Interleaved continuum structure and surgical robot

Abstract

The present disclosure relates to the field of continuum robots, and discloses a staggered connected continuum structure and a surgical robot. The continuum structure comprises a plurality of spacer discs and a plurality of connection structures. The connection structure comprises one or more flexible structural bones, the first end and the second end of the one or more flexible structural bones are fixedly connected with adjacent spacer discs respectively, and the one or more flexible structural bones are distributed along the circumference of the spacer disc. Wherein, the plurality of connection structures at least comprises a first connection structure and a second connection structure, the first connection structure comprises one or more first flexible structural bones, the second connection structure comprises one or more second flexible structural bones, the distribution of the one or more first flexible structural bones along the circumference of the spacer disc is different from the distribution of the one or more second flexible structural bones along the circumference of the spacer disc, so that the continuum structure can bend in different directions.

Description

Technical Field

[0001] This disclosure relates to the field of continuum devices, and more particularly to an interlocked continuum structure and a surgical robot. Background Technology

[0002] Traditional disease diagnosis and surgical treatment are mainly divided into open diagnosis and surgery, as well as endovascular interventional diagnosis and treatment. Endovascular interventional diagnosis or treatment involves creating a channel through incisions in blood vessels or skin, or through existing body cavities, without exposing the lesion. Guided by imaging equipment, the procedure reaches the target location to diagnose or treat the lesion locally, characterized by minimal invasiveness.

[0003] Traditional endovascular interventional procedures rely primarily on manual manipulation by physicians. To reduce the burden on physicians and improve the efficiency and safety of endovascular interventions, the use of endovascular interventional instruments to assist in interventional diagnosis or surgery has gradually become a research hotspot in the industry. Endovascular interventional instruments can be remotely controlled, eliminating the risks of errors caused by physician tremors and fatigue during manual operation.

[0004] However, currently used intracavitary interventional devices are usually made to have isotropic bending in order to facilitate operation. This results in relatively poor flexibility of the interventional devices, limited bending space, and inability to adapt to the complex and curved human body cavities, which can easily cause damage to the cavities. Summary of the Invention

[0005] In some embodiments, a continuum structure includes:

[0006] Multiple spacers; and

[0007] Multiple connection structures, the connection structures including:

[0008] One or more flexible structural bones, the first end and the second end of the one or more flexible structural bones being fixedly connected to adjacent spacers respectively, and the one or more flexible structural bones being distributed along the circumference of the spacers;

[0009] The plurality of connection structures include at least a first connection structure and a second connection structure. The first connection structure includes one or more first flexible structural bones, and the second connection structure includes one or more second flexible structural bones. The distribution of the one or more first flexible structural bones along the circumferential direction of the spacer is different from the distribution of the one or more second flexible structural bones along the circumferential direction of the spacer.

[0010] In some embodiments, this disclosure also provides a surgical robot including the continuum structure described in any embodiment of this disclosure. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0012] Figure 1 A three-dimensional structural schematic diagram of a continuum structure according to some embodiments of the present disclosure is shown;

[0013] Figure 2(a) shows a three-dimensional structural schematic diagram of a continuum structure according to some other embodiments of the present disclosure;

[0014] Figure 2(b) shows a three-dimensional structural schematic diagram of a continuum structure according to other embodiments of the present disclosure;

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

[0016] Figure 3 A partially exploded schematic diagram of a continuum structure according to some embodiments of the present disclosure is shown;

[0017] Figure 4(a) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to some embodiments of the present disclosure;

[0018] Figure 4(b) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0019] Figure 5(a) shows a three-dimensional structural schematic diagram of a continuum structure according to some other embodiments of the present disclosure;

[0020] Figure 5(b) shows a three-dimensional structural schematic diagram of a continuum structure according to some other embodiments of the present disclosure;

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

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

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

[0024] Figure 5(f) shows a three-dimensional structural schematic diagram of a continuum structure according to some other embodiments of the present disclosure;

[0025] Figure 6(a) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0026] Figure 6(b) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0027] Figure 6(c) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0028] Figure 6(d) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0029] Figure 7(a) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0030] Figure 7(b) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0031] Figure 7(c) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0032] Figure 8(a) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0033] Figure 8(b) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0034] Figure 9(a) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0035] Figure 9(b) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0036] Figure 9(c) shows a schematic projection of the flexible structural bone of the continuum structure along the axial direction according to other embodiments of the present disclosure;

[0037] Figure 10 A schematic diagram of the spacer disk of a continuum structure according to some embodiments of the present disclosure is shown;

[0038] Figure 11 A schematic diagram of the structure of a surgical robot according to some embodiments of the present disclosure is shown. Detailed Implementation

[0039] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0040] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this disclosure, it should be noted that unless otherwise expressly specified and limited, the terms "installed," "connected," "coupled," and "coupled" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or posterior end, and the end closer to the surgical patient is defined as the distal end, distal or anterior end, or anterior end. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as in other non-medical devices.

