Guided growth devices and surgical robotic systems

Abstract

The present disclosure relates to the field of instruments, specifically a guided growth instrument and a surgical robotic system. The guided growth instrument comprises a 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 comprises an expandable region at its distal end, wherein the inner and outer layers are connected and expandable in the expandable region. A guide is disposed within a channel surrounded by the inner layer of the growable tube, and the distal end of the guide is bendable to cause the growable tube to bend. This guided growth instrument can better adapt to gradually narrowing and complex curvatures, thereby reducing or avoiding contact and friction with the lumen.

Description

Technical Field

[0001] The present disclosure relates to the field of instruments, and in particular to a guideable growth instrument and a surgical robot system. 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 flexibility of interventional instruments is relatively poor, and they cannot adapt to the complex and curved human cavities, and may cause damage to the cavities. Summary of the Invention

[0005] Based on the above problems, the present disclosure provides a guideable growth instrument and a surgical robot system, which have good flexibility, can achieve controllable growth and extension, and can adapt well to gradually narrowing and complex curved cavities.

[0006] In some embodiments, the present disclosure provides a guideable growth device, comprising: a growable tube, the growable tube comprising 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 fluid; the growable tube comprising an expandable area located at the distal end, the inner layer and the outer layer being connected and expandable in the expandable area, a guide, disposed in a channel surrounded by the inner layer of the growable tube, the distal end of the guide being bendable to drive the growable tube to bend.

[0007] In some embodiments, the present disclosure provides a surgical robot system comprising a system controller and a guideable growth instrument as described above, wherein the system controller is configured to control the movement of the guideable growth instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] 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.

[0009] Figure 1 A schematic diagram showing the structure of the distal portion of a guideable growth instrument according to some embodiments of the present disclosure is shown;

[0010] Figure 2 A schematic diagram showing the structure of the distal portion of the guideable growth instrument located in a body cavity according to some embodiments of the present disclosure;

[0011] FIG3( a ) shows a cross-sectional view of a growable tube according to some embodiments of the present disclosure;

[0012] FIG3( b ) shows another cross-sectional view of a growable tube according to some embodiments of the present disclosure;

[0013] FIG4( a ) shows a schematic diagram of the distal end structure of a gradient growable tube according to some embodiments of the present disclosure;

[0014] FIG4( b ) shows a schematic diagram of the distal end structure of another gradient growable tube according to some embodiments of the present disclosure;

[0015] FIG5( a ) shows a schematic diagram of the distal end structure of a stepped growable tube according to some embodiments of the present disclosure;

[0016] FIG5( b ) shows a schematic diagram of the distal end structure of another stepped growable tube according to some embodiments of the present disclosure;

[0017] FIG6( a ) shows a partial structural schematic diagram of a tube drive mechanism according to some embodiments of the present disclosure;

[0018] FIG6( b ) shows a partial structural schematic diagram of another tube driving mechanism according to some embodiments of the present disclosure;

[0019] Figure 7 A schematic structural diagram showing a guideable growth apparatus according to some embodiments of the present disclosure;

[0020] Figure 8 A schematic structural diagram showing another guideable growth device according to some embodiments of the present disclosure;

[0021] Figure 9 A schematic structural diagram of a guide according to some embodiments of the present disclosure is shown;

[0022] FIG10( a ) shows a schematic structural diagram of a guide drive mechanism according to some embodiments of the present disclosure;

[0023] FIG10( b ) shows a schematic structural diagram of another guide drive mechanism according to some embodiments of the present disclosure;

[0024] Figure 11 A schematic structural diagram of another guide according to some embodiments of the present disclosure is shown;

[0025] Figure 12 A schematic structural diagram of another guide according to some embodiments of the present disclosure is shown;

[0026] Figure 13 A schematic structural diagram showing a turning component of a guide according to some embodiments of the present disclosure;

[0027] Figure 14 A schematic structural diagram of a bending unit according to some embodiments of the present disclosure is shown;

[0028] Figure 15 A schematic structural diagram showing another turning component of a guide according to some embodiments of the present disclosure;

[0029] Figure 16 A schematic structural diagram of a slit unit according to some embodiments of the present disclosure is shown;

[0030] Figure 17 A longitudinal cross-sectional view illustrating another turning member of a guide according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] In this disclosure, the end closest to the operator (e.g., doctor) is defined as the proximal end, near end, or rear end, and the end closest to the patient is defined as the distal end, far end, or front end. Those skilled in the art will appreciate that the guided growth device according to the embodiments of this disclosure can be used in the medical field as well as in other non-medical fields.

