112 or the inner layer 111 of the growable tube 110. In some embodiments, the tube drive mechanism 120 may be connected to the outer layer 112 of the growable tube 110 to drive the outer layer 112 of the growable tube 110 to move. In some embodiments, as shown in FIG. 19(a), the tube drive mechanism 120 may be connected to the inner layer 111 of the growable tube 110 to drive the inner layer 111 of the growable tube 110 to move.

[0115] In some embodiments, the tube drive mechanism 120 may include a drive unit (not shown in the figure), a moving rod 122, and a transmission unit connected to the drive unit and the moving rod 122. The moving rod 122 is hermetically connected to the inner layer or the outer layer of the growable tube 110 (or 210), and the transmission unit is used to convert the rotational motion of the drive unit into a linear motion to drive the moving rod 122 to drive the growable tube 110 (or 210) to grow or retract.

[0116] In some embodiments, as shown in FIG. 19(a), the transmission unit may include two rollers 121a and 121b arranged in parallel. The moving rod 122 is disposed between the two rollers 121a-b, and the two rollers 121a-b are respectively connected to the drive unit. The inner layer 111 of the growable tube 110 (or 210) is hermetically connected to the outer periphery of the distal end of the moving rod 122. The drive unit drives the two rollers 121a-b to rotate synchronously and at the same speed in opposite directions to drive the moving rod 122 to move linearly, thereby driving the inner layer 111 of the growable tube 110 to move through the moving rod 122. The moving rod 122 drives the inner layer 111 to move distally. In the deployable region 114, the inner layer 111 turns outwards to form the outer layer 112, so that the fluid 140 fills the fluid cavity 113 that grows as the inner layer 111 turns outwards. In some embodiments, the distance that the growable tube 110 extends by the turning out of the inner layer 111 is approximately equal to the distance that the moving rod 122 moves. In some embodiments, the distance that the growable tube 110 extends by the turning out of the inner layer 111 is less than the distance that the moving rod 122 moves.

[0117] In some embodiments, FIG. 19(b) shows a partial structural schematic diagram of a tube driving mechanism 220 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG. 19(b), the tube driving mechanism 220 may include a lead screw slider module 221 and a moving rod 222 driven by the lead screw slider module 221. The lead screw slider module 221 may include a lead screw 223 and a slider 224 connected by a thread, and a driving unit (not shown in the figure) connected to the lead screw 223. The slider 224 is fixedly connected to the moving rod 222. In some embodiments, the lead screw slider module 221 may further include a guide rod 225 slidably disposed on the slider 224. The outer layer 112 or the inner layer 111 of the growable tube 110 (or 210) is sealingly connected to the moving rod 222. The driving unit drives the lead screw 223 to rotate, and the slider 224 can linearly move along the guide rod 225, driving the moving rod 222 fixedly connected to the slider 224 to linearly move, thereby driving the outer layer 112 or the inner layer 111 of the growable tube 110 to move.

[0118] It should be understood that the tube driving mechanism of the present disclosure includes, but is not limited to, the structures of the above embodiments. As long as the driving mechanism capable of realizing linear motion does not depart from the scope of the present disclosure.

[0119] In some embodiments, the growable continuum instrument 500 may further include a fluid controller (not shown in the figure), which is used to pressurize or depressurize the fluid to drive the fluid to fill the fluid cavity 113 of the deployable region or drive the fluid to withdraw from the fluid cavity 113. The fluid controller may include a fluid pump for maintaining the hydraulic pressure in the fluid cavity 113. For example, during the forward growth of the growable tube 110, fluid is filled into the fluid cavity 113, or during the backward withdrawal of the growable tube 110, fluid is sucked from the fluid cavity 113.

[0120] In some embodiments, such as Figure 20As shown, the present disclosure also provides a surgical robot 10, which may include the growable continuum instrument 500 in any of the above-disclosed embodiments. In some embodiments, the surgical robot 10 may include a base 1, one or more robotic arms 2, and one or more growable continuum instruments 500 disposed at the ends of the robotic arms 2. The continuum instrument 500 may include growable tubes (such as growable tubes 110, 210) and continuum instruments (such as continuum instruments 100, 200, 300). The continuum instruments (such as continuum instruments 100, 200, 300) include one or more serially connected continuum structures (such as continuum structures 1000, 2000, 3000, 4000) and an end effector 3 disposed at the end of the continuum structure at the distal end. The end effector 3 may include, but is not limited to, a surgical actuator, an imaging device, an illumination device, an ultrasound probe, a probe, or a drug delivery device, etc. The one or more robotic arms 2 have multiple degrees of freedom and may be disposed on the base 1. The one or more growable continuum instruments 500 are detachably disposed on the one or more robotic arms 2, and the one or more robotic arms 2 are used to adjust the position and orientation of the one or more growable continuum instruments 500. It should be understood that the surgical robot 10 may extend into the cavity through the one or more growable continuum instruments 500 for intracavitary interventional diagnosis and treatment. The continuum structures (such as continuum structures 1000, 2000, 3000, 4000) of the continuum instruments (such as continuum instruments 100, 200, 300) can adapt to complex bending environments through staggered flexible structural bones (such as flexible structural bones 1110, 2110, 3110, 4110) without damaging the cavity.