[0041] Figure 1 A three-dimensional structural schematic diagram of a continuum structure 1000 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 1 As shown, the series-connected continuum structure 1000 may include a plurality of spacer discs 1200 and a plurality of connecting structures 1100. Each connecting structure 1100 may include one or more flexible structural bones 1110, the first and second ends of which are respectively fixedly connected to adjacent spacer discs 1200, and the flexible structural bones 1110 are distributed circumferentially along the spacer discs 1200. The plurality of connecting structures 1100 may include at least connecting structure 1100a and connecting structure 1100b. Those skilled in the art will understand that, although... Figure 1 Only two connection structures 1100a and 1100b are shown, but the multiple connection structures 1100 may include other types of connection structures.

[0042] Figures 2(a)-2(c) Different three-dimensional structural schematic diagrams of the continuum structure 1000 according to some embodiments of the present disclosure are shown. For example... Figures 2(a)-2(c)As shown, connecting structure 1100a may include one or more flexible structural bones 1110a, and connecting structure 1100b may include one or more flexible structural bones 1110b. The distribution of one or more flexible structural bones 1110a along the circumferential direction of the spacer disk 1200 is different from the distribution of one or more flexible structural bones 1110b along the circumferential direction of the spacer disk 1200. As shown in Figure 2(a), connecting structure 1100a may include one flexible structural bone 1110a, and connecting structure 1100b may include one flexible structural bone 1110b. As shown in Figure 2(b), connecting structure 1100a may include two flexible structural bones 11110a, and connecting structure 1100b may include two flexible structural bones 1110b. As shown in Figure 2(c), connecting structure 1100a may include three flexible structural bones 1110a, and connecting structure 1100b may include three flexible structural bones 1110b. It should be understood that the connecting structure 1100a may also include more flexible structural bones 1110a, and the connecting structure 1100b may also include more flexible structural bones 1110b.

[0043] Figure 3 A partially exploded schematic diagram of a continuum structure 1000 according to some embodiments of the present disclosure is shown. It should be understood that multiple spacer discs 1200 may be spaced apart, and adjacent spacer discs 1200 may include one or more flexible structural supports 1110 arranged parallel to the central axis O of the continuum structure, such as... Figure 3 As shown. In some embodiments, one or more flexible structural bones 1110 may be distributed along the inner contour line or inner circumference line of the spacer 1200. It should be understood that the inner contour line or inner circumference line may include curves, arcs, or straight lines distributed circumferentially or radially from the central axis O of the continuum structure to the radial end face of the spacer 1200. For example, one or more flexible structural bones 1110a or one or more flexible structural bones 1110b may be distributed circumferentially, curvedly, rectangularly, etc., along the inner contour line or inner circumference line of the spacer 1200.

[0044] Figures 4(a) and 4(b) respectively show schematic diagrams of different axial projections of the flexible structural bones of a continuum structure according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 4(a), the projections of one or more flexible structural bones 1110a and one or more flexible structural bones 1110b along the axial direction of the continuum structure can be distributed along the same circumference A of the spacer disk 1200. Alternatively, as shown in Figure 4(b), one or more flexible structural bones 1110a are distributed along circumference A of the spacer disk 1200, and one or more flexible structural bones 1110b are distributed along circumference B of the spacer disk 1200, with circumference A and circumference B being radially spaced apart.

[0045] Those skilled in the art should understand that the distribution of one or more flexible structural bones 1110a or one or more flexible structural bones 1110b along the circumference of the spacer disc 1200 may vary, including but not limited to: one or more flexible structural bones 1110a being distributed in a first region of the spacer disc 1200, and one or more flexible structural bones 1110b being distributed in a second region of the spacer disc 1200 that is different from the first region; or, one or more flexible structural bones 1110a being distributed in the first region of the spacer disc 1200, and one or more flexible structural bones 1110b being distributed in a second region of the spacer disc 1200 that partially overlaps with the first region; or, the number of flexible structural bones 1110a and flexible structural bones 1110b is different, resulting in different distributions; or, the number of flexible structural bones 1110a and flexible structural bones 1110b is the same, but their distributions differ due to differences in the spacing between the flexible structural bones. By using the different circumferential distributions of flexible structural bones 1110a and 1110b along the spacer 1200, the continuous structure can be bent in different directions, and the bending direction and degree can be adjusted according to the number and distribution of flexible structural bones. For example, the continuous structure can be bent towards the side where there are fewer or no flexible structural bones.

