Continuum device with varying number of flexible structural elements and surgical robot

Abstract

The present disclosure relates to the field of continuum devices, and discloses a continuum device comprising a plurality of continuum structures, each of which comprises a plurality of spacer disks and one or more connection structures. The connection structure comprises one or more flexible structural bones, the first and second ends of the one or more flexible structural bones are fixedly connected to adjacent spacer disks respectively, and the one or more flexible structural bones are distributed along the circumference of the spacer disks. The plurality of continuum structures comprises at least a first and a second continuum structure, the first continuum structure comprises a first spacer disk and a first connection structure, the first connection structure comprises a first number of first flexible structural bones. The second continuum structure comprises a second spacer disk and a second connection structure, the second connection structure comprises a second number of second flexible structural bones; wherein the first number is different from the second number. The plurality of continuum structures of the continuum device can bend in different directions to adapt to complex bending environments without causing damage to the cavity.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of continuum instruments, and in particular to a continuum instrument with a flexible structure and a number of structure bones and a surgical robot. BACKGROUND

[0002] Traditional disease diagnosis and surgical treatment mainly includes open diagnosis and surgery, and endoluminal interventional diagnosis and treatment. Endoluminal interventional diagnosis or treatment is to form a channel through incisions on blood vessels or skin, or to reach a target position under the guidance of an imaging device through the original cavity of the human body, and to diagnose or treat the lesion locally without exposing the lesion by surgery, which has the characteristics of small trauma.

[0003] Traditional endoluminal interventional surgery mainly relies on manual operation by doctors. In order to reduce the burden of doctors and improve the efficiency and safety of endoluminal intervention, the method of using endoluminal interventional instruments to assist in interventional diagnosis or surgery has gradually become a research hotspot in the industry. Endoluminal interventional instruments can be remotely controlled to eliminate the risks caused by the physiological tremor of doctors and the misoperation of doctors when they are tired.

[0004] However, the endoluminal interventional instruments currently used are generally isotropic in bending to facilitate control and operation, which results in relatively poor flexibility of the interventional instruments, limited bending space, and inability to adapt to complex human body cavities, and is easy to cause damage to the cavities. SUMMARY

[0005] In some embodiments, the continuum instrument includes:

[0006] a plurality of continuum structures, the continuum structures including:

[0007] a plurality of spacer disks; and

[0008] one or more connection structures, the connection structures including:

[0009] one or more flexible structure bones, first and second ends of the one or more flexible structure bones being fixedly connected with adjacent spacer disks, respectively, and the one or more flexible structure bones being distributed along a circumferential direction of the spacer disks;

[0010] the plurality of continuum structures including at least:

[0011] a first continuum structure, including:

[0012] a plurality of first spacer disks; and

[0013] one or more first connection structures, the first connection structures including:

[0014] a first number of first flexible structural bones, first ends and second ends of the first flexible structural bones are fixedly connected with adjacent first spacing discs respectively, and the first number of first flexible structural bones are distributed along a circumferential direction of the spacing discs; and

[0015] a second continuum structure, comprising:

[0016] a plurality of second spacing discs; and

[0017] one or more second connecting structures, the second connecting structures comprising:

[0018] a second number of second flexible structural bones, first ends and second ends of the second flexible structural bones are fixedly connected with adjacent second spacing discs respectively, and the second number of second flexible structural bones are distributed along a circumferential direction of the spacing discs;

[0019] wherein the first number is different from the second number.

[0020] In some embodiments, the present disclosure also provides a surgical robot comprising the continuum instrument according to any one of the embodiments of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced. The drawings in the following description only show some embodiments of the present disclosure, and other embodiments can be obtained by those skilled in the art without paying creative labor on the basis of the contents of the embodiments of the present disclosure and the drawings.

[0022] Figure 1 Fig. 1 shows a perspective structural schematic diagram of a continuum structure according to some embodiments of the present disclosure;

[0023] Fig. 2(a) shows a perspective structural schematic diagram of a continuum structure according to some other embodiments of the present disclosure;

[0024] Fig. 2(b) shows a perspective structural schematic diagram of a continuum structure according to some other embodiments of the present disclosure;

[0025] Fig. 2(c) shows a perspective structural schematic diagram of a continuum structure according to some other embodiments of the present disclosure;

[0026] Figure 3 Fig. 3 shows a partial exploded schematic diagram of a continuum structure according to some embodiments of the present disclosure;

