Interventional surgery robot system and control method thereof

Abstract

The present disclosure relates to the field of medical devices, and discloses an interventional surgical robot system and control method thereof, comprising: a growable instrument, an image acquisition device, and a processor. The growable instrument includes a growable tube and a guide, the distal end of the guide being bendable to drive the growable tube to bend. The image acquisition device is used to capture images of the lumen in which the growable tube is located, and the processor is configured to receive and generate tube control signals and guide control signals based on the captured images, respectively used to control the growable tube and guide to move distally or retract proximally along the lumen. The interventional surgical robot system can adapt well to gradually narrowing and complexly curved lumens to reduce or avoid contact and friction with the lumen.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to an interventional surgical robot system and a control method thereof. Background Art

[0002] Traditional disease diagnosis and surgical treatment are primarily divided into open diagnosis and surgery, and endovascular interventional diagnosis and treatment. Intravascular interventional diagnosis or treatment involves creating a channel through a blood vessel or skin, or through an existing body cavity, without exposing the lesion through surgery. The procedure then reaches the target location under the guidance of imaging equipment, allowing for local diagnosis or treatment of the lesion with minimal trauma.

[0003] Traditional endovascular interventional procedures rely primarily on manual operation by the physician. To reduce the burden on physicians and improve the efficiency and safety of endovascular interventions, the use of endovascular interventional devices to assist in interventional diagnosis or surgery has gradually become a research hotspot in the industry. Intravascular interventional devices offer advantages such as precise movement, high repeatability, and remote control. They also eliminate the risks associated with physiological tremors and misoperation due to fatigue during manual operation.

[0004] However, the current methods of instrument-assisted interventional diagnosis or surgery have the following problems: 1. The interventional instruments are large in size, which limits the further promotion of instrument-assisted intracavitary interventional diagnosis or surgery; 2. The interventional instruments are relatively inflexible and cannot adapt to the complex and curved human cavities, and may cause damage to the cavities. Summary of the Invention

[0005] To address the above challenges, the present disclosure provides an interventional surgical robotic system and control method thereof. The system's growable instruments exhibit excellent flexibility, enabling controlled growth and extension, and adapting well to complex, curved cavities. A storage medium and a computer system are capable of executing the method for controlling the growable instruments.

[0006] In some embodiments, the present disclosure provides an interventional surgical robot system, comprising: a growable instrument, including a growable tube and a guide, the distal end of the guide being bendable to drive the growable tube to bend; an image acquisition device, for acquiring images of the cavity where the growable tube is located; and a processor, configured to receive images acquired by the image acquisition device, and generate a tube control signal and a guide control signal based on the acquired images, the tube control signal being used to control the growable tube to grow distally along the cavity or to be withdrawn proximally, and the guide control signal being used to control the guide to move distally along the cavity or to be withdrawn proximally.

[0007] In some embodiments, the present disclosure provides a method for controlling a growable instrument, wherein the growable instrument includes a growable tube and a guide, wherein the distal end of the guide can be bent to drive the growable tube to bend, the method including: receiving a captured image; and generating a tube control signal and a guide control signal based on the captured image, wherein the tube control signal is used to control the growable tube to grow toward the distal end or to be withdrawn toward the proximal end along the lumen, and the guide control signal is used to control the guide to move toward the distal end or to be withdrawn toward the proximal end along the lumen.

[0008] In some embodiments, the present disclosure provides a storage medium comprising at least one instruction, the at least one instruction being executed by a processor to configure the processor to perform the above method of controlling a growable instrument.

[0009] In some embodiments, the present disclosure provides a computer system, a non-volatile storage medium comprising at least one instruction; and a processor configured to execute the at least one instruction to configure the processor to perform the above method of controlling a growable instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. Obviously, the drawings in the following description only show some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without any creative work.

[0011] Figure 1 A schematic diagram showing the structure of a distal portion of a growable instrument according to some embodiments of the present disclosure;

[0012] Figure 2 A schematic diagram showing the structure of the distal portion of a growable device located within a body lumen according to some embodiments of the present disclosure;

[0013] FIG3( a ) shows a cross-sectional view of a growable tube according to some embodiments of the present disclosure;

[0014] FIG3( b ) shows another cross-sectional view of a growable tube according to some embodiments of the present disclosure;

[0015] FIG4( a ) shows a schematic diagram of the distal end structure of a gradient growable tube according to some embodiments of the present disclosure;

[0016] FIG4( b ) shows a schematic diagram of the distal end structure of another gradient growable tube according to some embodiments of the present disclosure;

[0017] FIG5( a ) shows a schematic diagram of the distal end structure of a stepped growable tube according to some embodiments of the present disclosure;

[0018] FIG5( b ) shows a schematic diagram of the distal end structure of another stepped growable tube according to some embodiments of the present disclosure;

[0019] FIG6( a ) shows a partial structural schematic diagram of a tube drive mechanism according to some embodiments of the present disclosure;

[0020] FIG6( b ) shows a partial structural schematic diagram of another tube driving mechanism according to some embodiments of the present disclosure;

[0021] Figure 7 A schematic diagram showing the structure of a growable device according to some embodiments of the present disclosure is shown;

[0022] Figure 8 A schematic structural diagram showing another growable device according to some embodiments of the present disclosure;

[0023] Figure 9 A schematic structural diagram of a guide according to some embodiments of the present disclosure is shown;

[0024] FIG10( a ) shows a schematic structural diagram of a guide driving mechanism according to some embodiments of the present disclosure;

[0025] FIG10( b ) shows a schematic structural diagram of another guide driving mechanism according to some embodiments of the present disclosure;

[0026] Figure 11 A schematic structural diagram of another guide according to some embodiments of the present disclosure is shown;

[0027] Figure 12 A schematic structural diagram of another guide according to some embodiments of the present disclosure is shown;

[0028] Figure 13 A schematic structural diagram showing a turning component of a guide according to some embodiments of the present disclosure;

[0029] Figure 14 A schematic structural diagram of a bending unit according to some embodiments of the present disclosure is shown;

[0030] Figure 15 A schematic structural diagram showing another turning component of a guide according to some embodiments of the present disclosure;

[0031] Figure 16 A schematic structural diagram of a slit unit according to some embodiments of the present disclosure is shown;

[0032] Figure 17 A longitudinal cross-sectional view showing another turning member of a guide according to some embodiments of the present disclosure;

[0033] Figure 18 A schematic diagram showing the structure of a distal end of a medical instrument according to some embodiments of the present disclosure is shown;

[0034] Figure 19 A schematic diagram showing a partial cross-sectional structure of the distal end of an endoscope device according to some embodiments of the present disclosure;

[0035] Figure 20 A schematic structural diagram of an endoscope device according to some embodiments of the present disclosure is shown;

[0036] Figure 21 A schematic structural diagram of an interventional surgical robot system according to some embodiments of the present disclosure is shown;

[0037] Figure 22 A schematic structural diagram of another interventional surgical robot system according to some embodiments of the present disclosure is shown;

[0038] Figure 23 A flow chart showing a method of driving a growable device according to some embodiments of the present disclosure;

[0039] Figure 24 A flow chart illustrating another method of driving a growable instrument according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0040] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present disclosure more clear, 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 part of the embodiments of the present disclosure, not all of them. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present disclosure.

[0041] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on 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", "connected", and "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 a direct connection or an indirect connection through an intermediate medium, or it can be a communication between the 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.

[0042] In this disclosure, the end closest to the operator (e.g., a doctor) is defined as the proximal end, near portion, or rear portion, and the end closest to the patient being operated on is defined as the distal end, far portion, or front portion. Those skilled in the art will appreciate that growable devices according to embodiments of this disclosure can be used in both medical and non-medical fields.

[0043] Figure 1 FIG. 1 is a schematic structural diagram of a distal portion of a growable instrument 100 according to some embodiments of the present disclosure. Figure 2 A schematic diagram showing the distal portion of a growable device 100 according to some embodiments of the present disclosure is shown, located within a cavity 115 (e.g., a blood vessel, trachea, esophagus, vagina, intestine, etc.) in a body (e.g., a human body or an animal body). The growable device 100 can enter the cavity 115 through an opening (e.g., an incision or a natural opening). Figure 1 and Figure 2 As shown, the growable device 100 may include a growable tube 110. The growable tube 110 may include a flexible material. 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 contain a fluid 140. The growable tube 110 also includes an expandable region 114 located at the distal end, where the inner layer 111 and the outer layer 112 are connected and expandable. 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, such as Figure 1 As shown. Those skilled in the art will appreciate that, in some embodiments, the radial dimension of the proximal end of outer layer 112 may be equal to or smaller than the radial dimension of the distal end of outer layer 112. Inner layer 111 may be everted in expandable region 114 to form outer layer 112, or outer layer 112 may be everted in expandable region 114 to form inner layer 111. Through the unfolding between inner layer 111 and outer layer 112, growable tube 110 may grow distally (e.g., extend or expand) or retract, facilitating growth of growable device 100 within lumen 115 to a target location or retraction from lumen 115. For example, inner layer 111 may be moved distally by a length L, and a length L of inner layer 111 may be everted in expandable region 114 to form outer layer 112. Fluid 140 may then fill fluid lumen 113 formed by everting inner layer 111, thereby enabling growable tube 110 to grow forward. The inner layer 111 moves proximally by a length L', and the outer layer 112 of a length L' is turned inward in the expandable region 114 to form the inner layer 111, so that the growable tube 110 can be retracted.

[0044] In some embodiments, the growable device 100 may further include a guide 170 that is bendable in at least one degree of freedom at the distal end. The inner layer 111 of the growable tube 110 surrounds a channel 1111. The guide 170 is disposed within channel 1111. The distal end of the guide 170 can drive the growable tube 110 in a curved motion. The bending guidance provided by the guide 170 allows the growable tube 110 to steer and adapt to the complex curvature of the lumen 115. This allows the growable tube 110 to grow distally, through the lumen 115, and ultimately to its target location. In some embodiments, the radial dimension of the proximal end of the outer layer 112 can be larger than the radial dimension of the distal end. This allows the growable device 100 to adapt to the gradually narrowing lumen 115, reducing or avoiding contact and friction with the lumen 115. In some embodiments, the guide 170 may include an endoscope, a surgical implement, a drug delivery device, or the like located at the distal end.

[0045] Figures 3(a) and 3(b) respectively illustrate cross-sectional views of a growable tube 110 according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 3(a), the cross-section of the growable tube 110 can be circular. In some embodiments, as shown in Figure 3(b), the cross-section of the growable tube 110 can be elliptical. It should be understood that the cross-section of the growable tube 110 includes, but is not limited to, the structures described in the above embodiments, and can also include other shapes, such as rectangular, polygonal, and so on. In some embodiments, the growable tube 110 is comprised of a flexible material, including, but not limited to, plastic, rubber, and materials such as low-density polyethylene, silicone-containing polymers, or fluoropolymers. The flexibility of the growable tube 110 can prevent damage to the lumen 115.

[0046] Figures 4(a) and 4(b) respectively illustrate the distal end structures of gradually evolving growable tubes 110 and 210, according to some embodiments of the present disclosure. As shown in Figure 4(a), in some embodiments, the radial dimension of the outer layer 112 can gradually decrease from the proximal end to the distal end. The profile of the outer layer 112 can be straight, curved, or a combination thereof. It is understood that the configurations of the growable tubes 110 and 210 shown in Figures 4(a) and 4(b) can be those during growth or when growth has ceased. The inner layer 111 of the growable tube 110 can remain substantially unchanged from the proximal end to the distal end. When expansion has ceased (e.g., in a fully grown state or near a lesion), the thickness of the fluid lumen 113 gradually decreases from the proximal end to the distal end. The inner layer 111 surrounds and forms a channel 1111, whose radial dimension remains substantially unchanged from the proximal end to the distal end. Channel 1111 can be used to accommodate the guide 170. The inner layer 111 or the outer layer 112 can be driven to move distally or proximally. For example, the inner layer 111 moves distally by a length L, and the inner layer 111 of length L in the expandable region 114 is inverted to form the outer layer 112. The fluid 140 fills the fluid cavity 113 formed by the inverted inner layer 111, thereby allowing the growable tube 110 to grow forward. The inner layer 111 moves proximally by a length L', and the outer layer 112 of length L' in the expandable region 114 is inverted to form the inner layer 111, thereby allowing the growable tube 110 to retract.