[0121] Note that the above are only exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here, and various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments only. Without departing from the concept of the present disclosure, more other equivalent embodiments can be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A growable continuum device, characterized in that, comprising: A growable tube, the growable tube includes an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer, the fluid cavity is used to accommodate fluid; the growable tube includes a deployable area at the distal end, and the inner layer and the outer layer are connected and deployable in the deployable area; and One or more series-connected continuum structures are arranged in the channel surrounded by the inner layer of the growable tube, the continuum structure can be bent to drive the growable tube to bend, and the continuum structure includes: A plurality of spaced disks; and A plurality of connection structures, the connection structures include: One or more flexible structural bones, the first end and the second end of the one or more flexible structural bones are respectively fixedly connected to adjacent spaced disks, and the one or more flexible structural bones are distributed circumferentially along the spaced disks; Wherein, the plurality of connection structures at least include a first connection structure and a second connection structure, the first connection structure includes one or more first flexible structural bones, the second connection structure includes one or more second flexible structural bones, and the circumferential distribution of the one or more first flexible structural bones along the spaced disks is different from the circumferential distribution of the one or more second flexible structural bones along the spaced disks; The plurality of connection structures include one or more series-connected first connection structures and one or more series-connected second connection structures, and the one or more series-connected first connection structures and the one or more series-connected second connection structures are distributed periodically or non-periodically along the axial direction of the continuum structure; The outer layer turns inward in the deployable area or the inner layer turns outward in the deployable area.

2. The growable continuum device according to claim 1, characterized in that, The radial dimension of the proximal end of the outer layer is greater than or equal to the radial dimension of the distal end of the outer layer.

3. The growable continuum device according to claim 1, characterized in that, The radial dimension of the outer layer remains unchanged or gradually decreases in the direction of extension from the proximal end to the distal end; and / or The radial dimension of the inner layer remains unchanged or gradually decreases in the direction of extension from the proximal end to the distal end.

4. The growable continuum device according to claim 1, characterized in that, The radial dimension of the outer layer decreases stepwise in the direction of extension from the proximal end to the distal end.

5. The growable continuum device according to claim 1, characterized in that, The plurality of continuum structures include a first continuum structure and a second continuum structure connected in series with the first continuum structure, and the easy bending direction of the first continuum structure is different from the easy bending direction of the second continuum structure and / or the bending curvature of the first continuum structure is different from the bending curvature of the second continuum structure.

6. The growable continuum device according to claim 2, characterized in that, For at least one of the continuum structures, the plurality of connection structures further includes one or more additional connection structures, and the one or more serially-connected additional connection structures and the one or more serially-connected first connection structures and the one or more serially-connected second connection structures are distributed periodically or aperiodically along the axial direction of the continuum structure.

7. The growable continuum instrument according to claim 1, wherein, the plurality of serially-connected continuum structures includes a first continuum structure and a second continuum structure serially connected to the first continuum structure, and the second continuum structure is identical in structure to the first continuum structure and is circumferentially offset by an angle with respect to the first continuum structure along the continuum instrument.

8. The growable continuum instrument according to any one of claims 1-7, wherein, for at least one of the continuum structures, the first connection structure includes a first flexible structural bone, the second connection structure includes a second flexible structural bone, and the first flexible structural bone and the second flexible structural bone are circumferentially offset by an angle with respect to the spacer disk.

9. The growable continuum instrument according to any one of claims 1-7, wherein, for at least one of the continuum structures, the first connection structure includes a plurality of first flexible structural bones, the second connection structure includes a plurality of second flexible structural bones, the plurality of first flexible structural bones form a first connection line, the plurality of second flexible structural bones form a second connection line, and the first connection line and the second connection line include at least one of the following distributions: the first connection line and the second connection line intersect at an angle at the central axis of the continuum structure, the first connection line passes through the central axis of the continuum structure and intersects the second connection line at an angle outside the central axis of the continuum structure, the first connection line and the second connection line deviate from the central axis of the continuum structure and intersect, or the first connection line and the second connection line deviate from the central axis of the continuum structure and intersect on the extension line.