[0027] Fig. 4(a) shows a projection schematic diagram of a flexible structural bone of a continuum structure along an axial direction according to some embodiments of the present disclosure;

[0028] Figure 4(b) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0029] Figure 5(a) shows a schematic view of a volumetric structure of a continuum structure, according to some other embodiments of the present disclosure;

[0030] Figure 5(b) shows a schematic view of a volumetric structure of a continuum structure, according to some other embodiments of the present disclosure;

[0031] Figure 5(c) shows a schematic view of a volumetric structure of a continuum structure, according to some other embodiments of the present disclosure;

[0032] Figure 5(d) shows a schematic view of a volumetric structure of a continuum structure, according to some other embodiments of the present disclosure;

[0033] Figure 5(e) shows a schematic view of a volumetric structure of a continuum structure, according to some other embodiments of the present disclosure;

[0034] Figure 5(f) shows a schematic view of a volumetric structure of a continuum structure, according to some other embodiments of the present disclosure;

[0035] Figure 6(a) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0036] Figure 6(b) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0037] Figure 6(c) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0038] Figure 6(d) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0039] Figure 7(a) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0040] Figure 7(b) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0041] Figure 7(c) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0042] Figure 8(a) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0043] Figure 8(b) shows a schematic view of a projection of the flexible skeletal structure of a continuum structure along an axial direction, according to some other embodiments of the present disclosure;

[0044] Figure 9(a) shows a schematic view of a projection of a flexible backbone of a continuum structure along an axial direction, according to some embodiments of the present disclosure;

[0045] Figure 9(b) shows a schematic view of a projection of a flexible backbone of a continuum structure along an axial direction, according to some embodiments of the present disclosure;

[0046] Figure 9(c) shows a schematic view of a projection of a flexible backbone of a continuum structure along an axial direction, according to some embodiments of the present disclosure;

[0047] Figure 10 Figure 10 shows a schematic view of a spacer disk of a continuum structure, according to some embodiments of the present disclosure;

[0048] Figure 11 Figure 11 shows a schematic view of a continuum instrument, according to some embodiments of the present disclosure;

[0049] Figure 12(a) shows a schematic view of a projection of a flexible backbone of a continuum structure along an axial direction, according to some embodiments of the present disclosure;

[0050] Figure 12(b) shows a schematic view of a projection of a flexible backbone of a continuum structure along an axial direction, according to some embodiments of the present disclosure;

[0051] Figure 13 Figure 13 shows a schematic view of a continuum instrument, according to some embodiments of the present disclosure;

[0052] Figure 14 Figure 14 shows a schematic view of a continuum instrument, according to some embodiments of the present disclosure;

[0053] Figure 15(a) shows a schematic view of a projection of a flexible backbone of a continuum structure along an axial direction, according to some embodiments of the present disclosure;

[0054] Figure 15(b) shows a schematic view of a projection of a flexible backbone of a continuum structure along an axial direction, according to some embodiments of the present disclosure;

[0055] Figure 15(c) shows a schematic view of a projection of a flexible backbone of a continuum structure along an axial direction, according to some embodiments of the present disclosure;

[0056] Figure 16 Figure 16 shows a schematic view of a continuum instrument, according to some embodiments of the present disclosure;

[0057] Figure 17 Figure 17 shows a schematic view of a drive backbone distribution of a continuum instrument, according to some embodiments of the present disclosure;

[0058] Figure 18(a) shows a schematic view of a projection of a drive backbone of a continuum instrument along an axial direction, according to some embodiments of the present disclosure;

[0059] Fig. 18(b) shows a schematic view of a projection of the driving structure of a continuum instrument along an axial direction, according to some embodiments of the present disclosure;

[0060] Fig. 18(c) shows a schematic view of a projection of the driving structure of a continuum instrument along an axial direction, according to some embodiments of the present disclosure;

[0061] Figure 19 Fig. 18(d) shows a schematic view of a projection of the driving structure of a continuum instrument along a transverse direction, according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0062] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, but not all the embodiments.

[0063] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "coupling" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the proximal part or the rear end, the rear part, and the end close to the surgical patient is defined as the distal end, the distal part or the front end, the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical devices or surgical robots, or for other non-medical devices.

[0064] Figure 1 Fig. 18(d) shows a schematic view of a projection of the driving structure of a continuum instrument along a transverse direction, according to some embodiments of the present disclosure. Figure 1As 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.

[0065] 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.