[0047] As shown in Figure 4(b), the radial dimension of the outer layer 212 can gradually decrease from the proximal end to the distal end. The profile of the outer layer 212 can be straight, curved, or a combination thereof. The inner layer 211 of the growable tube 210 can gradually decrease from the proximal end to the distal end. When expansion is stopped (e.g., in a fully grown state or near a lesion), the thickness of the fluid lumen 213 remains substantially constant or gradually decreases from the proximal end to the distal end. The inner layer 211 surrounds and forms a channel 2111, the radial dimension of which gradually decreases from the proximal end to the distal end. The channel 2111 can be used to accommodate the guide 170. 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 turned outward in the expandable region 214 to form the outer layer 212, or the outer layer 212 can be turned inward in the expandable region 214 to form the inner layer 211.

[0048] Figures 5(a) and 5(b) respectively illustrate schematic diagrams of the distal end structures of stepped growable tubes 310 and 510 according to some embodiments of the present disclosure. In some embodiments, as shown in Figures 5(a) and 5(b), the radial dimension of the outer layer 312 and 512 may decrease in a stepwise manner from the proximal end to the distal end. In this disclosure, "stepwise" refers to a layer profile slope that changes significantly at the step region. It is understood that the morphology of the growable tubes 310 and 510 shown in Figures 5(a) and 5(b) can be that of the tubes during growth or when growth has ceased. In some embodiments, as shown in Figure 5(a), the outer layer 312 may include a proximal segment 3121 and a distal segment 3122. The radial dimension of the proximal segment 3121 gradually decreases from the proximal end to the distal end, while the radial dimension of the distal segment 3122 gradually decreases from the proximal end to the distal end. The profile slopes of the proximal segment 3121 and the distal segment 3122 differ at the junction, thereby forming a stepped profile. The inner layer 311 of the growable tube 310 can remain substantially unchanged from the proximal end to the distal end. When expansion is stopped (e.g., in a fully grown state or near a lesion), the thickness of the fluid lumen 313 decreases stepwise from the proximal end to the distal end. The inner layer 311 surrounds and forms a channel 3111, whose radial dimension remains substantially unchanged from the proximal end to the distal end. Channel 3111 is used to accommodate the guide 170. The inner layer 311 or the outer layer 312 can be driven to move distally or proximally. For example, the inner layer 311 moves distally by a length L, and the inner layer 311, a length L of which is everted in the expandable region 314, forms the outer layer 312. Fluid 340 fills the fluid lumen 313 formed by the eversion of the inner layer 311, thereby enabling the growable tube 310 to grow forward. The inner layer 311 moves proximally by a length L', and the outer layer 312 of a length L' is turned inward in the expandable region 314 to form the inner layer 311, so that the growable tube 310 can be retracted.

[0049] In some embodiments, as shown in FIG5(b), the outer layer 512 may include a stepped profile consisting of multiple segments with different radial dimensions. As shown in FIG5(b), the outer layer 512 may sequentially include a proximal segment 5121a, a proximal segment 5121b, a distal segment 5122a, and a distal segment 5122b, each having different radial dimensions. The radial dimensions of the proximal segment 5121a and the distal segment 5122a remain substantially constant, while the radial dimensions of the proximal segment 5121b and the distal segment 5122b gradually decrease from the proximal end to the distal end. The proximal segment 5121a and the proximal segment 5121b may be connected by a gradual or abrupt change at the connection region, the proximal segment 5121b and the distal segment 5122a may be connected by a gradual or abrupt change at the connection region, and the distal segment 5122a and the distal segment 5122b may be connected by a gradual or abrupt change at the connection region, thereby forming a multi-segment stepped profile. The radial dimension of the inner layer 511 of the growable tube 510 can remain substantially constant or gradually decrease from the proximal end to the distal end. When expansion is stopped (e.g., in a fully grown state or near a lesion), the thickness of the fluid lumen 513 decreases along the direction extending from the proximal section 5121a, the proximal section 5121b, the distal section 5122a, and the distal section 5122b. The inner layer 511 surrounds and forms a channel 5111, the radial dimension of which remains substantially constant from the proximal end to the distal end. Channel 5111 is used to accommodate the guide 170. The inner layer 511 or the outer layer 512 can be driven to move distally or proximally, allowing the inner layer 511 to be turned outward in the expandable region 514 to form the outer layer 512, or the outer layer 512 to be turned inward in the expandable region 514 to form the inner layer 511.

[0050] The growable device 100 may include one of the growable tubes 110, 210, 310, and 510. In some embodiments, the growable device 100 may further include a tube drive mechanism 120. Figure 6(a) illustrates a partial structural schematic diagram of the tube drive mechanism 120 according to some embodiments of the present disclosure. As shown in Figure 6(a), the tube drive mechanism 120 is connected to the growable tube 110 (or 210, 310, or 510). The tube drive mechanism 120 is linearly movable to drive the outer layer 112 or 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 Figure 6(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.

[0051] In some embodiments, as shown in Figure 6(a), the tube drive mechanism 120 may include two rollers 121a and 121b arranged in parallel, a movable rod 122 disposed between the two rollers 121a-b, and a drive unit (not shown) connected to each of the two rollers 121a-b. The inner layer 111 of the growable tube 110 (or 210, 310, or 510) is sealed to the distal periphery of the movable rod 122. The drive unit drives the two rollers 121a-b to rotate synchronously and at equal speeds in opposite directions, driving the movable rod 122 to move linearly, thereby driving the inner layer 111 of the growable tube 110 through the movable rod 122. The movable rod 122 drives the inner layer 111 toward the distal end. In the expandable region 114, the inner layer 111 is everted to form the outer layer 112, allowing the fluid 140 to fill the fluid cavity 113 that grows as the inner layer 111 everts. In some embodiments, the distance that the growable tube 110 extends from the inner layer 111 is approximately equal to the distance that the travel rod 122 moves. In some embodiments, the distance that the growable tube 110 extends from the inner layer 111 is less than the distance that the travel rod 122 moves.

[0052] In some embodiments, as shown in Figure 6(a), a guide 170 is disposed within channel 1111. The proximal end of guide 170 passes through the lumen of movable rod 122 and is connected to a guide drive mechanism (not shown). Driven by the guide drive mechanism, guide 170 moves distally, synchronized with the growth of growable tube 110. Driven by the guide drive mechanism, the distal end of guide 170 can bend, thereby causing growable tube 110 to bend. Guide 170 enables the growable tube 110 to bend to accommodate the complex curvature of lumen 115.

[0053] The growable device 200 may include one of the growable tubes 110, 210, 310, or 510, and a tube drive mechanism 220. Figure 6(b) illustrates a partial structural schematic diagram of the tube drive mechanism 220 according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 6(b), the tube drive mechanism 220 may include a screw-slider module 221 and a movable rod 222 driven by the screw-slider module 221. The screw-slider module 221 may include a screw 223 and a slider 224 connected by threads, a movable rod 222 fixedly connected to the slider 224, and a drive unit (not shown) connected to the screw 223. In some embodiments, the screw-slider module 221 may further include a guide rod 225 slidably disposed on the slider 224. The outer layer 112 or inner layer 111 of the growable tube 110 (or 210-610) is sealed to the movable rod 222. The driving unit drives the screw rod 223 to rotate, and the slider 224 can move linearly along the guide rod 225, driving the moving rod 222 fixedly connected to the slider 224 to move linearly, thereby driving the outer layer 112 or the inner layer 111 of the growable tube 110 to move.

[0054] 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, and any driving mechanism capable of achieving linear motion does not depart from the scope of the present disclosure.

[0055] Figure 7 FIG. 1 shows a schematic diagram of the structure of a growable device 100 (or 200) according to some embodiments of the present disclosure. Figure 7 As shown, in some embodiments, growable device 100 (or 200) further includes a fluid controller 130. Fluid controller 130 is used to pressurize fluid 140, driving fluid 140 to gradually fill fluid cavity 113 between outer layer 112 and inner layer 111. In some embodiments, fluid 140 can be a liquid fluid, such as saline, or a gaseous fluid, such as air, carbon dioxide, or other inert gases. In some embodiments, fluid controller 130 can include a gas pump or a liquid pump.

[0056] In some embodiments, as Figure 7As shown, the growable device 100 (or 200) may further include a fluid tank 150. The fluid tank 150 may include a fluid outlet channel 151 and a fluid control channel 152. The fluid controller 130 communicates with the fluid tank 150 via the fluid control channel 152. The control channel 152 may include a fluid conduit, a switch, or the like. In some embodiments, the outer layer 112 of the growable tube 110 may be sealedly connected to the outer periphery of the fluid outlet channel 151. The inner layer 111 of the growable tube 110 may extend through the fluid outlet channel 151 toward the proximal end of the fluid tank 150 and be sealedly connected to the travel rod 122 of the tube drive mechanism 120. The tube drive mechanism 120 may drive the inner layer 111 of the growable tube 110 to move distally or proximally. The fluid controller 130 may control the fluid pressure in the fluid tank 150 and the fluid chamber 113, for example, maintaining the pressure in the fluid tank 150 and the fluid chamber 113 at a predetermined value or within a predetermined range. In some embodiments, when the outer layer 112 or the inner layer 111 is driven by the tube drive mechanism 120 to expand within the expandable region 114, the fluid controller 130 can control the fluid 140 to fill the growing fluid cavity 113 or withdraw from the withdrawn fluid cavity 113. For example, the tube drive mechanism 120 drives the inner layer 111 of the growable tube 110 distally, causing the inner layer 111 to evert the length L in the expandable region 114 to form the outer layer 112, causing the fluid cavity 113 to grow distally. The fluid controller 130 applies pressure to the fluid tank 150 (e.g., injects fluid), causing the fluid 140 to fill the fluid cavity 113 of the growable tube 110, thereby filling the growing fluid cavity 113 in the expandable region 114. For another example, the tube drive mechanism 120 drives the inner layer 111 of the growable tube 110 to move proximally by a length L', while the outer layer 112 inverts inwardly by a length L' within the expandable region 114, forming the inner layer 111. This causes the fluid chamber 113 to retract proximally. The fluid controller 130 depressurizes the fluid chamber 150 (e.g., extracts fluid), causing the fluid 140 to withdraw from the fluid chamber 113 of the growable tube 110 into the fluid chamber 150, thereby retracting the growable tube 110 proximally. In some embodiments, the distance of expansion, growth, or retraction is substantially equal to the distance the tube drive mechanism 120 moves. In some embodiments, the distance of expansion, growth, or retraction is less than the distance the tube drive mechanism 120 moves.

[0057] In some embodiments, the tube drive mechanism 120 may be disposed outside the fluid box 150, and the inner layer 111 of the growable tube 110 may extend through the fluid box 150 and connect to the tube drive mechanism 120. Figure 7 As shown, at least a portion of the moving rod 122 of the tube driving mechanism 120 may be disposed inside the fluid box 150 and connected to the inner layer 111 of the growable tube 110 .