[0046] Figures 5(a)-5(f) Different three-dimensional structural schematic diagrams of a continuum structure according to some embodiments of the present disclosure are shown. In some embodiments, such as Figures 5(a)-5(f) As shown, the multiple connection structures 1100 may include one or more series-connected structures 1100a and one or more series-connected structures 1100b, which are distributed periodically or non-periodically along the axial direction of the continuum structure. For example, a connection structure 1100a and a connection structure 1100b may be alternately distributed to form multiple periodic units T. As shown in Figure 5(a), connection structures 1100a and 1100b each include a flexible structural skeleton, which are alternately connected in series along the axial direction of the continuum structure. As shown in Figure 5(b), connection structures 1100a and 1100b each include two flexible structural skeletons, which are alternately connected in series along the axial direction of the continuum structure. As shown in Figure 5(c), connection structures 1100a and 1100b each include a flexible structural skeleton, and a connection structure 1100a and multiple series-connected structures 1100b may be alternately distributed in series. It should be understood that one or more connection structures 1100a and one or more series connection structures 1100b can also be distributed non-periodically, as shown in Figure 2(c).

[0047] As shown in Figure 5(d), connecting structures 1100a and 1100b each include two flexible structural bones, and multiple series-connected connecting structures 1100a and one connecting structure 1100b can be alternately distributed. As shown in Figure 5(e), connecting structure 1100a includes two flexible structural bones, connecting structure 1100b includes three flexible structural bones, and multiple series-connected connecting structures 1100a and one connecting structure 1100b can be alternately distributed. It should be understood that multiple series-connected connecting structures 1100a and one connecting structure 1100b can also be distributed non-periodically. It should be understood that multiple series-connected connecting structures 1100a and multiple series-connected connecting structures 1100b can be alternately distributed periodically or non-periodically, as not shown in the figures. It should be understood that the number of flexible structural bones included in connecting structures 1100a and 1100b in some embodiments of this disclosure may include, but is not limited to, one, two, three, or more. The above embodiments are merely examples and are not intended to limit the scope of the invention.

[0048] In some embodiments, as shown in FIG5(f), the plurality of connecting structures 1100 may further include one or more additional connecting structures 1100c. One or more series-connected additional connecting structures 1100c are distributed periodically or non-periodically along the axial direction of the continuum structure, along with one or more series-connected structures 1100a and one or more series-connected structures 1100b. It should be understood that the additional connecting structure 1100c may include one or more flexible structural bones 1110c, the circumferential distribution of which differs from the circumferential distribution of the flexible structural bones 1110a and / or 1110b along the spacer disk 1200. FIG5(f) is only an example showing one flexible structural bone 1110c. The number and distribution of flexible structural bones in the various additional connecting structures may differ. For example, as shown in FIG5(f), an additional connecting structure 1100c, a connecting structure 1100a, and a connecting structure 1100b may be alternately distributed to form a plurality of periodic units T. It should be understood that an additional connection structure 1100c, a connection structure 1100a, and multiple series-connected connection structures 1100b can be alternately distributed or distributed aperiodically. It should be understood that multiple additional connection structures 1100c, multiple series-connected connection structures 1100a, and a connection structure 1100b can be alternately distributed or distributed aperiodically. It should be understood that an additional connection structure 1100c, multiple series-connected connection structures 1100a, and multiple series-connected connection structures 1100b can be alternately distributed or distributed aperiodically. It should be understood that multiple series-connected additional connection structures 1100c, multiple series-connected connection structures 1100a, and multiple series-connected connection structures 1100b can be alternately distributed or distributed aperiodically. The above are merely examples and are not intended to limit the scope of the discussion.

[0049] It should be understood that embodiments of this disclosure may also include other periodic or non-periodic distributions or combinations thereof, or multiple connecting structures may be distributed as needed to satisfy a specific bending direction. It should be understood that the number of flexible structural bones included in one or more additional connecting structures 1100c in some embodiments of this disclosure may include, but is not limited to, one, two, three, or more. The above embodiments are merely examples and are not intended to limit the scope. Various different periodic or non-periodic distributions along the axial direction of the continuum structure can be achieved through one or more additional connecting structures 1100c, one or more series connecting structures 1100a, and one or more series connecting structures 1100b, thereby increasing the applicability of the continuum structure.

[0050] In some embodiments, the projections of the flexible structural bones 1110 of the plurality of connecting structures 1100 (e.g., flexible structural bones 1110a, 1110b, or 1110c) along the axial direction of the continuum structure may be asymmetrically distributed (e.g., referring to Figures 4(a) and 4(b)) or non-centrosymmetrically distributed. In this disclosure, symmetrical distribution may include axisymmetric and centrosymmetric distributions. For example, non-centrosymmetric distribution may include, but is not limited to, an axisymmetric distribution that does not pass through the center of the spacer disc. It should be understood that the projections of multiple flexible structural bones 1110a along the axial direction may be asymmetrically or non-centrosymmetrically distributed; or, the projections of multiple flexible structural bones 1110b along the axial direction may be asymmetrically or non-centrosymmetrically distributed; or, the projections of one or more flexible structural bones 1110a and one or more flexible structural bones 1110b along the axial direction may be asymmetrically or non-centrosymmetrically distributed. It should be understood that the projections of one or more flexible structural bones 1110c, one or more flexible structural bones 1110a, and one or more flexible structural bones 1110b along the axial direction may be asymmetrical (e.g., as shown in Figures 4(a) and 4(b)) or non-centrosymmetric.