[0066] 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 a plurality of spacer discs 1200 may be spaced apart, and adjacent spacer discs 1200 may include one or more flexible structural ribs 1110 arranged parallel to the central axis O of the continuum structure, such as... Figure 3In some embodiments, one or more flexible structural bones 1110 can be distributed along an inner contour line or inner circumference line of the spacer disk 1200. It should be appreciated that the inner contour line or inner circumference line can include a curve, an arc, or a straight line, etc. distributed circumferentially or radially between a median axis O of the continuum structure and a radial end surface of the spacer disk 1200. For example, one or more flexible structural bones 1110a or one or more flexible structural bones 1110b can be distributed circumferentially, curvilinearly, rectangularly, etc. along the inner contour line or inner circumference line of the spacer disk 1200.

[0067] FIGS. 4(a) and 4(b) respectively illustrate different projection views of flexible structural bones of a continuum structure along an axial direction, according to some embodiments of the present disclosure. In some embodiments, as shown in FIG. 4(a), the projection 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 along the circumferential direction of the spacer disk 1200. Alternatively, as shown in FIG. 4(b), the one or more flexible structural bones 1110a are respectively distributed along a circumference A along the circumferential direction of the spacer disk 1200, and the one or more flexible structural bones 1110b are respectively distributed along a circumference B along the circumferential direction of the spacer disk 1200, the circumference A and the circumference B being spaced apart along the radial direction.

[0068] It should be appreciated by those skilled in the art that the different distribution of the one or more flexible structural bones 1110a or the one or more flexible structural bones 1110b along the circumferential direction of the spacer disk 1200 includes, but is not limited to, the one or more flexible structural bones 1110a being distributed in a first region of the spacer disk 1200, and the one or more flexible structural bones 1110b being distributed in a second region of the spacer disk 1200 different from the first region; or the one or more flexible structural bones 1110a being distributed in a first region of the spacer disk 1200, and the one or more flexible structural bones 1110b being distributed in a second region of the spacer disk 1200 partially overlapping with the first region; or the one or more flexible structural bones 1110a being distributed in a first region of the spacer disk 1200, and the one or more flexible structural bones 1110b being distributed in a second region of the spacer disk 1200, the first region and the second region being staggered by a certain angle along the circumferential direction of the spacer disk; or the number of the flexible structural bones 1110a and the flexible structural bones 1110b being different, resulting in different distribution of the two; or the number of the flexible structural bones 1110a and the flexible structural bones 1110b being the same, resulting in different distribution of the two due to the difference in the distribution spacing between the flexible structural bones. By different distribution of the flexible structural bones 1110a and the flexible structural bones 1110b along the circumferential direction of the spacer disk 1200, the continuum structure can be bent in different directions, and the bending direction and the bending degree can be adjusted according to the number and distribution of the flexible structural bones, for example, the continuum structure can be bent to the side where the flexible structural bones are less distributed or not distributed.

[0069] Figures 5(a)-5(f) Different perspective structural diagrams of a continuum structure according to some embodiments of the present disclosure are shown respectively. In some embodiments, as shown in Figures 5(a)-5(f) The plurality of connection structures 1100 can include one or more connection structures 1100a and one or more connection structures 1100b in series, which are distributed periodically or non-periodically along the axial direction of the continuum structure. For example, one connection structure 1100a and one connection structure 1100b can be alternately distributed in series to form a plurality of periodic units T. As shown in FIG. 5(a), the connection structure 1100a and the connection structure 1100b each include one flexible structural bone, which are alternately connected in series along the axial direction of the continuum structure. As shown in FIG. 5(b), the connection structure 1100a and the connection structure 1100b each include two flexible structural bones, which are alternately connected in series along the axial direction of the continuum structure. As shown in FIG. 5(c), the connection structure 1100a and the connection structure 1100b each include one flexible structural bone, and one connection structure 1100a and a plurality of connection structures 1100b in series can be alternately distributed in series. It should be understood that one or more connection structures 1100a and one or more connection structures 1100b in series can also be distributed non-periodically, for example, as shown in FIG. 2(c).