[0058] In some embodiments, the guide 170 is disposed within the channel 1111, and the proximal end of the guide 170 is connected to a guide drive mechanism (not shown) via the inner cavity of the movable rod 122 of the tube drive mechanism 120. The distal end of the guide 170 is driven by the guide drive mechanism to bend, thereby driving the growable tube 110 to bend.

[0059] In some embodiments, growable device 100 further includes a system controller (not shown). The system controller controls the movement distance of tube drive mechanism 120 and the pressure applied within fluid chamber 113 by fluid controller 130, thereby enabling controllable growth of growable device 100. In some embodiments, the system controller can control fluid controller 130, for example, by sending pressure increase or decrease commands to fluid controller 130. In some embodiments, the system controller can also control the rotation of guide 270 to control the growth direction of growable device 200.

[0060] like Figure 7 As shown, in some embodiments, the growable instrument 100 further includes a pressure sensor 160. The pressure sensor 160 can be disposed on the fluid tank 150 to sense the pressure within the fluid tank 150. The pressure sensor 160 can be connected to the fluid controller 130 to transmit a fluid pressure signal within the fluid tank 150 to the fluid controller 130. The fluid controller 130 can control the fluid pressure in the fluid chamber 150 and the fluid chamber 113 based on the fluid pressure signal.

[0061] Figure 8 FIG. 1 is a schematic diagram showing the structure of a growable device 200 (or 100) according to some embodiments of the present disclosure. In some embodiments, as Figure 8As shown, the growable device 200 (or 100) may further include a fluid box 250, which includes an annular fluid outlet channel 251 and a fluid control channel 252. The fluid controller 230 communicates with the fluid box 250 via the fluid control channel 252. At least one sealing ring 253 may be provided within the fluid box 250, the outer periphery of which seals against the inner wall of the fluid box 250. The fluid outlet channel 251 is annular in shape. The inner layer 211 of the growable tube 210 is sealedly connected to the inner or outer side of the inner annular wall of the fluid outlet channel 251. The outer layer 212 of the growable tube 210 extends through the fluid outlet channel 251 toward the proximal end of the fluid box 250 and is sealedly connected to the sealing ring 253. The sealing ring 253 is securely connected to the travel rod 222 of the tube drive mechanism 220 via at least one connecting rod 226. At least a portion of the moving rod 222 of the tube driving mechanism 220 is disposed inside the fluid box 250 and is connected to the sealing ring 253 to drive the sealing ring 253 to move linearly along the length direction of the fluid box 250. The sealing ring 253 can prevent the fluid 240 in the fluid box 250 from leaking from the gap between the outer layer 212 of the growable tube 210 and the inner layer of the fluid box 250. For example, the tube driving mechanism 220 drives the outer layer 212 of the growable tube 210 to move distally by a length L, and the outer layer 212 of a length L in the expandable region 214 is turned inward to form the inner layer 211. The fluid 240 fills the fluid cavity 213 grown by the inward turning of the outer layer 212, so that the growable tube 210 can grow forward. The outer layer 212 moves proximally by a length L', and the inner layer 211 of a length L' in the expandable region 214 is turned outward to form the outer layer 212, so that the growable tube 210 can retract. In some embodiments, as Figure 8 As shown, a pressure sensor 260 is provided on the fluid tank 250 for detecting the pressure within the fluid tank 250. The pressure sensor 260 can be connected to the fluid controller 230 to send a fluid pressure signal within the fluid tank 250 to the fluid controller 230. The fluid controller 230 can control the fluid pressure in the fluid tank 250 and the fluid chamber 213 according to the fluid pressure signal.

[0062] In some embodiments, a guide 270 is disposed within channel 2111. The proximal end of the guide 270 is connected to the guide drive mechanism (not shown) via the lumen of the travel rod 222 of the tube drive mechanism 220. Driven by the guide drive mechanism, the distal end of the guide 270 bends, thereby causing the growable tube 210 to bend. In some embodiments, the growable device 200 also includes a system controller (not shown). The system controller controls the travel distance of the tube drive mechanism 220 and the pressure applied within the fluid chamber 213 by the fluid controller 230, thereby enabling precise operation of the growable device 200. In some embodiments, the system controller can control the fluid controller 230, for example, by sending pressure increase or depressurization commands to the fluid controller 230. In some embodiments, the system controller can also control the bending of the guide 270 to control the growth direction of the growable device 200.

[0063] Figure 9 FIG. 1 shows a schematic diagram of the structure of the guide 170 according to some embodiments of the present disclosure. Figure 9 As shown, guide 170 may include at least one distal continuum 172. Distal continuum 172 includes a distal base plate 1721, a distal stop plate 1722, and a plurality of first structural bones 1723. Distal base plate 1721 and distal stop plate 1722 are spaced apart. The distal ends of the plurality of first structural bones 1723 are fastened to distal stop plate 1722, and the proximal ends of the plurality of first structural bones 1723 pass through distal base plate 1721. In some embodiments, the distal ends of the plurality of first structural bones 1723 are fastened to distal stop plate 1722 at circumferential intervals. For example, the plurality of first structural bones 1723 may be evenly spaced apart or arranged in a regular, symmetrical pattern. In some embodiments, the plurality of first structural bones 1723 may be nickel-titanium alloy wires, steel wires, or the like. In some embodiments, the number of first structural bones 1723 can be four. The coordinated pushing and pulling of two corresponding structural bones can enable the distal continuum 172 to bend in the direction of the first degree of freedom. The coordinated pushing and pulling of the other two corresponding structural bones can enable the distal continuum 172 to bend in the direction of the second degree of freedom, thereby providing the guide 170 with at least one degree of freedom. In some embodiments, the number of first structural bones 1723 can also be six, eight, twelve, etc. The number of first structural bones 1723 can include, but is not limited to, the number in the above-described embodiments.

[0064] like Figure 9 As shown, in some embodiments, the guide 170 may include distal continua 172 and 172' connected in series. The distal base plate 1721 of the distal continuum 172 at the distal end becomes the distal stop plate 1722' of the distal continuum 172' at the proximal end. Providing two or more distal continua 172 can increase the bending flexibility of the guide 170.

[0065] In some embodiments, as Figure 9 As shown, the distal continuum 172, 172' may further include at least one distal spacer disk 1724, 1724' disposed between the distal base disk 1721 and the distal stop disk 1722, and between the distal base disk 1721' and the distal stop disk 1722'. The proximal ends of the plurality of first structural bones 1723 sequentially pass through the at least one distal spacer disk 1724, the distal base disk 1721, the distal spacer disk 1724', and the distal base disk 1721'. The proximal ends of the plurality of first structural bones 1723' sequentially pass through the at least one distal spacer disk 1724' and the distal base disk 1721'. The provision of the distal spacer disks 1724, 1724' can enhance the stability of the plurality of first structural bones 1723, 1723' during pushing and pulling.

[0066] In some embodiments, the growable device 100 (or 200) may further include a guide drive mechanism. This guide drive mechanism may be connected to a plurality of first structural bones 1723, 1723', and by pushing and pulling the first structural bones 1723, 1723', it drives the distal continuum 172, 172' to bend in different directions in space. Figure 10(a) illustrates a schematic structural diagram of a guide drive mechanism 180 according to some embodiments of the present disclosure. As shown in Figure 10(a), in some embodiments, the guide drive mechanism 180 may include at least one double-ended screw module 181. The double-ended screw module 181 may include a double-ended screw 182, a pair of sliders 183a and 183b threadedly connected to the double-ended screw 182, and a drive unit (not shown) connected to the double-ended screw 182. In some embodiments, the double-ended screw module 181 may include guide rods 184a and 184b that slide through the sliders 183a and 183b, respectively. At least one pair of first structural bones 1723a and 1723b are fixedly connected to sliders 183a and 183b, respectively. A drive unit rotates the double-ended screw 182, driving sliders 183a and 183b to move linearly in opposite directions (e.g., along guide rods 184a and 184b), thereby coordinating the pushing and pulling of first structural bones 1723a and 1723b. At least one set of double-ended screw modules 181 can coordinate the pushing and pulling of multiple first structural bones 1723, thereby achieving bending of the distal continuum 172 or 172'.

[0067] In some embodiments, the growable device 100 (or 200) may further include a guide drive mechanism. Figure 10(b) illustrates a schematic structural diagram of a guide drive mechanism 280 according to some embodiments of the present disclosure. As shown in Figure 10(b), the guide drive mechanism 280 may include at least one screw-nut module 281. The screw-nut module 281 may include a screw 282 and a nut 283 threaded together, a guide rod 284 slidably inserted through the nut 283, and a drive unit (not shown) connected to the screw 282. At least one first structural bone 1723 or 1723' is fixedly connected to the nut 283. The drive unit rotates the screw 282, which drives the nut 283 linearly (e.g., along the guide rod 284), thereby pushing or pulling the first structural bone 1723 or 1723'. The at least one screw-nut module 281 coordinates the pushing and pulling of multiple first structural bones 1723 or 1723' to achieve bending of the distal continuum 172. It should be understood that the guide driving mechanism of the present disclosure includes but is not limited to the structures in the above embodiments. As long as the driving mechanism can push and pull the structural bone, it does not depart from the scope of the present disclosure.

[0068] In some embodiments, as Figure 11 As shown, guide 170 may further include at least one proximal continuum 173, comprising a proximal base plate 1731, a proximal stop plate 1732, and a plurality of second structural bones 1733. Proximal base plate 1731 and proximal stop plate 1732 are spaced apart, with proximal base plate 1731 adjacent to distal base plate 1721. The proximal ends of the plurality of second structural bones 1733 are securely connected to proximal stop plate 1732, and the distal ends of the plurality of second structural bones 1733 may pass through proximal base plate 1731 and be fixedly connected to the proximal ends of the plurality of first structural bones 1723, or may be integrally formed therewith. In some embodiments, the plurality of second structural bones 1733 may be nickel-titanium alloy wires, steel wires, or the like.

[0069] In some embodiments, as Figure 11 As shown, the proximal continuum 173 may further include at least one proximal spacer disk 1734 disposed between the proximal base disk 1731 and the proximal stop disk 1732. The proximal ends of the plurality of second structural bones 1733 sequentially pass through the at least one proximal spacer disk 1734 and the proximal base disk 1731. The provision of the proximal spacer disk 1734 may enhance the stability of the plurality of second structural bones 1733 during the pushing and pulling process.

[0070] In some embodiments, as Figure 11As shown, the guide drive mechanism 380 can be connected to the proximal stop plate 1732 to drive the proximal stop plate 1732 to rotate and move, thereby pushing and pulling the second structural bone 1733 mounted on the proximal stop plate 1732. The second structural bone 1733 pushes and pulls the first structural bone 1723, thereby driving the distal continuum 172 to bend in various directions in space. In some embodiments, the second structural bone 1733 and the first structural bone 1723 can be fixedly connected or integrally formed as a single structural bone. In some embodiments, the proximal ends of multiple second structural bones 1733 are fastened to the proximal stop plate 1732 and pass through the proximal stop plate 1732. The guide drive mechanism 180 (or 280) can be connected to multiple second structural bones 1733, and by cooperatively pushing and pulling the multiple second structural bones 1733, the distal continuum 172 can be driven to bend in various directions in space.

[0071] Figure 12 FIG. 2 shows a schematic diagram of the structure of the guide 270 according to some embodiments of the present disclosure. Figure 12 As shown, the guide 270 may further include at least one proximal continuum 273, including a proximal base plate 2731, a first proximal stop plate 2732a, a second proximal stop plate 2732b, and a plurality of second structural bones 2733. The proximal base plate 2731, the first proximal stop plate 2732a, and the second proximal stop plate 2732b are arranged at intervals, the proximal base plate 2731 is adjacent to the distal base plate 2721, the proximal ends of the plurality of second structural bones 2733 are fastened to the second proximal stop plate 2732b, and the distal ends of the plurality of second structural bones 2733 may pass through the first proximal stop plate 2732a to be fastened to the proximal base plate 2731, and the proximal ends of the plurality of first structural bones 2723 pass through the proximal base plate 2731 to be fastened to the first proximal stop plate 2732a.