[0034] Figure 1 FIG. 1 is a schematic structural diagram of a distal portion of a guideable growth instrument 100 according to some embodiments of the present disclosure. Figure 2 The schematic diagram of the distal portion of the guideable growth device 100 according to some embodiments of the present disclosure is shown, wherein the guideable growth device 100 is located in 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 guideable growth 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 guided growth 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 1As shown. Those skilled in the art will appreciate that, in some embodiments, the radial dimension of the proximal end of the outer layer 112 may be equal to or smaller than the radial dimension of the distal end of the outer layer 112. The inner layer 111 may be turned outward in the expandable region 114 to form the outer layer 112, or the outer layer 112 may be turned inward in the expandable region 114 to form the inner layer 111. By turning the inner layer 111 and the outer layer 112, the growable tube 110 may grow (e.g., extend or stretch) or retract distally, so that the guideable growth device 100 may grow within the lumen 115 to reach a target position or retract from the lumen 115. For example, the inner layer 111 may move distally by a length L, and the inner layer 111 having a length L may be turned outward in the expandable region 114 to form the outer layer 112. The fluid 140 may fill the fluid lumen 113 formed by the eversion of the 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 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.

[0035] In some embodiments, the guided growth 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 to accommodate the complex curvature of the lumen 115. This allows the growable tube 110 to grow distally, through the lumen 115, and ultimately to the 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 guided growth device 100 to adapt to gradually narrowing lumens 115, reducing or preventing contact and friction with the lumen 115. In some embodiments, the guide 170 may include an endoscope, an implement, a drug delivery device, or the like located at the distal end.

[0036] 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 of the above-described embodiments and can also include other shapes, such as rectangular, polygonal, and so on. In some embodiments, the growable tube 110 comprises a flexible material, including, but not limited to, plastic, rubber, and the like, such as low-density polyethylene, a silicone-containing polymer, or a fluoropolymer. The flexibility of the growable tube 110 can prevent damage to the lumen 115.

[0037] Figures 4(a) and 4(b) respectively illustrate schematic diagrams of 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 configuration of the growable tubes 110 and 210 shown in Figures 4(a) and 4(b) can be either 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 a 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.

[0038] As shown in FIG4( 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 a straight line, a curve, 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 cavity 213 remains substantially unchanged or gradually decreases from the proximal end to the distal end. The inner layer 211 surrounds and forms a channel 2111, and the radial dimension of the channel 2111 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 toward the distal end or the proximal end, so 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.

[0039] 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 dimensions of the outer layers 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 significantly changes 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 during growth or at the point of growth cessation. 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 dimensions of the proximal segment 3121 gradually decrease from the proximal end to the distal end, while the radial dimensions of the distal segment 3122 gradually decrease 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 in the direction extending from the proximal end to the distal end. When expansion is stopped (e.g., in the fully grown state or near the lesion), the thickness of the fluid cavity 313 decreases stepwise from the proximal end to the distal end. The inner layer 311 surrounds and forms a channel 3111, the radial dimension of which remains substantially unchanged in the direction extending from the proximal end to the distal end. The 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 of length L is everted in the expandable region 314 to form the outer layer 312. The fluid 340 fills the fluid cavity 313 that has grown due to the eversion of the inner layer 311, thereby allowing 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.