[0070] As shown in FIG. 5(d), the connection structure 1100a and the connection structure 1100b each include two flexible structural bones, and a plurality of connection structures 1100a in series and one connection structure 1100b can be alternately distributed in series. As shown in FIG. 5(e), the connection structure 1100a includes two flexible structural bones, and the connection structure 1100b includes three flexible structural bones, and a plurality of connection structures 1100a in series and one connection structure 1100b can be alternately distributed in series. It should be understood that a plurality of connection structures 1100a in series and one connection structure 1100b can also be distributed non-periodically. It should be understood that a plurality of connection structures 1100a in series and a plurality of connection structures 1100b in series can be alternately distributed periodically or non-periodically, which is not shown in the figure. It should be understood that the number of flexible structural bones included in the connection structure 1100a and the connection structure 1100b in some embodiments of the present disclosure can include, but is not limited to, one, two, three or more. The above embodiments are only examples, but are not limited thereto.

[0071] In some embodiments, as shown in FIG. 5(f), the plurality of connection structures 1100 can further include one or more additional connection structures 1100c. The one or more additional connection structures 1100c are periodically or non-periodically distributed along the axial direction of the continuum structure with the one or more connection structures 1100a and the one or more connection structures 1100b. It should be understood that the additional connection structure 1100c can include one or more flexible structural bones 1110c, which are distributed along the circumference of the spacer disk 1200 differently from the circumferential distribution of the flexible structural bones 1110a and / or the flexible structural bones 1110b. FIG. 5(f) shows only one flexible structural bone 1110c as an example. The number and distribution of flexible structural bones of the plurality of additional connection structures can be different. For example, as shown in FIG. 5(f), one additional connection structure 1100c, one connection structure 1100a, and one connection structure 1100b can be alternately distributed in sequence to form a plurality of periodic units T. It should be understood that one additional connection structure 1100c, one connection structure 1100a, and a plurality of connection structures 1100b in series can be alternately distributed in sequence or non-periodically distributed. It should be understood that a plurality of additional connection structures 1100c, a plurality of connection structures 1100a in series, and one connection structure 1100b can be alternately distributed in sequence or non-periodically distributed. It should be understood that one additional connection structure 1100c, a plurality of connection structures 1100a in series, and a plurality of connection structures 1100b in series can be alternately distributed in sequence or non-periodically distributed. It should be understood that a plurality of additional connection structures 1100c in series, a plurality of connection structures 1100a in series, and a plurality of connection structures 1100b in series can be alternately distributed in sequence or non-periodically distributed. It should be understood that a plurality of additional connection structures 1100c, a plurality of connection structures 1100a in series, and a plurality of connection structures 1100b in series can be alternately distributed in sequence or non-periodically distributed. The above is only an example and is not limited thereto,

[0072] It should be understood that embodiments of the present disclosure can also include other periodic or non-periodic distributions or combined distributions, or distribute a plurality of connection structures according to needs to meet specific bending directions. It should be understood that the number of flexible structural bones included in one or more additional connection structures 1100c in some embodiments of the present disclosure can include, but is not limited to, one, two, three, or more. The above embodiments are only examples and are not limited thereto. A plurality of different periodic or non-periodic distributions along the axial direction of the continuum structure can be achieved by one or more additional connection structures 1100c, one or more connection structures 1100a in series, and one or more connection structures 1100b in series to increase the applicability of the continuum structure.

[0073] In some embodiments, the projection of the flexible structural bones 1110 (e.g., flexible structural bones 1110a, or 1110b or 1110c) of the plurality of connection structures 1100 along the axial direction of the continuum structure can be asymmetrically distributed (e.g., refer to FIG. 4(a) and FIG. 4(b)) or non-centrosymmetrically distributed. In the present disclosure, symmetrically distributed can include axially symmetrically distributed and centrosymmetrically distributed. For example, non-centrosymmetrically distributed can include, but is not limited to, axially symmetrically distributed without passing through the center of the spacer disk.

[0074] It should be understood that the projection of the plurality of flexible structural bones 1110a along the axial direction can be asymmetrically distributed or non-centrosymmetrically distributed; or, the projection of the plurality of flexible structural bones 1110b along the axial direction can be asymmetrically distributed or non-centrosymmetrically distributed; or, the projection of one or more flexible structural bones 1110a and one or more flexible structural bones 1110b along the axial direction can be asymmetrically distributed or non-centrosymmetrically distributed. It should be understood that the projection of one or more flexible structural bones 1110c of one or more additional connection structures 1100c, one or more flexible structural bones 1110a and one or more flexible structural bones 1110b along the axial direction can also be asymmetrically distributed (e.g., refer to FIG. 4(a) and FIG. 4(b)) or non-centrosymmetrically distributed.