[0072] In some embodiments, the guide drive mechanism 480 can be connected to the second proximal stop plate 2732b to drive the second proximal stop plate 2732b to move and flip, causing the proximal base plate 2731 and the second proximal stop plate 2732b to be misaligned, so that the multiple second structural bones 2733 are bent, driving the first proximal stop plate 2732a to flip in coordination, thereby pushing and pulling the multiple first structural bones 2723 whose ends are fixed on the first proximal stop plate 2732a, thereby driving the distal continuum 272 to bend in different directions in space. In some embodiments, the proximal ends of multiple second structural bones 2733 are fastened to the second proximal stop plate 2732b and pass through the second proximal stop plate 2732b, and are connected to the guide drive mechanism 180 (or 280). By pushing and pulling the second structural bones 2733, the first proximal stop plate 2732a is caused to produce a coordinated flip, thereby pushing and pulling the multiple first structural bones 2723 to drive the distal continuum 272 to bend in different directions in space.

[0073] In some embodiments, the introducer may include a turning member and a drive wire connected to the turning member. Figure 13 FIG. 3 is a schematic structural diagram of a turning member 371 of a guide 370 according to some embodiments of the present disclosure. Figure 13 As shown, the distal end of the drive wire 373 is fastened to the distal end of the turning member 371. The drive wire 373 can drive the turning member 371 to bend in at least one degree of freedom direction under the drive of the guide drive mechanism (such as the guide drive mechanism 180 or 280), thereby driving the growable tube 110 (or 210, 310, 510) to turn to adapt to the complex curvature of the cavity 115.

[0074] In some embodiments, as Figure 13 As shown, the turning member 371 may include a snake structure 372 . Figure 14 FIG. 3 shows a schematic structural diagram of the bending unit 3721 according to some embodiments of the present disclosure. Figure 13 and Figure 14 As shown, the snake-bone structure 372 may include a plurality of hollow bamboo-shaped bending units 3721 connected end to end. Two adjacent bending units 3721 may form a radially bendable kinematic pair through mutually nested connecting grooves 3722 and connecting protrusions 3723. The driving wire 373 may be set through each bending unit 3721 or through the tube wall of each bending unit 3721 (see Figure 13 ), the distal end of the drive wire 373 is fixedly mounted at the distal end of the serpentine structure 372. The guide drive mechanism pushes or pulls the drive wire 373 to cause the serpentine structure 372 to bend, thereby driving the growable tube 110 to bend. In some embodiments, there may be multiple drive wires 373, spaced apart along the circumference. By pushing, pulling, or coordinating the pushing and pulling of multiple drive wires 373, the bending direction of the serpentine structure 372 is adjusted, thereby enabling the growable tube 110 to bend in multiple degrees of freedom.

[0075] In some embodiments, the turning member may be a flexible sleeve. Figure 15 FIG. 4 is a schematic structural diagram showing a turning member 471 of a guide 470 according to some embodiments of the present disclosure. Figure 16 FIG. 4 is a schematic structural diagram of the slit unit 473 according to some embodiments of the present disclosure. Figure 15 and Figure 16As shown, the flexible sleeve 472 may be provided with a plurality of slit units 473 at intervals along its extension direction, and each slit unit 473 may include at least one slit 4731 extending circumferentially along the flexible sleeve 472. In some embodiments, the slit unit 473 may include a plurality of slits 4731, the plurality of slits 4731 being arranged at intervals along the axial direction of the flexible sleeve 472, and the plurality of slits 4731 being arranged staggered in sequence along the circumferential direction of the flexible sleeve 472. The drive wire 474 may be provided through the flexible sleeve 472 or through the wall of the flexible sleeve 472 (see Figure 15 ), the distal end of a drive wire 474 is fixedly mounted at the distal end of the flexible sleeve 472. A guide drive mechanism (e.g., guide drive mechanism 180 or 280) pushes and pulls the drive wire 474 to cause the flexible sleeve 472 to bend, thereby driving the growable tube 110 to bend. In some embodiments, there may be multiple drive wires 474 spaced circumferentially. The bending direction of the flexible sleeve 472 is adjusted by pushing, pulling, or cooperating the multiple drive wires 474. In some embodiments, the flexible sleeve 472 is rotatable about the axial direction, thereby adjusting the bending direction of the flexible sleeve 472 and enabling the growable tube 110 to bend in multiple degrees of freedom.

[0076] Figure 17 FIG. 5 shows a longitudinal cross-sectional view of a turning member 571 of a guide 570 according to some embodiments of the present disclosure. Figure 17 As shown, in some embodiments, the turning member 571 may further include a bellows 572, and the driving wire 573 may be arranged to penetrate the bellows 572 or to penetrate the wall of the bellows 572 (see Figure 17 ), the distal end of drive wire 573 is fixedly mounted at the distal end of bellows 572. A guide drive mechanism (e.g., guide drive mechanism 180 or 280) pushes or pulls drive wire 573 to cause bellows 572 to bend, thereby driving growable tube 110 (or 210, 310, 510) to bend. It should be understood that turning members include, but are not limited to, the aforementioned structures; any structure capable of turning falls within the scope of this disclosure.

[0077] The growable device 100 (or 200) may include any of the guides 170-570. In some embodiments, as Figure 7 As shown, the introducer 170 (or 270-570) may further include a medical instrument 171, which may be fixedly disposed at the distal end of the introducer 170 and may include, for example, an endoscope, an end effector, an ultrasound probe, a probe, etc. In some embodiments, the medical instrument 171 may be disposed in the internal channel of the introducer 170, such as a drug delivery device.

[0078] The medical instrument 171 may include an endoscopic device 1711 . Figure 18 and Figure 19 1 and 2 respectively show a schematic structural diagram of the distal end of an endoscope device 1711 and a schematic structural diagram of a partial cross section of the distal end according to some embodiments of the present disclosure. Figure 18 and Figure 19 As shown, in some embodiments, a growable device 100 (or 200) may include a growable tube 110 (or any one of 210, 310, or 510) and a guide 170 (or any one of 270-570). A medical instrument 171 at the distal end of the guide 170 may include an endoscopic device 1711. The inner layer 111 or outer layer 112 of the growable tube 110 may be expanded under actuation to allow the growable tube 110 to grow toward or retract from the distal end. The guide 170 may extend or retract along the channel 1111 of the growable tube 110. The distal end of the guide 170 may be bent to change the direction of the growable tube 110 to adapt to a complex and curved lumen 115, thereby facilitating the growable device 100 to grow within the lumen 115 to a target location or to be retracted from the lumen 115. The distal end of guide 170 is bendable to adjust the position of endoscopic device 1711, facilitating observation and image acquisition of different target areas. In some embodiments, medical instrument 171 may also include an end effector (not shown), such as a grasping forceps or scissors. Once the end effector reaches the target area, it can manipulate the tissue at the lesion site.

[0079] Figure 20 FIG. 1 shows a schematic structural diagram of an endoscope device 1711 according to some embodiments of the present disclosure. Figure 19 and Figure 20 As shown, in some embodiments, an endoscopic device 1711 may include at least one image sensor 1712, at least one image lens 1713, and at least one illumination unit 1714 fixedly disposed at the distal end of a guide 170. The at least one image lens 1713 may be disposed distally from the image sensor 1712 and aligned with the at least one image sensor 1712, thereby facilitating the image sensor 1712 capturing an image of the target area through the image lens 1713. The at least one illumination unit 1714 may be disposed distally from the guide 170, thereby facilitating illumination of the target area. In some embodiments, the image lens 1713 may include a plurality of convex and concave lenses, which are distributed to form an optical imaging system. In some embodiments, the distal end surface of the image lens 1713 may be a curved convex lens, such as a spherical lens, an ellipsoidal lens, a pyramidal lens, a frustum lens, or the like. The image lens 1713 may include at least one convex surface to increase the field of view.

[0080] In some embodiments, as Figure 19As shown, the endoscope device 1711 may include an endoscope base 1715, the proximal end of which is fastened to the distal end of the guide 170. In some embodiments, the endoscope base 1715 may be tubular and have a receiving cavity, and at least one image sensor 1712 is disposed in the receiving cavity of the endoscope base 1715, and the image sensor 1712 is disposed parallel to the axis of the endoscope base 1715.

[0081] like Figure 18 and Figure 19 As shown, the endoscope device 1711 may further include an end cap 1716 disposed at the distal end of the endoscope base 1715. In some embodiments, the endoscope base 1715 and the end cap 1716 may be integrally formed or secured and sealed together using glue or a snap-fit ​​structure. The end cap 1716 may be provided with at least one lens channel 1716-1 for accommodating at least one imaging lens 1713 and at least one lighting channel 1716-2 for accommodating the output end of the lighting unit 1714. The imaging lens 1713 is disposed within the lens channel 1716-1, and the lighting channel 1716-2 is configured to illuminate the output end of the lighting unit 1714. In some embodiments, the endoscope base 1715 may be a hollow tube, and the lens channel 1716-1 and the lighting channel 1716-2 may extend axially through the end cap 1716. In some embodiments, the endoscope seat 1715 is a tube body with a solid front end. The lens channel 1716-1 and the lighting channel 1716-2 axially penetrate the end cover 1716 along the end cover 1716 and continue to extend toward the interior of the front end of the endoscope seat 1715.

[0082] In some embodiments, as Figure 18 As shown, the end cap 1716 may include two lens channels 1716-1 and two lighting channels 1716-2. The two lens channels 1716-1 are circular in cross-section and are arranged side by side in the middle of the end cap 1716, and the two lighting channels 1716-2 are respectively arranged on the outside of the lens channels 1716-1. In some embodiments, the lighting channels 1716-2 may be crescent-shaped, and the front end of the output end of the lighting unit 1714 may be crescent-shaped and respectively arranged in the lighting channels 1716-2. By providing a crescent-shaped channel, the space inside the tube can be fully utilized, which can achieve miniaturization and increase the lighting field of view. By separating the image acquisition path and the lighting path, the interference of external impurities is reduced, thereby reducing image noise. In some embodiments, the end cap 1716 may be flat, spherical or conical.

[0083] In some embodiments, there may be one or more image sensors 1712. It should be understood that when only one image sensor 1712 is operational, the image ultimately displayed by the endoscope device 1711 is a two-dimensional image. When multiple image sensors 1712 are operational, they function like a person's binoculars, enabling stereoscopic vision and capturing images from different angles. The images captured by the multiple image sensors 1712 are processed through stereoscopic vision and ultimately displayed on a screen via a stereoscopic display. In some embodiments, there may be two image sensors 1712, spaced side by side and symmetrically arranged about the axis of the endoscope base 1715. The photosensitive surfaces of the image sensors 1712 are perpendicular to the axis of the endoscope base 1715. The image lens 1713 is parallel to the axis of the endoscope base 1715 and perpendicular to the photosensitive surface of the image sensor 1712, thereby facilitating image capture by the image sensor 1712. In some embodiments, the image sensor 1712 may be a CMOS image sensor 1712. Through the two CMOS image sensors 1712, a clear stereoscopic visual image can be formed.