[0051] In some embodiments, as shown in Figures 2(a) and 5(a), the connecting structure 1100a may include a flexible structural bone 1110a, and the connecting structure 1100b may include a flexible structural bone 1110b. The flexible structural bones 1110a and 1110b are offset at an angle along the circumference of the spacer 1200. For example, the axial projections of the flexible structural bones 1110a and 1110b may be distributed along the same circumference of the spacer 1200 and spaced apart from each other circumferentially, as shown in Figure 4(a). It should be understood that the axial projections of the flexible structural bones 1110a and 1110b may be distributed along different circumferences of the spacer 1200 and spaced apart from each other circumferentially or radially, as shown in Figure 4(b). The included angle may include the angle formed by the central axis O and the projections of the flexible structural bones 11110a and 1110b.

[0052] In some embodiments, as shown in Figures 5(b), 5(d) and 5(e), the connecting structure 1100a may include multiple flexible structural bones 1110a, and the connecting structure 1100b may include multiple flexible structural bones 1110b. Figures 6(a)-6(d) Different axial projection schematic diagrams of the flexible structural bone of the continuum structure according to some embodiments of the present disclosure are shown. For example... Figures 6(a)-6(d)As shown, multiple flexible structural bones 1110a form a connecting line AA, and multiple flexible structural bones 1110b form a connecting line BB. For example, connecting line AA can be a straight line formed by two flexible structural bones 1110a, and connecting line BB can be a straight line formed by two flexible structural bones 1110b, such as... Figures 6(a)-6(d) As shown. It should be understood that line AA can also be a straight line formed by three or more flexible structural bones 1110a, and line BB can be a straight line formed by three or more flexible structural bones 1110b.

[0053] The axial projections of lines AA and BB can include at least one of the following distributions: lines AA and BB intersect at an angle at the central axis O of the continuum structure (refer to Figure 6(a)); line BB passes through the central axis O of the continuum structure and intersects line AA outside the central axis O of the continuum structure at an angle (refer to Figure 6(b)); lines AA and BB deviate from the central axis O of the continuum structure and intersect (refer to Figure 6(c)); or lines AA and BB deviate from the central axis O of the continuum structure and intersect on their extensions (refer to Figure 6(d)). It should be understood that the angled intersection of lines AA and BB at the central axis O of the continuum structure allows for more stable and reliable driving of the continuum structure, resulting in higher structural stability. The angled deviation of lines AA and BB from the central axis O of the continuum structure allows the continuum structure to bend more easily towards the side with less or no flexible structural bone distribution.

[0054] Figures 7(a)-7(c) Different axial projection schematic diagrams of the flexible structural bone of a continuum structure according to some embodiments of the present disclosure are shown. In some embodiments, such as Figures 7(a)-7(c) As shown, multiple flexible structural bones 1110a form curve AA', and multiple flexible structural bones 1110b form curve BB'. For example, curve AA' can be an arc formed by two flexible structural bones 1110a, and curve BB' can be an arc formed by two flexible structural bones 1110b, such as... Figures 7(a)-7(c) As shown. It should be understood that curve AA' can be an arc formed by three or more flexible structural bones 1110a, and curve BB' can be an arc formed by three or more flexible structural bones 1110b. It should be understood that forming arcs facilitates stable and controllable driving of the flexible structural bones. In some embodiments, curves AA' and BB' can also be irregular curves.

[0055] Curves AA' and BB' may include at least one of the following distributions: curves AA' and BB' partially overlap (see Figure 7(a)), curves AA' and BB' are adjacent (see Figure 7(b)), curves AA' and BB' are opposite each other, curves AA' and BB' are circumferentially spaced (see Figure 7(c)), curves AA' are arcs, or curves BB' are arcs.

[0056] In some embodiments, the connecting structure 1100a may include multiple flexible structural bones 1110a, and the connecting structure 1100b may include a single flexible structural bone 110b. The multiple flexible structural bones 1110a form a connecting line AA or a curve AA'. The projection of the flexible structural bone 1110b along the axial direction of the continuum structure overlaps with, is adjacent to, or is opposite to the projection of the connecting line AA or the curve AA' along the axial direction.