[0040] 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 with different radial dimensions. The radial dimensions of the proximal segment 5121a and the distal segment 5122a remain substantially unchanged, 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 in a gradual or abrupt manner at the connection region, the proximal segment 5121b and the distal segment 5122a may be connected in a gradual or abrupt manner at the connection region, and the distal segment 5122a and the distal segment 5122b may be connected in a gradual or abrupt manner 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 in the direction extending 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 in 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 in the direction extending from the proximal end to the distal end. The channel 5111 is used to accommodate the guide 170. The inner layer 511 or the outer layer 512 can be driven to move toward the distal end or the proximal end, so that the inner layer 511 can be turned outward in the expandable region 514 to form the outer layer 512, or the outer layer 512 can be turned inward in the expandable region 514 to form the inner layer 511.

[0041] The guided growth device 100 may include one of the growable tubes 110, 210, 310, and 510. In some embodiments, the guided growth device 100 may further include a tube drive mechanism 120. FIG6( a ) shows a partial structural schematic diagram of the tube drive mechanism 120 according to some embodiments of the present disclosure. As shown in FIG6( a ), the tube drive mechanism 120 is connected to the growable tube 110 (or 210, 310, or 510). The tube drive mechanism 120 can move linearly to drive the outer layer 112 or the inner layer 111 of the growable tube 110 to move. In some embodiments, the tube drive mechanism 120 can 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 FIG6( a ), the tube drive mechanism 120 can 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.

[0042] In some embodiments, as shown in FIG6( a ), the tube drive mechanism 120 may include two rollers 121 a and 121 b arranged in parallel, a movable rod 122 disposed between the two rollers 121 a and 121 b, and a drive unit (not shown) connected to each of the two rollers 121 a and 121 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 121 a and 121 b to rotate synchronously and at equal speeds in opposite directions, thereby 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 to move distally. 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.

[0043] In some embodiments, as shown in FIG6( 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, synchronizing 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.

[0044] The guided growth device 200 may include one of the growable tubes 110, 210, 310, 510, and a tube drive mechanism 220. Figure 6(b) shows 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 moving 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 moving 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 also include a guide rod 225 slidably provided on the slider 224. The outer layer 112 or the inner layer 111 of the growable tube 110 (or 210-610) is sealed with the moving 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.

[0045] 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.

[0046] Figure 7 FIG. 1 shows a schematic structural diagram of a guideable growth device 100 (or 200) according to some embodiments of the present disclosure. Figure 7 As shown, in some embodiments, the guided growth device 100 (or 200) further includes a fluid controller 130. The fluid controller 130 is used to pressurize the fluid 140 so as to drive the fluid 140 to gradually fill the fluid cavity 113 between the outer layer 112 and the inner layer 111. In some embodiments, the fluid 140 can be a liquid fluid, such as saline, or a gaseous fluid, such as air, carbon dioxide, or other inert gas. In some embodiments, the fluid controller 130 can include a gas pump or a liquid pump.

[0047] In some embodiments, as Figure 7As shown, the guided growth 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, and 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 moving 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 in 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 to move distally by a length L, and the inner layer 111 is everted in the expandable region 114 by a length L 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, tube drive mechanism 120 drives inner layer 111 of growable tube 110 to move proximally by a length L', while outer layer 112 inverts inward by a length L' within expandable region 114, forming inner layer 111, causing fluid chamber 113 to retract proximally. Fluid controller 130 depressurizes fluid tank 150 (e.g., extracts fluid), causing fluid 140 to withdraw from fluid chamber 113 of growable tube 110 into fluid tank 150, thereby retracting growable tube 110 proximally. In some embodiments, the distance of expansion, growth, or retraction is substantially equal to the distance of movement of tube drive mechanism 120. In some embodiments, the distance of expansion, growth, or retraction is less than the distance of movement of tube drive mechanism 120.

[0048] 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 .

[0049] In some embodiments, the guide 170 is disposed in the channel 1111, and the proximal end of the guide 170 is connected to the guide drive mechanism (not shown) through the inner cavity of the moving 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.

[0050] In some embodiments, the guideable growth device 100 further includes a system controller (not shown). The system controller controls the movement distance of the tube drive mechanism 120 and the pressure applied by the fluid controller 130 within the fluid chamber 113, thereby enabling the controllable growth of the guideable growth device 100. In some embodiments, the system controller can control the fluid controller 130, for example, by sending pressure increase or pressure decrease commands to the fluid controller 130. In some embodiments, the system controller can also control the rotation of the guide 270 to control the growth direction of the guideable growth device 200.