[0084] In some embodiments, the number of image sensors 1712 can be three. For example, the three image sensors 1712 are located in the middle of the distal portion of the endoscope base 1715. The specific arrangement of the three image sensors 1712 includes, but is not limited to, being arranged radially and spaced apart along the same straight line, or being arranged in a triangular pattern. Those skilled in the art will appreciate that the number of image sensors 1712 can also be four or more, arranged in a matrix or other manner. The specific number and arrangement of image sensors 1712 can be varied according to actual needs without departing from the scope of this disclosure. In some embodiments, one or more image sensors 1712 can be redundant devices, used to initiate operation in the event that another image sensor 1712 fails.

[0085] In some embodiments, the number of illumination units 1714 may be two, thereby providing better illumination for capturing images of the endoscopic device 1711. In some embodiments, to further increase the illumination intensity of the endoscopic device 1711, the number of illumination units 1714 may be three or more. For example, the output ends of the multiple illumination units 1714 may be positioned along the circumferential edge of the distal end portion of the endoscope base 1715, or in the gaps between the multiple image sensors 1712. The number and arrangement of the illumination units 1714 may vary according to actual needs without departing from the scope of this disclosure.

[0086] In some embodiments, as Figure 20As shown, the lighting unit 1714 may include a light source 1714-1 and an optical fiber 1714-2 coupled to the light source 1714-1. The light source 1714-1 may be disposed in the proximal portion of the guide 170 or outside the guide 170, and the optical fiber 1714-2 is disposed in the inner cavity of the guide 170 and extends from the light source 1714-1 to the distal portion of the guide 170. In some embodiments, the optical fiber 1714-2 may include one or more optical fibers 1714-2. The output end of the front end of the optical fiber 1714-2 may constitute the output end of the lighting unit 1714. The illumination light emitted by the light source 1714-1 is transmitted to the front end portion of the guide 170 through the optical fiber 1714-2 and is output from the output end of the optical fiber 1714-2 to achieve illumination. In some embodiments, as Figure 18 As shown, the front end cross-section of the output end of the optical fiber 1714-2 can be crescent-shaped and disposed within the illumination channel 1716-2 of the end cap 1716. It should be understood that the light source 1714-1 can be disposed within the rear end portion of the guide 170 or within or outside the main body of the endoscope device 1711 on the rear side of the guide 170. It should also be understood that in some embodiments, the illumination unit 1714 can also include an illumination device directly disposed within the endoscope base 1715, such as an LED light source 1714-1.

[0087] In some embodiments, as Figure 20 As shown, the endoscopic device 1711 may also include a signal board 1717, a vision processor 1718, and an image display 1719. The image sensor 1712, signal board 1717, vision processor 1718, and image display 1719 are communicatively connected, for example, by wires or wirelessly. During operation, the image sensor 1712 captures an image of the target area through the image lens 1713 and transmits the captured image information to the signal board 1717. After receiving the image information from the image sensor 1712, the signal board 1717 processes the image information and transmits the captured information to the vision processor 1718. After receiving the captured information from the signal board 1717, the vision processor 1718 processes the captured image information and transmits the processed image information to the image display 1719. After receiving the processed information from the vision processor 1718, the image display 1719 displays the image on a screen. In some embodiments, the image display 1719 is a glasses-type image display, but it should be understood that the image display 1719 may also be a screen display.

[0088] Figure 21 FIG. 1 shows a schematic structural diagram of an interventional surgical robot system 1 according to some embodiments of the present disclosure. Figure 21As shown, in some embodiments, the interventional surgical robot system 1 may include a growable instrument (e.g., growable instrument 100 or 200) and a system processor 101. The medical instrument 171 at the distal end of the guide 170 of the growable instrument 100 may include an endoscopic device 1711, such as Figure 20 As shown. The system processor 101 can be in communication with the growable device 100, for example, via a cable 102 or a wireless connection. In some embodiments, as Figure 21 As shown, the interventional surgical robotic system 1 may further include an operating trolley 104 and a control trolley 105. The growable instrument 100 may be mounted on the operating trolley 104 (e.g., mounted on a robotic arm of the trolley), and the system processor 101 may be mounted on the control trolley 105. In some embodiments, the control trolley 105 may include a user interface, such as a main operator, a touch screen display, input buttons, or a foot pedal. The system processor 101 may receive commands input by an operator through the user interface or receive instructions stored on a non-volatile storage medium.

[0089] Figure 22 FIG. 2 shows a schematic diagram of the structure of an interventional surgical robot system 2 according to some embodiments of the present disclosure. Figure 22 As shown, in some embodiments, the interventional surgical robotic system 2 may include a growable instrument (e.g., growable instrument 100 or 200), a system processor 201, and an image acquisition device 202. The medical instrument 171 at the distal end of the guide 170 of the growable instrument 100 may include, for example, an endoscopic device 1711, an end surgical effector, an ultrasound probe, a probe, etc. The system processor 201 may be connected to the growable instrument 100 and the image acquisition device 202 in communication, for example, via a cable 206 or wirelessly. In some embodiments, as Figure 22 As shown, the interventional surgical robotic system 2 may further include an operating trolley 204 and a control trolley 205. The growable instrument 100 may be mounted on the operating trolley 204 (e.g., mounted on a robotic arm of the trolley), and the system processor 201 may be mounted on the control trolley 205. In some embodiments, the control trolley 205 may include a user interface, such as a main operator, a touch screen display, input buttons, or a foot pedal. The system processor 201 may receive commands input by an operator through the user interface or receive instructions stored on a non-volatile storage medium.

[0090] Figure 23 A flow chart illustrating a method 2300 for driving a growable instrument (e.g., growable instrument 100 or 200) according to some embodiments of the present disclosure is provided. In some embodiments, the method 2300 may be executed by a system controller of a growable instrument, an interventional surgical robotic system including a growable instrument (e.g., Figure 21The interventional surgical robot system 1 shown, Figure 22 Method 2300 may be executed by an interventional surgical robotic system 2 (e.g., the system processor 101, the system processor 201, etc.) or by a system processor of the interventional surgical robotic system (e.g., the system processor 101, the system processor 201, etc.). In some embodiments, method 2300 may also be implemented as instructions stored on a non-volatile storage medium. The instructions may be executed to configure a general-purpose processor or a special-purpose processor to perform method 2300.

[0091] like Figure 23 As shown, in step 2301, the collected image may be received. In some embodiments, the image may be collected by an endoscopic device, an X-ray imaging device, a CT (computed tomography) device, and the like. In some embodiments, the image may be collected by an endoscopic device (e.g., endoscopic device 1711) disposed at the distal end of a guide (e.g., guide 170) or a fluoroscopic imaging machine (e.g., fluoroscopic imaging machine 2021). For example, the image may include a static image, a video, an X-ray image, and a CT image, and the like. In some embodiments, the growable tube (e.g., growable tube 110) and the guide (e.g., guide 170) of a growable instrument (e.g., growable instrument 100) enter a cavity (e.g., cavity 115) of a patient 103. The endoscopic device 1711 is fixedly disposed at the distal end of the guide 170, and may collect images in the cavity 115 and transmit the collected images to a processor (e.g., Figure 21 The system processor 101 may receive images of the cavity 115 captured by the endoscope device 1711 .

[0092] At step 2303, the received image may be processed to determine a distance D between the distal end of the growable tube (e.g., growable tube 110) and the inner wall of the lumen (e.g., lumen 115). In some embodiments, for example, the system processor 101 may perform image ranging analysis on the image received at step 2301 to measure the distance D between the distal end of the growable tube 110 and the inner wall of the lumen 115. Image ranging may include, for example, ranging using 3D vision technology or a depth camera.

[0093] In step 2305, a determination can be made as to whether the distance D between the distal end of the growable tube (e.g., growable tube 110) and the inner wall of the lumen (e.g., lumen 115) is less than or equal to a threshold. In some embodiments, the threshold can be set by the system processor 101. For example, the threshold can be set to one-half or one-third of the lumen radius. The system processor 101 compares the distance D between the growable tube 110 and the inner wall of the lumen 115 determined in step 2303 with the threshold to determine whether the measured distance is less than or equal to the threshold.

[0094] In step 2307, if it is determined that the distance D between the growable tube (e.g., growable tube 110) and the inner wall of the lumen (e.g., lumen 115) is less than or equal to a threshold, a tube growth control signal and a guide steering control signal may be generated. In some embodiments, the tube growth control signal may include a signal for controlling the tube drive mechanism and a signal for controlling pressurization of the fluid controller. For example, if the system processor 101 determines that the distance between the growable tube 110 and the inner wall of the lumen 115 is less than or equal to a threshold, the tube growth control signal and the guide steering control signal may be generated and sent to the system controller. Based on the received tube growth control signal and the guide steering control signal, the system controller may coordinately control the growth of the growable tube 110 and the steering movement of the guide 170 away from the inner wall of the lumen. In some embodiments, the system controller can control the tube drive mechanism (e.g., tube drive mechanism 120 or 220) based on the received tube growth control signal to drive the inner layer 111 or outer layer 112 of the growable tube 110 to move distally by a length L, causing the inner layer 111 or outer layer 112 to evert or intrude by a length L in the expandable region 114, thereby causing the fluid cavity 113 to grow distally. Furthermore, the system controller can control the fluid controller (e.g., fluid controller 130) based on the pressurization signal of the tube growth control signal to pressurize (e.g., inject fluid) the fluid cavity 113, causing the fluid 140 to fill the fluid cavity 113 of the growable tube 110, thereby filling the fluid cavity 113 growing in the expandable region 114. In some embodiments, the system controller can also control the pressure applied by the fluid controller (e.g., fluid controller 130) to the fluid cavity 113 based on the pressurization signal of the tube growth control signal, so as to maintain the pressure within the fluid cavity 113 within a preset range during the growth of the growable tube 110, thereby enabling the growable tube 110 to grow in a controllable manner. The preset range can be interpreted as a pressure range that allows for normal growth of the growable tube, thereby preventing damage to the growable tube 110 due to excessive pressure within the fluid chamber 113, or preventing the growable tube 110 from growing due to insufficient pressure within the fluid chamber 113. The system controller can coordinately control the guide drive mechanism (e.g., guide drive mechanism 180 or 280) based on the received guide steering control signal to drive the guide 170 to bend by an angle α, thereby controlling the growth direction of the growable tube 110 and ensuring that the growable tube 110 grows along the path of the lumen 115. In some embodiments, the system controller can independently control the growth of the growable tube and the steering movement of the guide based on the received tube growth control signal and the guide steering control signal.

[0095] At step 2309, if the distance D between the growable tube (e.g., growable tube 110) and the inner wall of the lumen (e.g., lumen 115) is determined to be greater than a threshold, a tube growth control signal and a guide advancement control signal may be generated. The tube growth control signal may include a signal for controlling the tube drive mechanism and a signal for controlling pressurization of the fluid controller. For example, if the system processor 101 determines that the distance between the growable tube 110 and the inner wall of the lumen 115 is greater than a threshold, the tube growth control signal and the guide advancement control signal may be generated and transmitted to the system controller. The system controller may then coordinately control the growth of the growable tube 110 and the advancement of the guide 170 based on the received tube growth control signal and the guide advancement control signal. In some embodiments, the system controller can control the tube drive mechanism 120 to move the inner layer 111 or outer layer 112 of the growable tube 110 distally by a length L based on a received tube growth control signal, and control the fluid controller 130 to apply pressure within the fluid cavity 113 based on a pressurization signal of the tube growth control signal, so as to maintain the pressure within the fluid cavity 113 within a preset range during the growth of the growable tube 110, thereby enabling controllable growth of the growable device 100. The system controller can also control the guide drive mechanism 180 to drive the guide 170 to move a length P along the longitudinal axis of the lumen 115 based on a received guide advancement control signal. The length P can match the movement length L of the growable tube 110, so that the movement lengths of the growable tube 110 and the guide 170 relative to the longitudinal axis of the lumen 115 are approximately equal. In some embodiments, the system controller can independently control the growth of the growable tube and the advancement of the guide based on the received tube growth control signal and guide advancement control signal.