[0057] Similarly, the connecting structure 1100a may include a single flexible structural bone 1110a, and the connecting structure 1100b may include multiple flexible structural bones 1110b, which form a connecting line BB or a curve BB'. The projection of the flexible structural bone 1110a along the axial direction of the continuum structure and the projection of the connecting line BB or curve BB' along the axial direction may overlap, be circumferentially spaced, or be adjacent. Figures 8(a) and 8(b) respectively show schematic diagrams of different axial projections of the flexible structural bones of the continuum structure according to some embodiments of the present disclosure. As shown in Figure 8(a), the multiple flexible structural bones 1110a form a curve AA', and the projections of the flexible structural bones 1110b along the axial direction of the continuum structure and the projections of the curve AA' along the axial direction are circumferentially spaced.

[0058] In some embodiments, the connecting structure 1100a may include multiple flexible structural bones 1110a, and the connecting structure 1100b may include multiple flexible structural bones 110b. The multiple flexible structural bones 1110a form a connecting line AA or a curve AA'. The multiple flexible structural bones 1110b form a connecting line BB or a curve BB'. The connecting line AA or curve AA' and the connecting line BB or curve BB' may partially overlap, intersect, be adjacent, or be circumferentially spaced apart. As shown in FIG8(b), the multiple flexible structural bones 1110a form a curve AA', and the multiple flexible structural bones 1110b (e.g., two flexible structural bones 1110b) form a connecting line BB. The curve AA' and the connecting line BB are circumferentially spaced apart and arranged opposite to each other. It should be understood that the multiple flexible structural bones 1110a may form a connecting line AA, and the multiple flexible structural bones 1110b may form a curve BB'.

[0059] Figures 9(a)-9(c)Schematic diagrams showing different axial projections of flexible structural bones in a continuum structure according to some embodiments of the present disclosure are provided. In some embodiments, as shown in FIG. 9(a), the projection of one or more flexible structural bones 1110 along the axial direction of the continuum structure can form a high-density distribution region M and / or a low-density distribution region N. It should be understood that the number of flexible structural bones in the high-density distribution region M can be greater than the number of flexible structural bones in the low-density distribution region N. Alternatively, the distribution spacing of the flexible structural bones in the high-density distribution region M can be smaller than the distribution spacing of the flexible structural bones in the low-density distribution region N.

[0060] In some embodiments, no flexible structural bone is provided within the low-density distribution area N. Those skilled in the art will understand that this may include multiple high-density distribution areas M and multiple low-density distribution areas N, and that the high-density distribution areas M and N are relative concepts, not absolute, and can be adjusted according to the actual application. For example, as shown in Figure 9(a), the high-density distribution area M may refer to the upper left semicircular region, while the low-density distribution area N may refer to the lower right semicircular region.

[0061] It should be understood that the high-density distribution area M or the low-density distribution area N can be one or more arc-shaped areas, one or more rectangular areas, or one or more irregular areas along the circumference of the spacer disk 1200, etc. The high-density distribution area M and the low-density distribution area N can be two adjacent areas, or two spaced-apart areas, or at least a portion of the high-density distribution area M and the low-density distribution area N are opposite each other. The high-density distribution area M and the low-density distribution area N can form a complete circumference of the spacer disk 1200, or they can form an incomplete circumference of the spacer disk 1200 (see Figure 9(a)). For example, as shown in Figure 9(b), multiple flexible structural bones 1110a can form a high-density distribution area M1 and a low-density distribution area N1, and multiple flexible structural bones 1110b can form a high-density distribution area M2 and a low-density distribution area N2. The high-density distribution areas M1 and M2 can be adjacent, opposite, spaced apart along the circumference, or at least partially overlapping or completely overlapping. Similarly, low-density distribution areas N1 and N2 can be adjacent, opposite, circumferentially spaced, or at least partially or completely overlapping. Low-density distribution areas N1 and N2 can be connected to form a larger low-density distribution area, as shown in the lower right semicircle of Figure 9(b) or the lower semicircle of Figure 9(c). Flexible structural bones may not be provided in low-density distribution areas N1 and N2, as shown in Figure 9(c). It should be understood that multiple additional connecting flexible structural bones 1110c can also form high-density distribution area M and low-density distribution area N together with flexible structural bones 1110a or 1110b, or independently form high-density and low-density distribution areas.

[0062] In some embodiments, one or more flexible structural bones 1110a and one or more flexible structural bones 1110b may form only a high-density distribution area M (e.g., M1 or M2), or form a high-density distribution area M and a low-density distribution area N (e.g., N1 or N2). For example, the axial projections of the multiple flexible structural bones 1110a may be distributed along the same circumference, or partially along the same circumference, or along different circumferences. This asymmetrical circumferential distribution along the spacer 1200 allows the continuous structure to bend better towards the low-density distribution area where fewer flexible structural bones are distributed. In some embodiments, the axial projections of the multiple flexible structural bones 1110a and multiple flexible structural bones 1110b form a semicircle. For example, the multiple flexible structural bones 1110a may be distributed along a quarter-circle, and the multiple flexible structural bones 1110b may be distributed along a quarter-circle adjacent to the multiple flexible structural bones 1110a. Alternatively, multiple flexible structural bones 1110a and 1110b can be uniformly staggered along a semicircle. The continuum structure 1000 may include one or more serially connected structures 1100a and one or more serially connected structures 1100b that are periodically staggered. By pushing or pulling the flexible structural bones 1110a and 1110b, the continuum structure can be bent toward the side without distributed flexible structural bones, achieving stable and controllable bending in a specific direction.