[0051] like Figure 7 As shown, in some embodiments, the guideable growth instrument 100 further includes a pressure sensor 160. The pressure sensor 160 can be disposed on the fluid tank 150 to detect 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.

[0052] Figure 8 FIG. 1 shows a schematic diagram of the structure of a guideable growth device 200 (or 100) according to some embodiments of the present disclosure. Figure 8As shown, the guided growth device 200 (or 100) may further include a fluid box 250, which includes a 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 is in sealing contact with the inner wall of the fluid box 250. The fluid outlet channel 251 is annular, and 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 moving 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.

[0053] 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 guided growth device 200 further includes a system controller (not shown). The system controller controls the travel distance of the tube drive mechanism 220 and the pressure applied by the fluid controller 230 within the fluid chamber 213, thereby enabling the guided growth device 200 to operate precisely. In some embodiments, the system controller can control the fluid controller 230, for example, by sending pressurization 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 guided growth device 200.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] In some embodiments, the guideable growth device 100 (or 200) may further include a guide drive mechanism, which may be connected to a plurality of first structural bones 1723, 1723' and, by pushing and pulling the first structural bones 1723, 1723', drive the distal continuum 172, 172' to bend in different directions in space. Figure 10(a) shows 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 set of double-headed screw modules 181, which may include a double-headed screw 182, a pair of sliders 183a and 183b threadedly connected to the double-headed screw 182, and a drive unit (not shown) connected to the double-headed screw 182. In some embodiments, the double-headed 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 cooperatively pushing and pulling the first structural bones 1723a and 1723b. At least one set of double-ended screw modules 181 can coordinately push and pull multiple first structural bones 1723 to achieve bending of the distal continuum 172 or 172'.

[0058] In some embodiments, the guideable growth 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 slidingly 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.

[0059] 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.

[0060] 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.

[0061] 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 move and flip, thereby pushing and pulling the second structural bone 1733 disposed on the proximal stop plate 1732. The second structural bone 1733 pushes and pulls the first structural bone 1723 to drive the distal continuum 172 to bend in different 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 different directions in space.

[0062] 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.

[0063] 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.

[0064] 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 curved cavity 115.

[0065] 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, and 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 directions with multiple degrees of freedom.

[0066] 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 sequentially staggered 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 the drive wire 474 is fixedly disposed 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 apart along the circumference. 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 to achieve bending of the growable tube 110 in multiple degrees of freedom.

[0067] 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 drive wire 573 may be arranged through the bellows 572 or through 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, and any structure capable of turning falls within the scope of protection of this disclosure.

[0068] The guideable growth 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 surgical 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.

[0069] The present disclosure also provides a surgical robotic system (not shown) that may include a system controller and the aforementioned guideable growth instrument 100 (or 200). The system controller is configured to control the movement of the guideable growth instrument, such as controlling the growth or retraction of the growable tube 100 or the advancement, rotation, or retraction of the guide 170. Because the guideable growth instrument has good flexibility and can grow and extend in real time, it can adapt well to complex and curved cavities and is widely applicable to interventional diagnosis and treatment of various cavities.

[0070] This disclosure also discloses the following:

[0071] 1. A guided growth device comprising:

[0072] a growable tube comprising an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer, the fluid cavity being configured to contain a fluid;

[0073] The growable tube comprises an expandable region at the distal end, wherein the inner layer and the outer layer are connected to each other in the expandable region and are expandable;

[0074] The guide is disposed in a channel surrounded by the inner layer of the growable tube, and the distal end of the guide is bendable to drive the growable tube to bend.

[0075] 2. According to the guideable growth instrument of item 1, the radial dimension of the proximal end of the outer layer is greater than or equal to the radial dimension of the distal end of the outer layer.

[0076] 3. According to the guideable growth device described in item 1, the radial dimension of the outer layer is basically unchanged, gradually decreases, or decreases in steps from the proximal end to the distal end.