[0096] In some embodiments, method 2300 may further include generating a tube growth stop control signal and a guide movement stop control signal. In some embodiments, the tube growth stop control signal may include a signal for controlling the tube drive mechanism to stop driving, for controlling the tube drive mechanism (e.g., tube drive mechanism 120) to stop moving, and a signal for controlling the fluid controller to stop pressurizing or depressurizing, for controlling the fluid controller (e.g., fluid controller 130) to stop pressurizing or depressurizing the fluid chamber 113. For example, when the growable tube and guide reach a target location (e.g., a lesion), system processor 101 may generate and transmit the tube growth stop control signal and the guide movement stop control signal to the system controller. The system controller may coordinately control the growable tube 110 to stop growing and the guide movement to stop based on the received tube growth stop control signal and the guide movement stop control signal. In some embodiments, the system controller can control the tube drive mechanism 120 to stop driving the inner layer 111 or outer layer 112 of the growable tube 110 toward the distal end based on a received tube growth stop control signal, and control the fluid controller 130 to maintain the pressure applied to the fluid chamber 113 based on a stop pressurization or depressurization signal of the tube growth stop control signal, so as to keep the growable tube 110 stopped at the target position. The system controller can also control the guide drive mechanism 180 to stop driving the guide 170 based on a received guide motion stop control signal, so that the guide 170 stops at the target position. In some embodiments, the system controller can independently control the growable tube to stop growing and the guide to stop moving based on received tube growth stop control signals and guide motion stop control signals.

[0097] In some embodiments, method 2300 may further include generating a tube retraction control signal and a guide retraction control signal. For example, in some embodiments, system processor 101 may receive a retraction command input by an operator via a user interface and, based on the retraction command, generate and transmit the tube retraction control signal and the guide retraction control signal to the system controller. The system controller may then coordinately control the retraction of growable tube 110 and guide 170 based on the received tube retraction control signal and the guide retraction control signal. In some embodiments, the tube retraction control signal may include a retraction signal and a decompression signal. The retraction signal of the tube retraction control signal is used to control the retraction of a tube drive mechanism (e.g., tube drive mechanism 120), and the decompression signal of the tube retraction control signal is used to control a fluid controller (e.g., fluid controller 130) to decompress fluid chamber 113. In some embodiments, the system controller can control the tube drive mechanism 120 based on a received tube retraction control signal to drive the inner layer 111 or outer layer 112 of the growable tube 110 proximally to move a length L', causing the outer layer 112 or inner layer 111 to invert or outvert a length L' within the expandable region 114, thereby retracting the fluid lumen 113 proximally. Furthermore, based on a decompression signal in the tube retraction control signal, the system controller can control the fluid controller 130 to decompress (e.g., extract fluid) to return fluid 140 from the fluid lumen 113 of the growable tube 110 back to the fluid lumen 150, thereby retracting the growable tube 110 proximally. The system controller can also coordinately control the guide drive mechanism 180 based on a received guide retraction control signal to retract the guide 170 along its original path. In some embodiments, the system controller can independently control the retraction of the growable tube and the guide based on received tube and guide retraction control signals.

[0098] In some embodiments, at step 2307, if it is determined that the distance D between the growable tube (e.g., growable tube 110) and the inner wall of the lumen (e.g., lumen 115) is less than or equal to a threshold, a tube retraction control signal and a guide retraction control signal may be generated to respectively control the retraction of the growable tube 110 and the guide 170. In some embodiments, at step 2307, if it is determined that the distance D between the growable tube (e.g., growable tube 110) and the inner wall of the lumen (e.g., lumen 115) is less than or equal to a threshold, a tube stop growth control signal and a guide stop movement control signal may be generated to respectively control the cessation of growth of the growable tube 110 and the cessation of movement of the guide 170.

[0099] It should be understood that the tube drive mechanism 120 and the guide drive mechanism 180 can synchronously and collaboratively control the movement of the growable tube 110 and the guide 170 based on the tube drive signal and the guide drive signal, or they can separately control the movement of the growable tube 110 and the guide 170 based on the received tube drive signal and the guide drive signal.

[0100] The system processor 101 determines the position of the distal end of the growable tube in the lumen based on the images or videos captured in real time by the endoscope device 1711, and realizes real-time intraluminal navigation by continuously updating the motion paths of the growable tube and the guide.

[0101] Figure 24 A flow chart illustrating a method 2400 for driving a growable instrument (e.g., growable instrument 100 or 200) according to some embodiments of the present disclosure is shown. In some embodiments, the method 2400 may be executed by a system controller of a growable instrument, an interventional surgical robotic system including a growable instrument (e.g., Figure 21 The interventional surgical robot system 1 shown, Figure 22 Method 2400 may be executed by an interventional surgical robotic system 2 (e.g., the system processor 101, the system processor 201, etc.) or by a system processor of the interventional surgical robotic system (e.g., the system processor 101, the system processor 201, etc.). In some embodiments, method 2400 may also be implemented as instructions stored on a non-volatile storage medium. The instructions may be executed to configure a general-purpose processor or a special-purpose processor to perform method 2400.

[0102] like Figure 24 As shown, in step 2401, the collected image may be received. In some embodiments, the image may be collected by an endoscopic device (e.g., endoscopic device 1711) disposed at the distal end of a guide (e.g., guide 170) or a fluoroscopic imaging machine (e.g., fluoroscopic imaging machine 2021). For example, the image may include a picture, a video, an X-ray image, a CT image, etc. In some embodiments, as Figure 2 、 Figure 20 and Figure 21 As shown, a growable tube (e.g., growable tube 110) and a guide (e.g., guide 170) of a growable device (e.g., growable device 100) enter a cavity (e.g., cavity 115) of a patient 103. An endoscope device 1711 is fixedly disposed at the distal end of the guide 170 and can capture images within the cavity 115 and transmit the captured images to a processor (e.g., Figure 21 The system processor 101 may receive images of the cavity 115 captured by the endoscope device 1711 .

[0103] In step 2403, the received image may be processed to determine the distance between the distal tip of the growable tube and the planned navigation path. In some embodiments, for example, the system processor 101 may determine the position of the growable tube (e.g., growable tube 110) based on the image received in step 2401 and map it to the coordinate system of the planned navigation path (e.g., a path along the sidewalls or centerline of lumen 115). The distance between the distal tip of the growable tube 110 and the planned navigation path is measured through image ranging analysis. In some embodiments, the planned navigation path may be a pre-set path of the growable tube within lumen 115.

[0104] In step 2405, a determination can be made as to whether the distance between the distal tip of the growable tube (e.g., growable tube 110) and the planned navigation path is greater than a threshold. In some embodiments, the planned navigation path is a path along the centerline of a lumen (e.g., lumen 115), and the threshold can be the radius of the current segment of lumen 115 in the planned navigation path stored in the system processor 101. In some embodiments, the planned navigation path can include, for example, a simulated path stored in the system processor 101 or a planned path generated based on actual captured images. In some embodiments, the simulated path can include a simulated path synthesized from multiple actual paths. The system processor 101 compares the distance between the growable tube 110 and the planned navigation path, obtained from the image ranging in step 2403, with the threshold to determine whether the measured distance is greater than the threshold.

[0105] In step 2407, if the measured distance between the distal tip of the growable tube (e.g., growable tube 110) and the planned navigation path is determined to be greater than a threshold, a tube retraction control signal and a guide retraction control signal may be generated. For example, if the system processor 101 determines that the distance between the growable tube 110 and the centerline of the lumen 115 is greater than the threshold, the system processor 101 may generate and transmit the tube retraction control signal and the guide retraction control signal based on the planned navigation path to the system controller. The system controller may then coordinately control the retraction of the growable tube 110 and the guide 170 along the planned navigation path based on the received tube retraction control signal and the guide retraction control signal. In some embodiments, the tube retraction control signal may include a signal for controlling the tube drive mechanism (e.g., tube drive mechanism 120) to retract the tube drive mechanism, and a signal for controlling the fluid controller (e.g., fluid controller 130) to depressurize the fluid lumen 113 to retract the growable tube 110 proximally. The guide retraction control signal may include controlling the guide 170 to retract proximally. In some embodiments, the system controller can control the tube drive mechanism 120 to drive the inner layer 111 or outer layer 112 of the growable tube 110 toward the proximal end based on the received tube retraction control signal, and control the fluid controller 130 to reduce pressure (e.g., extract fluid) based on the decompression signal of the tube retraction control signal, so that the fluid 140 returns from the fluid cavity 113 of the growable tube 110 to the fluid cavity 150, thereby retracting the growable tube 110 toward the proximal end. The system controller can also cooperatively control the guide drive mechanism 180 to drive the guide 170 to retract along the planned navigation path based on the received guide retraction control signal.

[0106] At step 2409, if the measured distance between the distal tip of the growable tube (e.g., growable tube 110) and the planned navigation path is determined to be less than or equal to a threshold, a tube growth control signal and a guide advancement control signal may be generated. For example, if the system processor 101 determines that the distance between the growable tube 110 and the centerline of the lumen 115 in the planned navigation path is less than or equal to the threshold, the tube growth control signal and the guide advancement control signal may be generated and sent to the system controller based on the planned navigation path. The system controller may coordinately control the growth of the growable tube 110 and the advancement of the guide 170 based on the received tube growth control signal and the guide advancement control signal. In some embodiments, the tube growth control signal may include a signal for controlling the movement of the tube drive mechanism (e.g., tube drive mechanism 120) and a signal for controlling the fluid controller to pressurize the fluid lumen 113 (e.g., fluid controller 130). In some embodiments, the system controller can control tube drive mechanism 120 to distally move inner layer 111 or outer layer 112 of growable tube 110 based on a received tube growth control signal, and control fluid controller 130 to pressurize fluid lumen 113 (e.g., inject fluid) based on a pressurization signal of the tube growth control signal, thereby enabling controllable growth of growable device 100. The system controller can also cooperatively control guide drive mechanism 180 to distally move guide 170 along the longitudinal axis of lumen 115 based on a received guide advancement control signal.

[0107] In some embodiments, method 2400 may further include steps 2411 and 2413. In step 2411, it is determined whether a distance between a distal tip of the growable tube (eg, growable tube 110) and the planned navigation path is less than or equal to a threshold.

[0108] At step 2413, if the measured distance between the distal tip of the growable tube (e.g., growable tube 110) and the planned navigation path is determined to be less than or equal to a threshold, a tube growth control signal and a guide steering control signal may be generated. In some embodiments, the tube growth control signal may include a signal for controlling the movement of a tube drive mechanism (e.g., tube drive mechanism 120) and a signal for controlling pressurization of a fluid controller (e.g., fluid controller 130) to pressurize fluid chamber 113. For example, the growable tube 110 and the guide 170 may be retracted along the planned navigation path to a position where the distance between the growable tube 110 and the planned navigation path is less than or equal to a threshold. The system processor 101 may determine that the distance between the growable tube 110 and the planned navigation path is equal to or less than the threshold, and may generate and transmit a tube growth control signal and a guide steering control signal based on the planned navigation path to the system controller. The system controller may coordinately control the growth of the growable tube 110 and the steering movement of the guide 170 based on the received tube growth control signal and the guide steering control signal, so that the growable tube 110 and the guide 170 move along the planned navigation path. In some embodiments, the system controller may control the tube drive mechanism 120 to drive the inner layer 111 or the outer layer 112 of the growable tube 110 distally based on the received tube growth control signal, and control the fluid controller 130 to pressurize (e.g., inject fluid) the fluid chamber 113 based on a pressurization signal of the tube growth control signal, so that the growable tube 110 can be controllably grown. The system controller may cooperatively control the guide driving mechanism 180 to drive the guide 170 to bend and turn along the path of the cavity 115 according to the received guide turning control signal.