10. The growable continuum instrument according to any one of claims 1-7, wherein, for at least one of the continuum structures, the first connection structure includes a plurality of first flexible structural bones, the second connection structure includes a plurality of second flexible structural bones, the plurality of first flexible structural bones form a first curve, the plurality of second flexible structural bones form a second curve, and the first curve and the second curve include at least one of the following distributions: the first curve and the second curve partially overlap, the first curve and the second curve are adjacent, the first curve and the second curve are circumferentially spaced apart, the first curve is an arc or the second curve is an arc.

11. The growable continuum instrument according to any one of claims 1-7, wherein, for at least one of the continuum structures, the first connection structure includes a plurality of first flexible structural bones, the second connection structure includes a plurality of second flexible structural bones, the plurality of first flexible structural bones form a first curve, the plurality of second flexible structural bones form a second curve, and the first curve and the second curve are opposite to each other.

12. The growable continuum instrument according to any one of claims 1-7, wherein, for at least one of the continuum structures, the plurality of connecting structures include one or more series-connected first connecting structures and one or more series-connected second connecting structures that are periodically and alternately distributed, and the projections of the plurality of first flexible structural bones and the plurality of second flexible structural bones along the axis of the continuum structure form a semi-circle.

13. The growable continuum instrument according to any one of claims 1-7, wherein, for at least one of the continuum structures, the projections of the flexible structural bones of the plurality of connecting structures along the axis of the continuum structure are asymmetrically distributed.

14. The growable continuum instrument according to any one of claims 1-7, wherein, for at least one of the continuum structures, the projections of the flexible structural bones of the plurality of connecting structures along the axis of the continuum structure are non-centrosymmetrically distributed.

15. The growable continuum instrument according to any one of claims 1-7, wherein, further comprising: one or more driving structural bones, a first end of the one or more driving structural bones is fixedly connected to a distal spacer disk of the one or more continuum structures, and a second end is for receiving driving to independently drive the one or more continuum structures to bend.

16. The growable continuum instrument according to claim 15, wherein, the plurality of driving structural bones at least include one or more first driving structural bones and one or more second driving structural bones, a first end of the one or more first driving structural bones is fixedly connected to a distal spacer disk of the first continuum structure of the plurality of continuum structures, and a first end of the one or more second driving structural bones is fixedly connected to a distal spacer disk of the second continuum structure of the plurality of continuum structures.

17. The growable continuum instrument according to claim 16, wherein, for at least one of the continuum structures, the number of the one or more driving structural bones in a low-density distribution area of the projections of the flexible structural bones of the plurality of connecting structures of the continuum structure along the axis of the continuum structure is greater than the number in a high-density distribution area.

18. The growable continuum instrument according to claim 17, wherein, the one or more driving structural bones include driving structural bones distributed at intermediate positions of the low-density distribution areas.

19. The growable continuum instrument according to claim 15, wherein, the plurality of spacer disks include one or more first mounting holes distributed along a first inner contour line and one or more second mounting holes distributed along a second inner contour line, the first inner contour line is radially spaced from the second inner contour line, the one or more flexible structural bones are fixedly connected to corresponding first mounting holes of adjacent spacer disks, and the one or more driving structural bones are slidably disposed through corresponding second mounting holes of the plurality of spacer disks.

20. The growable continuum instrument according to claim 19, wherein, The first inner contour line is at a first distance from the central axis of the continuum structure, the second inner contour line is at a second distance from the central axis of the continuum structure, and the second distance is greater than the first distance.

21. The growable continuum instrument according to any one of claims 1-7, wherein, further comprising: a tube driving mechanism, which is connected to the growable tube and is used to drive the movement of the outer layer or the inner layer of the growable tube.

22. The growable continuum instrument according to claim 21, wherein, the tube driving mechanism includes: a driving unit, a moving rod, and a transmission unit connected to the driving unit and the moving rod. The moving rod is hermetically connected to the inner layer or the outer layer of the growable tube. The transmission unit is used to convert the rotational motion of the driving unit into a linear motion to drive the moving rod to drive the growable tube to grow or retract.

23. The growable continuum instrument according to claim 21, wherein, further comprising: a fluid controller, which is used to pressurize or depressurize the fluid to drive the fluid to fill the fluid cavity of the deployable area or drive the fluid to retract from the fluid cavity.

24. The growable continuum instrument according to any one of claims 1-7, wherein, further comprising an end tool fixedly arranged at the end of the continuum structure. The end tool includes: a surgical actuator, an imaging device, an illumination device, a drug delivery device, or an ultrasonic probe.

25. A surgical robot, wherein, comprising the growable continuum instrument according to any one of claims 1-24.

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