[0063] In some embodiments, such as Figure 1 As shown, the continuum structure 1000 may include one or more drive structural bones 1300. One or more drive structural bones 1300 slide axially through a plurality of spacer discs 1200, and their first ends are fixedly connected to the most distal spacer disc 1200. Bending of the plurality of connecting structures 1100 is driven by pushing or pulling one or more drive structural bones 1300. In some embodiments, the second ends of one or more drive structural bones 1300 extend proximally through the plurality of spacer discs 1200 for fixed connection to a drive mechanism, which pushes or pulls one or more drive structural bones 1300 to drive bending of the plurality of connecting structures. It should be understood that the drive mechanism may include a linear motion mechanism, such as a lead screw and nut structure or a double-ended screw structure, which linearly pushes or pulls one or more drive structural bones 1300 to drive bending of the continuum structure.

[0064] In some embodiments, as shown in FIG9(a), the number of one or more drive structural bones 1300 projected along the axial direction of the flexible structural bones 1110 of the plurality of connecting structures 1100 in the low-density distribution region N is greater than the number in the high-density distribution region M. It should be understood that one or more drive structural bones 1300 may also be distributed only in the low-density distribution region. Providing more drive structural bones in the low-density distribution region N allows for finer and more stable control over the bending of the continuous structure, such as bending angle, direction, etc.

[0065] For example, multiple drive structure bones 1300 may be distributed along the same circumference, or partially circumferentially along the same circumference (see Figure 9(a)), or distributed along different circumferences. In some embodiments, one or more drive structure bones 1300 may include drive structure bones 1300 distributed in the middle of a low-density distribution region N. For example, as shown in Figure 7(a), flexible structure bones 1110a and 1110b form a high-density distribution region M (e.g., the right semicircular region) and a low-density distribution region N (e.g., the left semicircular region), where no flexible structure bones are distributed. The drive structure bones 1300 may include drive structure bones distributed in the middle of the low-density distribution region N. Stable and controllable actuation is achieved by using drive structure bones 1300 distributed in the middle of the respective low-density distribution regions.

[0066] In some embodiments, multiple drive structural bones 1300 may be symmetrically distributed circumferentially along the spacer disc 1200. For example, the axial projection of multiple flexible structural bones forms a high-density distribution area M and a low-density distribution area N. The multiple drive structural bones 1300 distributed in the high-density distribution area M and the low-density distribution area N may be centrally symmetrically distributed about the spacer disc 1200 or non-centrally symmetrically distributed. In some embodiments, as shown in FIG9(a), the multiple drive structural bones 1300 are asymmetrically distributed circumferentially along the spacer disc 1200. For example, the circumferential asymmetrical distribution may include, but is not limited to, the multiple drive structural bones 1300 in the high-density distribution area M and the low-density distribution area N being distributed along different inner contour lines or inner circumferential lines respectively; or being distributed along the same inner contour line or inner circumferential line (refer to FIG9(a)), and the number of low-density distribution areas N is greater than the number of high-density distribution areas M; or the multiple drive structural bones 1300 being distributed at different intervals, etc., to form a circumferential asymmetrical distribution along the spacer disc 1200. By using symmetrically or asymmetrically distributed driving structural bones 1300, one or more flexible structural bones 1300 with different distributions can be driven to achieve bending in multiple directions. Depending on actual needs, the number of flexible structural bones can be reduced in the desired bending direction, thus reducing the number of unnecessary driving structural bones 1300 and achieving miniaturization of the continuous structure.