[0109] If it is determined that the measured distance between the distal end of the growable tube (eg, growable tube 110 ) and the planned navigation path is greater than the threshold, the process may return to step 2407 .

[0110] In some embodiments, at step 2407, if it is determined that the distance between the distal end of the growable tube (e.g., growable tube 110) and the planned navigation path is greater than a threshold, a tube stop growth control signal and a guide stop movement control signal may be generated to control the growable tube 110 to stop growing and the guide 170 to stop moving, respectively.

[0111] In some embodiments, if the system processor 101 determines that the distance between the growable tube 110 and the planned navigation path is greater than a threshold, it may generate and transmit a tube retraction control signal and a guide retraction control signal based on the planned navigation path to the system controller. Based on the received tube retraction control signal and guide retraction control signal, the system controller may coordinately control the retraction of the growable tube 110 and the guide 170 along their original paths. In some embodiments, the tube retraction control signal may include a signal for controlling the retraction of the tube drive mechanism (e.g., tube drive mechanism 120) and a signal for controlling the fluid controller (e.g., fluid controller 130) to depressurize the fluid chamber 113. In some embodiments, the system controller may control the tube drive mechanism 120 to move the inner layer 111 or outer layer 112 of the growable tube 110 proximally based on the received motion signal of the tube retraction control signal, and control the fluid controller 130 to depressurize (e.g., withdraw fluid) based on the depressurization signal of the tube retraction control signal to retract the growable tube 110 proximally. The system controller may cooperatively control the guide driving mechanism 180 to drive the guide 170 to retract along the original path according to the received guide retraction control signal.

[0112] The system processor 101 determines whether the distance between the growable tube (e.g., growable tube 110) and the planned navigation path is greater than a threshold based on images or videos captured in real time by the endoscopic device 1711. The system processor 101 can then determine whether the growable tube 110 and the guide 170 are moving along the planned navigation path. Furthermore, the system processor 101 can re-control the movement of the growable tube 110 and the guide 170 if the growable tube 110 and the guide 170 deviate from the planned navigation path, thereby achieving safer real-time intracavitary navigation. This can prevent the growable tube 110 and the guide 170 from deviating from the navigation path due to a malfunction, thereby reducing or avoiding safety risks.

[0113] In some embodiments, after the guide 170 reaches the target area under the navigation of the fluoroscopic imaging machine 2021, the system processor 201 or 101 can control the operation of the medical instrument 171 at the far end of the guide 170, such as releasing radioactive particles, releasing drugs, capturing or fragmenting diseased tissue, etc.

[0114] In some embodiments, the image acquisition device 202 may also be a radiographic imaging device (not shown). Radiographic imaging devices may include, for example, ultrasound equipment, CT equipment, MRI equipment, and digital subtraction angiography equipment. Radiographic imaging devices are configured to perform radiographic imaging of a target location, for example, by administering a contrast agent. In actual operation, the radiographic imaging device illuminates the target area and obtains a radiographic image of the target area. The operating process may be similar to that of the fluoroscopic imaging device 2021.

[0115] The present disclosure provides a computer system including a non-volatile storage medium and a processor. The non-volatile storage medium may include instructions. The instructions may be executed by the processor to configure the processor to perform any method in the embodiments of the present disclosure.

[0116] This disclosure also discloses the following:

[0117] 1. An interventional surgical robot system, comprising:

[0118] A growable device comprises a growable tube and a guide, wherein the distal end of the guide is bendable to drive the growable tube to bend;

[0119] an image acquisition device for acquiring an image of the cavity where the growable tube is located; and

[0120] and a processor configured to receive images captured by the image capture device and generate a tube control signal and a guide control signal based on the captured images, wherein the tube control signal is used to control the growable tube to grow distally or to be withdrawn proximally along the lumen, and the guide control signal is used to control the guide to move distally or to be withdrawn proximally along the lumen.

[0121] 2. The interventional surgical robotic system according to item 1, wherein the processor is configured to:

[0122] processing the received image;

[0123] determining whether a distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold; and

[0124] The tube control signal and the pilot control signal are generated based on the determination.

[0125] 3. The interventional surgical robotic system according to item 2, wherein the processor is configured to:

[0126] generating a tube growth control signal and a guide steering control signal in response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, wherein the tube growth control signal and the guide steering control signal are used to control the growth of the growable tube and the steering movement of the guide, respectively; or

[0127] In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is greater than a threshold, a tube growth control signal and a guide advancement control signal are generated, wherein the tube growth control signal and the guide advancement control signal are used to control the growth of the growable tube and the advancement movement of the guide, respectively.

[0128] 4. The interventional surgical robotic system according to item 2, wherein the processor is configured to:

[0129] In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, generating a tube growth stop control signal and a guide movement stop control signal, wherein the tube growth stop control signal and the guide movement stop control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively; or

[0130] In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, a tube retraction control signal and a guide retraction control signal are generated, wherein the tube retraction control signal and the guide retraction control signal are used to control the retraction of the growable tube and the guide, respectively.

[0131] 5. The interventional surgical robotic system according to item 1, wherein the system processor is configured to:

[0132] generating a tube growth stop control signal and a guide movement stop control signal based on the received input command, wherein the tube growth stop control signal and the guide movement stop control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively; or

[0133] Based on the received input commands, a tube retraction control signal and a guide retraction control signal are generated for controlling the retraction of the growable tube and the guide, respectively.

[0134] 6. According to the interventional surgical robot system of item 5, the input command includes an input command generated by an operator through a user interface or an instruction stored on a non-volatile storage medium.

[0135] 7. The interventional surgical robotic system according to item 1, wherein the processor is configured to:

[0136] Processing the received image;

[0137] determining whether a distance between a distal tip of the growable tube and a planned navigation path is less than or equal to a threshold; and

[0138] The tube control signal and the pilot control signal are generated based on the determination.

[0139] 8. According to the interventional surgical robot system of Item 7, the planned navigation path includes a predetermined simulation path or a planned path generated based on the acquired image.

[0140] 9. The interventional surgical robotic system according to item 7, wherein the processor is configured to:

[0141] In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is less than or equal to a threshold, generating a tube growth control signal and a guide advancement control signal, the tube growth control signal and the guide advancement control signal being used to control the growth of the growable tube and the advancement of the guide, respectively.

[0142] 10. The interventional surgical robotic system according to item 7, wherein the processor is configured to:

[0143] In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is greater than a threshold, a tube retraction control signal and a guide retraction control signal are generated, the tube retraction control signal and the guide retraction control signal being used to control the retraction of the growable tube and the guide, respectively.

[0144] 11. The interventional surgical robotic system according to item 10, wherein the processor is configured to:

[0145] determining whether a distance between a distal tip of the growable tube and a planned navigation path is less than or equal to a threshold;

[0146] generating a tube growth control signal and a guide steering control signal in response to determining that the distance between the distal tip of the growable tube and the planned navigation path is less than or equal to a threshold, the tube growth control signal and the guide steering control signal being used to control the growth of the growable tube and the steering movement of the guide, respectively; or

[0147] In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is greater than a threshold, a tube retraction control signal and a guide retraction control signal are generated, the tube retraction control signal and the guide retraction control signal being used to control the retraction of the growable tube and the guide, respectively.

[0148] 12. The interventional surgical robotic system according to item 7, wherein the processor is configured to:

[0149] In response to determining that the distance between the distal end of the growable tube and the planned navigation path is greater than a threshold, a tube stop growth control signal and a guide stop movement control signal are generated, wherein the tube stop growth control signal and the guide stop movement control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively.

[0150] 13. The interventional surgical robot system according to any one of items 1 to 12,

[0151] The growable tube includes an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer, wherein the fluid cavity is used to accommodate a fluid. The growable tube includes an expandable region located at the distal end, wherein the inner layer and the outer layer are connected and expandable in the expandable region. The guide is arranged in a channel surrounded by the inner layer of the growable tube.

[0152] 14. According to any one of the interventional surgical robot systems of items 1 to 12, the image acquisition device comprises an endoscopic device, a fluoroscopic imaging machine, or an angiographic imaging device.

[0153] 15. The interventional surgical robotic system according to Item 13, wherein the radial dimension of the outer layer proximal end of the growable tube is greater than or equal to the radial dimension of the outer layer distal end.

[0154] 16. The interventional surgical robot system according to item 13, further comprising: a tube driving mechanism, wherein the tube driving mechanism is connected to the growable tube and is used to drive the outer layer or the inner layer of the growable tube to move.

[0155] 17. The interventional surgical robot system according to item 16, further comprising a fluid controller;

[0156] The fluid controller is used to pressurize or depressurize the fluid to drive the fluid to fill the fluid cavity of the expandable area or drive the fluid to withdraw from the fluid cavity.

[0157] 18. The interventional surgical robot system according to any one of items 1 to 12, wherein the growable tube is made of a flexible material.

[0158] 19. A method for controlling a growable device, the growable device comprising a growable tube and a guide, wherein a distal end of the guide is bendable to drive the growable tube to bend, the method comprising:

[0159] receiving the captured image; and

[0160] A tube control signal and a guide control signal are generated based on the acquired image. The tube control signal is used to control the growable tube to grow toward the distal end or to be withdrawn toward the proximal end along the lumen. The guide control signal is used to control the guide to move toward the distal end or to be withdrawn toward the proximal end along the lumen.

[0161] 20. The method according to item 19, further comprising:

[0162] processing the received image;

[0163] determining whether a distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold; and

[0164] The tube control signal and the pilot control signal are generated based on the determination.

[0165] 21. The method according to item 20, further comprising:

[0166] In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, generating a tube growth control signal and a guide steering control signal, wherein the tube growth control signal and the guide steering control signal are used to control the growth of the growable tube and the steering movement of the guide, respectively; or

[0167] In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is greater than a threshold, a tube growth control signal and a guide advancement control signal are generated, wherein the tube growth control signal and the guide advancement control signal are used to control the growth of the growable tube and the advancement of the guide, respectively.

[0168] 22. The method according to item 20, further comprising:

[0169] In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, generating a tube growth stop control signal and a guide movement stop control signal, wherein the tube growth stop control signal and the guide movement stop control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively; or

[0170] In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, a tube retraction control signal and a guide retraction control signal are generated, wherein the tube retraction control signal and the guide retraction control signal are used to control the retraction of the growable tube and the guide, respectively.

[0171] 23. The method according to item 19, further comprising:

[0172] generating a tube growth stop control signal and a guide movement stop control signal based on the received input command, wherein the tube growth stop control signal and the guide movement stop control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively; or

[0173] Based on the received input commands, a tube retraction control signal and a guide retraction control signal are generated for controlling the retraction of the growable tube and the guide, respectively.

[0174] 24. The method according to item 23, wherein the input command comprises an input command generated by an operator through a user interface or an instruction stored on a non-volatile storage medium.

[0175] 25. The method according to item 19, further comprising:

[0176] processing the received image;

[0177] determining whether a distance between a distal tip of the growable tube and a planned navigation path is less than or equal to a threshold; and

[0178] The tube control signal and the pilot control signal are generated based on the determination.

[0179] 26. The method according to item 25, wherein the planned navigation path comprises a predetermined simulated path or a planned path generated based on the acquired image.

[0180] 27. The method according to item 25, further comprising:

[0181] In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is less than or equal to a threshold, generating a tube growth control signal and a guide advancement control signal, the tube growth control signal and the guide advancement control signal being used to control the growth of the growable tube and the advancement of the guide, respectively.