[0077] 4. According to the guideable growth device described in item 1, the radial dimension of the inner layer remains unchanged or gradually decreases in the direction extending from the proximal end to the distal end.

[0078] 5. According to the guideable growth device described in item 1, the guide includes: at least one distal continuum, including a distal base plate, a distal stop plate and a plurality of first structural bones, the distal base plate and the distal stop plate are arranged at intervals, the distal ends of the plurality of first structural bones are fastened to the distal stop plate, and the proximal ends of the plurality of first structural bones pass through the distal base plate.

[0079] 6. The guideable growth apparatus according to item 5, wherein the guide further comprises:

[0080] At least one proximal continuum includes a proximal base plate, a proximal stop plate and a plurality of second structural bones, wherein the proximal base plate and the proximal stop plate are arranged at intervals, the proximal base plate is adjacent to the distal base plate, the proximal ends of the plurality of second structural bones are fastened to the proximal stop plate, and the distal ends of the plurality of second structural bones pass through the proximal base plate and are respectively fixedly connected to the proximal ends of the plurality of first structural bones or formed as one piece.

[0081] 7. The guideable growth apparatus according to item 5, wherein the guide further comprises:

[0082] At least one proximal continuum, comprising a proximal base plate, a first proximal stop plate, a second proximal stop plate, and a plurality of second structural bones, wherein the proximal base plate, the first proximal stop plate, and the second proximal stop plate are spaced apart, the proximal base plate is adjacent to the distal base plate, the proximal ends of the plurality of second structural bones are fixedly connected to the second proximal stop plate, and the distal ends of the plurality of second structural bones pass through the first proximal stop plate and are fastened to the proximal base plate;

[0083] The proximal ends of the plurality of first structural bones pass through the proximal base plate and are fastened to the first proximal stop plate.

[0084] 8. The guideable growth device according to item 5 further includes a guide drive mechanism, which is connected to the multiple first structural bones and drives the distal continuum to bend in different directions in space by pushing and pulling the first structural bones.

[0085] 9. The guideable growth device according to item 6 or 7, further comprising a guide drive mechanism connected to the proximal stop disk at the most proximal end, for driving the proximal stop disk to move and expand, thereby pushing and pulling the second structural bone to drive the distal continuum to bend in different directions in space; or

[0086] The guide driving mechanism is connected to the plurality of second structural bones, and drives the distal continuum to bend in different directions in space by pushing and pulling the second structural bones.

[0087] 10. According to the guideable growth device described in item 1, the guide includes: a turning member and a driving wire arranged in the turning member, the distal end of the driving wire is fastened to the distal end of the turning member, and the driving wire is used to drive the turning member to bend in at least one degree of freedom direction under the drive of the guide driving mechanism.

[0088] 11. According to the guideable growth device described in item 10, the turning member is a snake-bone structure, which includes a plurality of hollow bamboo-shaped bending units connected end to end, and two adjacent bending units form a radially bendable motion pair through mutually nested connecting grooves and connecting protrusions.

[0089] 12. The guideable growth instrument according to item 10, wherein the turning member is a flexible sleeve, and the flexible sleeve is provided with a plurality of slit units at intervals along its extension direction, and each of the slit units includes at least one slit extending along the circumference of the flexible sleeve.

[0090] 13. The guideable growth instrument according to item 10, wherein the turning member is a bellows, and the drive wire can be arranged through the bellows or through the bellows wall of the bellows.

[0091] 14. The guideable growth apparatus according to any one of items 1 to 8, further comprising: a tube drive mechanism connected to the growable tube, configured to drive the outer layer or the inner layer of the growable tube to move.

[0092] 15. According to the guideable growth device described in item 14, the tube driving mechanism includes: a driving unit, a moving rod and a transmission unit connected to the driving unit and the moving rod, the moving rod is sealed with the inner layer or outer layer of the growable tube, and the transmission unit is used to convert the rotational motion of the driving unit into linear motion to drive the moving rod to drive the growable tube to grow or retract.