[0067] In some embodiments, as shown in FIG9(c), at least two of the multiple flexible structural bones 1110a form a connecting line AA, and at least two of the multiple flexible structural bones 1110b form a connecting line BB. One or more driving structural bones 1300 include driving structural bones 1300 that pass through the position on the spacer disc 1200 corresponding to the perpendicular bisector of the connecting line AA and / or the connecting line BB (e.g., one driving structural bone 1300a may pass through the position on the perpendicular bisector of the connecting line AA, and one driving structural bone 1300b may pass through the position on the position on the perpendicular bisector of the connecting line BB). It should be understood that the low-density distribution area N may include the region corresponding to the perpendicular bisector formed by the connecting line AA and / or the connecting line BB, and one or more driving structural bones 1300 are located in the low-density distribution area N, with some driving structural bones 1300 passing through the position on the spacer disc 1200 corresponding to the perpendicular bisector of the connecting line AA and / or the connecting line BB. In some embodiments, multiple flexible structural bones 1110a form curve AA', and multiple flexible structural bones 1110b form curve BB'. The low-density distribution area N may include the region corresponding to the arc of curve AA' and / or curve BB'. One or more driving structural bones 1300 are located in the low-density distribution area N, and some driving structural bones 1300 are located at the center line of the arc of curve AA' and / or curve BB'. Those skilled in the art should understand that the above distribution of driving structural bones 1300 is only an example and is not limited thereto. Other cases of asymmetrical or symmetrical distribution of driving structural bones 1300 may also be included.

[0068] Figure 10 A schematic diagram of the spacer disk 1200 of a continuum structure 1000 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 10 As shown, the plurality of spacer discs 1200 may include one or more mounting holes 1210 distributed along a first inner contour line or inner circumference line (e.g., an inner circumference line) and one or more mounting holes 1220 distributed along a second inner contour line or inner circumference line, the first inner contour line or inner circumference line being radially spaced from the second inner contour line or inner circumference line. One or more flexible structural ribs 1110 are fixedly connected to corresponding mounting holes 1210 of adjacent spacer discs 1200, and one or more drive structural ribs 1300 are slidably disposed within corresponding mounting holes 1220 of the plurality of spacer discs 1200. In some embodiments, such as Figure 3As shown, the first inner contour line or inner circumference line is at a distance D1 from the central axis O of the continuous structure, and the second inner contour line or inner circumference line is at a distance D2 from the central axis O of the continuous structure, with distance D2 being greater than distance D1. For example, the first inner contour line or inner circumference line can be a first circumference, and the second inner contour line or inner circumference line can be a second circumference. Multiple mounting holes 1210 are distributed along the first circumference, and multiple mounting holes 1220 are distributed along the second circumference. The first and second circumferences are radially spaced apart. In some embodiments, the first inner contour line or inner circumference line and the second inner contour line or inner circumference line can also be on the same circumference. For example, the first inner contour line or inner circumference line can be distributed in a first region of the circumference, and the second inner contour line or inner circumference line can be distributed in a second region of the same circumference, with the first region and the second region adjacent or at least partially opposite each other.

[0069] In some embodiments, the flexible structural bone 1110 and the driving structural bone 1300 may include, but are not limited to, thin rods or tubes made of deformable materials, such as nickel-titanium alloys. It should be understood that the flexible structural bone 1110 may also be a biocompatible deformable polymer material.

[0070] Figure 11 A schematic diagram of the structure of a surgical robot 10 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 11 As shown, the surgical robot 10 may include the continuum structure (e.g., continuum structure 1000) in any of the embodiments disclosed above. In some embodiments, the surgical robot 10 may include a base 1, one or more robotic arms 2, and one or more continuum instruments 100 disposed at the ends of the robotic arms 2. The continuum instrument 100 may include the continuum structure (e.g., continuum structure 1000) and an end effector 3 disposed at the end of the continuum structure. The end effector 3 may include, but is not limited to, surgical actuators, imaging devices, lighting devices, drug delivery devices, ultrasound probes, or probes. The one or more robotic arms 2 have multiple degrees of freedom and may be disposed on the base 1. The one or more continuum instruments 100 are detachably disposed on the one or more robotic arms 2, and the one or more robotic arms 2 are used to adjust the position and orientation of the one or more continuum instruments 100. It should be understood that the surgical robot 10 may extend into cavities via one or more continuum instruments 100 for endovascular interventional diagnosis and treatment. The continuum structure (e.g., continuum structure 1000) can adapt to complex bending environments without causing damage to cavities through asymmetrically distributed flexible structural bone (e.g., flexible structural bone 1110).

[0071] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A continuum structure, characterized by, Comprise: a plurality of spacer disks; and a plurality of connection structures, the connection structures comprising: one or more flexible structural bones, first and second ends of the one or more flexible structural bones being fixedly connected with adjacent spacer disks, respectively, and the one or more flexible structural bones being distributed along a first inner contour line of the spacer disks; wherein the plurality of connection structures comprises at least a first connection structure and a second connection structure, the first connection structure comprising one or more first flexible structural bones, the second connection structure comprising one or more second flexible structural bones, the distribution of the one or more first flexible structural bones along the first inner contour line being different from the distribution of the one or more second flexible structural bones along the first inner contour line; the continuum structure further comprising a plurality of driving structural bones, the plurality of driving structural bones being longitudinally through the plurality of spacer disks and having first ends fixedly connected with a most distal spacer disk among the plurality of spacer disks, second ends of the plurality of driving structural bones being configured to be connected with a driving mechanism, the plurality of driving structural bones being configured to be linearly pushed or pulled by the driving mechanism along an axial direction of the plurality of driving structural bones to drive the plurality of connection structures to bend, and the plurality of driving structural bones being distributed along a second inner contour line of the spacer disks that is radially spaced apart from the first inner contour line; wherein a projection of the flexible structural bones of the plurality of connection structures along an axial direction of the continuum structure forms at least one flexible structural bone high-density distribution area and at least one flexible structural bone low-density distribution area along the first inner contour line, and the plurality of driving structural bones forms at least one driving structural bone high-density distribution area substantially opposite to the at least one flexible structural bone high-density distribution area and at least one driving structural bone low-density distribution area substantially opposite to the at least one flexible structural bone low-density distribution area along the second inner contour line.