[0182] 28. The method according to item 25, further comprising:

[0183] In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is greater than a threshold, a tube retraction control signal and a guide retraction control signal are generated, the tube retraction control signal and the guide retraction control signal being used to control the retraction of the growable tube and the guide along the planned navigation path, respectively.

[0184] 29. The method according to item 28, further comprising:

[0185] determining whether a distance between a distal tip of the growable tube and a planned navigation path is less than or equal to a threshold;

[0186] generating a tube growth control signal and a guide steering control signal in response to determining that the distance between the distal tip of the growable tube and the planned navigation path is less than or equal to a threshold, the tube growth control signal and the guide steering control signal being used to control the growth of the growable tube and the steering movement of the guide, respectively; or

[0187] In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is greater than a threshold, a tube retraction control signal and a guide retraction control signal are generated, the tube retraction control signal and the guide retraction control signal being used to control the retraction of the growable tube and the guide, respectively.

[0188] 30. The method according to item 25, further comprising:

[0189] In response to determining that the distance between the distal end of the growable tube and the planned navigation path is greater than a threshold, a tube stop growth control signal and a guide stop movement control signal are generated, wherein the tube stop growth control signal and the guide stop movement control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively.

[0190] 31. According to the method described in any one of items 19-30, 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 flippable area located at the distal end, the inner layer and the outer layer are connected and flippable in the flippable area, and the guide is arranged in a channel surrounded by the inner layer of the growable tube.

[0191] 32. A storage medium comprising at least one instruction, the at least one instruction being executed by a processor to configure the processor to perform the method according to any one of items 19-31.

[0192] 33. A computer system comprising:

[0193] a non-volatile storage medium comprising at least one instruction; and

[0194] A processor configured to execute the at least one instruction to configure the processor to perform the method according to any one of items 19-31.

[0195] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection 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, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. An interventional surgical robot system, comprising: A growable device comprises a growable tube and a guide, wherein the distal end of the guide is bendable to drive the growable tube to bend; An image acquisition device, used for acquiring an image of the cavity where the growable tube is located; as well as a processor configured to receive images captured by the image capture device and generate a tube control signal and a guide control signal based on the captured images, wherein the tube control signal is used to control the growable tube to grow distally or to be withdrawn proximally along the lumen, and the guide control signal is used to control the guide to move distally or to be withdrawn proximally along the lumen; The growable tube comprises an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer, the fluid cavity being used to contain a fluid, the growable tube comprising an expandable region located at a distal end, the inner layer and the outer layer being connected and expandable in the expandable region, and the guide being disposed in a channel surrounded by the inner layer of the growable tube; The growable apparatus further includes a tube driving mechanism connected to the growable tube and configured to drive the outer layer or the inner layer of the growable tube to move.

2. The interventional surgical robotic system according to claim 1, wherein the processor is configured to: processing the received image; determining whether a distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold; and The tube control signal and the pilot control signal are generated based on the determination.

3. The interventional surgical robotic system according to claim 2, wherein the processor is configured to: generating a tube growth control signal and a guide steering control signal in response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, wherein the tube growth control signal and the guide steering control signal are used to control the growth of the growable tube and the steering movement of the guide, respectively; or In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is greater than a threshold, a tube growth control signal and a guide advancement control signal are generated, wherein the tube growth control signal and the guide advancement control signal are used to control the growth of the growable tube and the advancement movement of the guide, respectively.

4. The interventional surgical robotic system according to claim 2, wherein the processor is configured to: In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, generating a tube growth stop control signal and a guide movement stop control signal, wherein the tube growth stop control signal and the guide movement stop control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively; or In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, a tube retraction control signal and a guide retraction control signal are generated, wherein the tube retraction control signal and the guide retraction control signal are used to control the retraction of the growable tube and the guide, respectively.

5. The interventional surgical robotic system according to claim 1 , wherein the system processor is configured to: generating a tube growth stop control signal and a guide movement stop control signal based on the received input command, wherein the tube growth stop control signal and the guide movement stop control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively; or Based on the received input commands, a tube retraction control signal and a guide retraction control signal are generated for controlling the retraction of the growable tube and the guide, respectively. 6 . The interventional surgical robot system according to claim 5 , wherein the input command comprises an input command generated by an operator through a user interface or an instruction stored in a non-volatile storage medium.

7. The interventional surgical robotic system according to claim 1, wherein the processor is configured to: Processing the received image; determining whether a distance between a distal tip of the growable tube and a planned navigation path is less than or equal to a threshold; and The tube control signal and the pilot control signal are generated based on the determination. 8 . The interventional surgical robot system according to claim 7 , wherein the planned navigation path comprises a predetermined simulation path or a planned path generated based on the acquired image.

9. The interventional surgical robotic system according to claim 7, wherein the processor is configured to: In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is less than or equal to a threshold, generating a tube growth control signal and a guide advancement control signal, the tube growth control signal and the guide advancement control signal being used to control the growth of the growable tube and the advancement of the guide, respectively.

10. The interventional surgical robotic system according to claim 7, wherein the processor is configured to: In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is greater than a threshold, a tube retraction control signal and a guide retraction control signal are generated, the tube retraction control signal and the guide retraction control signal being used to control the retraction of the growable tube and the guide, respectively.

11. The interventional surgical robotic system according to claim 10, wherein the processor is configured to: determining whether a distance between a distal tip of the growable tube and a planned navigation path is less than or equal to a threshold; generating a tube growth control signal and a guide steering control signal in response to determining that a distance between the distal tip of the growable tube and the planned navigation path is less than or equal to a threshold, the tube growth control signal and the guide steering control signal being used to control growth of the growable tube and steering movement of the guide, respectively; or In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is greater than a threshold, a tube retraction control signal and a guide retraction control signal are generated, the tube retraction control signal and the guide retraction control signal being used to control the retraction of the growable tube and the guide, respectively.

12. The interventional surgical robotic system according to claim 7, wherein the processor is configured to: In response to determining that the distance between the distal end of the growable tube and the planned navigation path is greater than a threshold, a tube stop growth control signal and a guide stop movement control signal are generated, wherein the tube stop growth control signal and the guide stop movement control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively.

13. The interventional surgical robot system according to any one of claims 1 to 12, characterized in that: The image acquisition device includes an endoscope, a fluoroscopic imaging machine or an angiographic imaging device.

14. The interventional surgical robot system according to claim 1, characterized in that: The radial dimension of the outer layer proximal end of the growable tube is greater than or equal to the radial dimension of the outer layer distal end.

15. The interventional surgical robot system according to claim 1, characterized in that: Also included is a fluid controller; The fluid controller is used to pressurize or depressurize the fluid to drive the fluid to fill the fluid cavity of the expandable area or drive the fluid to withdraw from the fluid cavity.

16. The interventional surgical robot system according to any one of claims 1 to 12, characterized in that: The growable tube is made of a flexible material.

17. A method for controlling a growable device, the growable device comprising a growable tube and a guide, wherein a distal end of the guide is bendable to drive the growable tube to bend, the growable tube comprising an inner layer, an outer layer, and a fluid cavity located between the inner and outer layers, the fluid cavity being configured to contain a fluid, the growable tube comprising an expandable region located at a distal end, the inner and outer layers being connected and expandable in the expandable region, and the guide being disposed in a channel surrounded by the inner layer of the growable tube; The growable apparatus further comprises: a tube drive mechanism, the tube drive mechanism being connected to the growable tube and configured to drive the outer layer or the inner layer of the growable tube to move; The method comprises: receiving the captured image; and A tube control signal and a guide control signal are generated based on the acquired image. The tube control signal is used to control the growable tube to grow toward the distal end or to be withdrawn toward the proximal end along the lumen. The guide control signal is used to control the guide to move toward the distal end or to be withdrawn toward the proximal end along the lumen.

18. The method according to claim 17, further comprising: processing the received image; determining whether a distance between a distal end of the growable tube and an inner wall of the lumen is less than or equal to a threshold; as well as The tube control signal and the pilot control signal are generated based on the determination.

19. The method according to claim 18, further comprising: In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, generating a tube growth control signal and a guide steering control signal, wherein the tube growth control signal and the guide steering control signal are used to control the growth of the growable tube and the steering movement of the guide, respectively; or In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is greater than a threshold, a tube growth control signal and a guide advancement control signal are generated, wherein the tube growth control signal and the guide advancement control signal are used to control the growth of the growable tube and the advancement of the guide, respectively.

20. The method of claim 18, further comprising: In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, generating a tube growth stop control signal and a guide movement stop control signal, wherein the tube growth stop control signal and the guide movement stop control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively; or In response to determining that the distance between the distal end of the growable tube and the inner wall of the lumen is less than or equal to a threshold, a tube retraction control signal and a guide retraction control signal are generated, wherein the tube retraction control signal and the guide retraction control signal are used to control the retraction of the growable tube and the guide, respectively.

21. The method of claim 17, further comprising: generating a tube growth stop control signal and a guide movement stop control signal based on the received input command, wherein the tube growth stop control signal and the guide movement stop control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively; or Based on the received input commands, a tube retraction control signal and a guide retraction control signal are generated for controlling the retraction of the growable tube and the guide, respectively.

22. The method of claim 21, wherein the input command comprises an input command generated by an operator through a user interface or an instruction stored on a non-volatile storage medium.

23. The method of claim 17, further comprising: processing the received image; determining whether a distance between a distal tip of the growable tube and a planned navigation path is less than or equal to a threshold; as well as The tube control signal and the pilot control signal are generated based on the determination. 24 . The method according to claim 23 , wherein the planned navigation path comprises a predetermined simulated path or a planned path generated based on the acquired image.

25. The method of claim 23, further comprising: In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is less than or equal to a threshold, generating a tube growth control signal and a guide advancement control signal, the tube growth control signal and the guide advancement control signal being used to control the growth of the growable tube and the advancement of the guide, respectively.

26. The method of claim 23, further comprising: In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is greater than a threshold, a tube retraction control signal and a guide retraction control signal are generated, the tube retraction control signal and the guide retraction control signal being used to control the retraction of the growable tube and the guide along the planned navigation path, respectively.

27. The method according to claim 26, further comprising: determining whether a distance between a distal tip of the growable tube and a planned navigation path is less than or equal to a threshold; generating a tube growth control signal and a guide steering control signal in response to determining that a distance between the distal tip of the growable tube and the planned navigation path is less than or equal to a threshold, the tube growth control signal and the guide steering control signal being used to control growth of the growable tube and steering movement of the guide, respectively; or In response to determining that the distance between the distal tip of the growable tube and the planned navigation path is greater than a threshold, a tube retraction control signal and a guide retraction control signal are generated for controlling retraction of the growable tube and the guide, respectively.

28. The method of claim 23, further comprising: In response to determining that the distance between the distal end of the growable tube and the planned navigation path is greater than a threshold, a tube stop growth control signal and a guide stop movement control signal are generated, wherein the tube stop growth control signal and the guide stop movement control signal are used to control the growable tube to stop growing and the guide to stop moving, respectively.

29. The method according to any one of claims 17 to 28, characterized in that The growable tube includes an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer, wherein the fluid cavity is used to accommodate a fluid. The growable tube includes an expandable region located at the distal end, wherein the inner layer and the outer layer are connected and expandable in the expandable region, and the guide is arranged in a channel surrounded by the inner layer of the growable tube.

30. A storage medium comprising at least one instruction, the at least one instruction being executable by a processor to configure the processor to perform the method according to any one of claims 17-29.

31. A computer system comprising: a non-volatile storage medium comprising at least one instruction; as well as A processor configured to execute the at least one instruction to configure the processor to perform the method according to any one of claims 17-29.

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