[0093] 16. The guideable growth apparatus according to item 15, wherein the transmission unit comprises: first and second rollers arranged in parallel;

[0094] The proximal end of the moving rod is disposed between the first and second rollers and abuts against the first and second rollers, and the distal end of the moving rod is sealedly connected to the inner layer or the outer layer of the growable tube;

[0095] The driving unit is connected to the first and second rollers respectively, and is used to drive the first and second rollers to rotate synchronously and at the same speed in opposite directions to drive the moving rod to move linearly.

[0096] 17. The guideable growth device according to item 15, wherein the transmission unit comprises: a screw and slider module, comprising a screw and a slider connected by threads;

[0097] The proximal end of the moving rod is fixedly connected to the slider, and the distal end of the moving rod is sealed to the inner layer or outer layer of the growable tube; and

[0098] The driving unit is connected to the screw rod and is used to drive the screw rod to rotate so as to drive the moving rod to move linearly.

[0099] 18. The guided growth apparatus of item 14, further comprising a fluid controller;

[0100] 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.

[0101] 19. The guideable growth apparatus according to any one of items 1 to 8, wherein the fluid is a liquid fluid or a gaseous fluid.

[0102] 20. The guideable growth apparatus of any one of items 1-8, wherein the growable tube is made of a flexible material.

[0103] 21. The guideable growth apparatus according to any one of items 1 to 8, wherein the cross-section of the growable tube is circular or elliptical.

[0104] 22. The guideable growth apparatus according to any one of items 1 to 8, wherein the guide further comprises a medical instrument fixedly disposed at a distal end of the guide or disposed in an internal channel of the guide.

[0105] 23. The guideable growth device according to item 22, wherein the medical instrument comprises an ultrasound probe, a probe, a drug capsule or an end surgical effector.

[0106] 24. A surgical robotic system comprising a system controller and the guideable growth instrument of any one of items 1-23, the system controller being configured to control movement of the guideable growth instrument.

[0107] 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. A guided growth device comprising: a growable tube comprising an inner layer, an outer layer, and a fluid cavity located between the inner layer and the outer layer, the fluid cavity being configured to contain a fluid, wherein a radial dimension of the outer layer decreases gradually or in a stepwise manner from a proximal end to a distal end; The growable tube comprises an expandable region at the distal end, wherein the inner layer and the outer layer are connected to each other in the expandable region and are expandable; a guide disposed in a channel surrounded by the inner layer of the growable tube, wherein the distal end of the guide is bendable to drive the growable tube to bend; The guideable growth apparatus further comprises a tube drive mechanism connected to the growable tube and configured to drive the outer layer or the inner layer of the growable tube to move; The tube drive mechanism includes: a drive unit, a moving rod, and a transmission unit connected to the drive unit and the moving rod, wherein the moving rod is sealed to the inner layer or the outer layer of the growable tube, and the transmission unit is used to convert the rotational motion of the drive unit into linear motion to drive the moving rod to drive the growable tube to grow or retract; The guideable growth instrument also includes a guide drive mechanism, the proximal end of the guide is connected to the guide drive mechanism through the inner cavity of the moving rod of the tube drive mechanism, and the guide drive mechanism is used to drive the guide to move toward the distal end and / or to drive the distal end of the guide to bend.

2. The guided growth device according to claim 1, wherein The radial dimension of the inner layer remains constant or gradually decreases in the direction extending from the proximal end to the distal end.

3. The guided growth device according to claim 1, wherein The guide includes: at least one distal continuum, including a distal base plate, a distal stop plate and a plurality of first structural bones, the distal base plate and the distal stop plate are arranged at intervals, the distal ends of the plurality of first structural bones are fastened to the distal stop plate, and the proximal ends of the plurality of first structural bones pass through the distal base plate.

4. The guided growth device according to claim 3, wherein The guide also includes: At least one proximal continuum includes a proximal base plate, a proximal stop plate and a plurality of second structural bones, wherein the proximal base plate and the proximal stop plate are arranged at intervals, the proximal base plate is adjacent to the distal base plate, the proximal ends of the plurality of second structural bones are fastened to the proximal stop plate, and the distal ends of the plurality of second structural bones pass through the proximal base plate and are respectively fixedly connected to the proximal ends of the plurality of first structural bones or formed as one piece.