2. The continuum structure of claim 1, wherein, The plurality of connection structures comprises one or more series of the first connection structures and one or more series of the second connection structures, the one or more series of the first connection structures and the one or more series of the second connection structures being periodically or non-periodically distributed along an axial direction of the continuum structure.

3. The continuum structure of claim 2, wherein, The plurality of connection structures further comprises one or more additional connection structures, the one or more series of the additional connection structures being periodically or non-periodically distributed along the axial direction of the continuum structure with the one or more series of the first connection structures and the one or more series of the second connection structures.

4. The continuum structure of claim 1, wherein, The one or more flexible structural bones are distributed along an inner contour line of the spacer disks.

5. The continuum structure of any of claims 1-4, wherein, The first connection structure comprises one first flexible structural bone, and the second connection structure comprises one second flexible structural bone, the first flexible structural bone and the second flexible structural bone being staggered by a first included angle along a circumferential direction of the spacer disks.

6. The continuum structure of any of claims 1-4, wherein, The first connection structure includes a plurality of first flexible structural bones, and the second connection structure includes a plurality of second flexible structural bones, the plurality of first flexible structural bones form a first continuous line, and the plurality of second flexible structural bones form a second continuous line, the first continuous line and the second continuous line include at least one of the following distributions: the first continuous line and the second continuous line intersect at a center axis of the continuum structure at an angle, the first continuous line passes through the center axis of the continuum structure and intersects the second continuous line outside the center axis of the continuum structure at an angle, the first continuous line and the second continuous line deviate from the center axis of the continuum structure and intersect, or the first continuous line and the second continuous line deviate from the center axis of the continuum structure and intersect on an extension line.

7. The continuum structure of any of claims 1-4, wherein, The first connection structure includes a plurality of first flexible structural bones, and the second connection structure includes a plurality of second flexible structural bones, the plurality of first flexible structural bones form a first curve, and the plurality of second flexible structural bones form a second curve, the first curve and the second curve include at least one of the following distributions: the first curve and the second curve partially overlap, the first curve and the second curve are adjacent, the first curve and the second curve are opposite, the first curve and the second curve are spaced apart in a circumferential direction, the first curve is an arc, or the second curve is an arc.

8. The continuum structure of any of claims 1-4, wherein, The plurality of connection structures include one or more series of the first connection structure and one or more series of the second connection structure that are periodically staggered, and projections of the plurality of first flexible structural bones and the plurality of second flexible structural bones in an axial direction of the continuum structure form a half circumference.

9. The continuum structure of any of claims 1-4, wherein, Projections of the flexible structural bones of the plurality of connection structures in an axial direction of the continuum structure are asymmetrically distributed.

10. The continuum structure of claim 1, wherein, The plurality of driving structural bones include driving structural bones distributed at intermediate positions in the high-density distribution area of the driving structural bones and / or driving structural bones distributed at intermediate positions in the low-density distribution area of the driving structural bones.

11. The continuum structure of claim 1, wherein, The plurality of spacer discs include one or more first mounting holes distributed along the first inner contour line and a plurality of second mounting holes distributed along the second inner contour line, the one or more flexible structural bones are fixedly connected with corresponding first mounting holes of adjacent spacer discs, and the plurality of driving structural bones are slidingly arranged in corresponding second mounting holes of the plurality of spacer discs.

12. The continuum structure of claim 11, wherein, The first inner contour line is a first distance from a center axis of the continuum structure, and the second inner contour line is a second distance from the center axis of the continuum structure, and the second distance is greater than the first distance.

13. The continuum structure of claim 1, wherein, At least two of the plurality of first flexible structural bones form a first continuous line, at least two of the plurality of second flexible structural bones form a second continuous line, and the plurality of driving structural bones include driving structural bones passing through positions of perpendicular bisectors of corresponding first continuous lines and / or second continuous lines on the spacer discs.

14. A surgical robot, characterized in that, A continuum structure as claimed in any one of claims 1-13. A continuum structure as claimed in any one of claims 1-13.

Images