5. The guided growth device according to claim 3, wherein: The guide also includes: At least one proximal continuum, comprising a proximal base plate, a first proximal stop plate, a second proximal stop plate, and a plurality of second structural bones, wherein the proximal base plate, the first proximal stop plate, and the second proximal stop plate are spaced apart, the proximal base plate is adjacent to the distal base plate, the proximal ends of the plurality of second structural bones are fixedly connected to the second proximal stop plate, and the distal ends of the plurality of second structural bones pass through the first proximal stop plate and are fastened to the proximal base plate; The proximal ends of the plurality of first structural bones pass through the proximal base plate and are fastened to the first proximal stop plate.

6. The guided growth device according to claim 3, wherein: The guide driving mechanism is connected to the plurality of first structural bones, and drives the distal continuum to bend in different directions in space by pushing and pulling the first structural bones.

7. The guided growth device according to claim 4 or 5, characterized in that The guide drive mechanism is connected to the proximal stop disc at the most proximal end, and is used to drive the proximal stop disc to move and expand, thereby pushing and pulling the second structural bone to drive the distal continuum to bend in different directions in space; or The guide driving mechanism is connected to the plurality of second structural bones, and drives the distal continuum to bend in different directions in space by pushing and pulling the second structural bones.

8. The guided growth device according to claim 1, wherein The guide includes: a turning member and a driving wire arranged in the turning member, the distal end of the driving wire is fastened to the distal end of the turning member, and the driving wire is used to drive the turning member to bend in at least one degree of freedom direction under the drive of the guide driving mechanism.

9. The guided growth device according to claim 8, wherein: The turning member is a snake-bone structure, which includes a plurality of hollow bamboo-shaped turning units connected end to end. Two adjacent turning units form a radially turning motion pair through mutually nested connecting grooves and connecting protrusions.

10. The guided growth device according to claim 8, wherein The turning member is a flexible sleeve. The flexible sleeve is provided with a plurality of slit units at intervals along an extending direction thereof. Each of the slit units includes at least one slit extending along a circumferential direction of the flexible sleeve.

11. The guided growth device according to claim 8, wherein The turning member is a bellows, and the driving wire can be arranged through the bellows or through the bellows wall of the bellows.

12. The guided growth device according to claim 1, wherein The transmission unit includes: first and second rollers arranged in parallel; The proximal end of the moving rod is disposed between the first and second rollers and abuts against the first and second rollers, and the distal end of the moving rod is sealedly connected to the inner layer or the outer layer of the growable tube; The driving unit is connected to the first and second rollers respectively, and is used to drive the first and second rollers to rotate synchronously and at the same speed in opposite directions to drive the moving rod to move linearly.

13. The guided growth device of claim 1, wherein: The transmission unit includes: a screw and slider module, including a screw and a slider connected by threads; The proximal end of the moving rod is fixedly connected to the slider, and the distal end of the moving rod is sealedly connected to the inner layer or the outer layer of the growable tube; and The driving unit is connected to the screw rod and is used to drive the screw rod to rotate so as to drive the moving rod to move linearly.

14. The guided growth device of claim 1, wherein: 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.

15. The guided growth device according to any one of claims 1 to 6, characterized in that The fluid is a liquid fluid or a gaseous fluid.

16. The guided growth device according to any one of claims 1 to 6, characterized in that The growable tube is made of a flexible material.

17. The guided growth device according to any one of claims 1 to 6, characterized in that The cross section of the growable tube is circular or elliptical.

18. The guided growth device according to any one of claims 1 to 6, characterized in that The introducer further includes a medical instrument, which is fixedly disposed at the distal end of the introducer or disposed in the internal channel of the introducer.

19. The guided growth device of claim 18, wherein: The medical instrument includes an ultrasound probe, a probe, a drug capsule or an end-stage surgical actuator.

20. A surgical robot system, characterized in that: The invention comprises a system controller and the guideable growth instrument of any one of claims 1 to 19, the system controller being configured to control the movement of the guideable growth instrument.

Images