[0075] In some embodiments, as shown in FIG. 2(a) and FIG. 5(a), the connection structure 1100a can include one flexible structural bone 1110a, and the connection structure 1100b can include one flexible structural bone 1110b, the flexible structural bone 1110a and the flexible structural bone 1110b being angularly offset along the circumferential direction of the spacer disk 1200. For example, the projection of the flexible structural bone 1110a and the flexible structural bone 1110b along the axial direction can be distributed along the same circumference along the circumferential direction of the spacer disk 1200, and angularly spaced apart from each other, as shown in FIG. 4(a). It should be understood that the projection of the flexible structural bone 1110a and the flexible structural bone 1110b along the axial direction can be distributed along different circumferences along the circumferential direction of the spacer disk 1200, and angularly or radially spaced apart from each other, as shown in FIG. 4(b). The included angle can include the included angle formed by the central axis O and the projection of the flexible structural bone 11110a and the flexible structural bone 1110b.

[0076] In some embodiments, as shown in FIG. 5(b), FIG. 5(d) and FIG. 5(e), the connection structure 1100a can include a plurality of flexible structural bones 1110a, and the connection structure 1100b can include a plurality of flexible structural bones 1110b. Figures 6(a)-6(d) Different projection diagrams of the flexible structural bones of the continuum structure according to some embodiments of the present disclosure along the axial direction are shown respectively. As shown in FIG. 4(a) and FIG. 4(b), the projection of the flexible structural bones 1110a of the connection structure 1100a along the axial direction can be asymmetrically distributed or non-centrosymmetrically distributed. As shown in FIG. 4(c) and FIG. 4(d), the projection of the flexible structural bones 1110b of the connection structure 1100b along the axial direction can be asymmetrically distributed or non-centrosymmetrically distributed. Figures 6(a)-6(d)As shown, a plurality of flexible structural bones 1110a form a line AA, and a plurality of flexible structural bones 1110b form a line BB. For example, the line AA can be a straight line formed by two flexible structural bones 1110a, and the line BB can be a straight line formed by two flexible structural bones 1110b, as shown in FIG. 6(a). Alternatively, the line AA can be an arc formed by two flexible structural bones 1110a, and the line BB can be an arc formed by two flexible structural bones 1110b, as shown in FIG. 6(b). Figures 6(a)-6(d) As shown, a plurality of flexible structural bones 1110a form a line AA, and a plurality of flexible structural bones 1110b form a line BB. For example, the line AA can be a straight line formed by two flexible structural bones 1110a, and the line BB can be a straight line formed by two flexible structural bones 1110b, as shown in FIG. 6(a). Alternatively, the line AA can be an arc formed by two flexible structural bones 1110a, and the line BB can be an arc formed by two flexible structural bones 1110b, as shown in FIG. 6(b).

[0077] The axial projection of the line AA and the line BB can include at least one of the following distributions: the line AA and the line BB intersect at the center axis O of the continuum structure at an angle (as shown in FIG. 6(a)), the line BB passes through the center axis O of the continuum structure and intersects the line AA at an angle outside the center axis O of the continuum structure (as shown in FIG. 6(b)), the line AA and the line BB deviate from the center axis O of the continuum structure and intersect (as shown in FIG. 6(c)), or the line AA and the line BB deviate from the center axis O of the continuum structure and intersect on an extension line (as shown in FIG. 6(d)). It should be understood that the line AA and the line BB intersect at the center axis O of the continuum structure at an angle, which can make the continuum structure more stable and reliable to be driven, and the stability of the structure is also higher. The line AA and the line BB deviate from the center axis O of the continuum structure and intersect at an angle, which can make the continuum structure more easily bend to the side where the flexible structural bones are less or not distributed.

[0078] Figures 7(a)-7(c) Different axial projection diagrams of the flexible structural bones of the continuum structure according to some embodiments of the present disclosure are shown respectively. In some embodiments, as shown in FIG. 6(a), Figures 7(a)-7(c) As shown, a plurality of flexible structural bones 1110a form a line AA, and a plurality of flexible structural bones 1110b form a line BB. For example, the line AA can be a straight line formed by two flexible structural bones 1110a, and the line BB can be a straight line formed by two flexible structural bones 1110b, as shown in FIG. 6(a). Alternatively, the line AA can be an arc formed by two flexible structural bones 1110a, and the line BB can be an arc formed by two flexible structural bones 1110b, as shown in FIG. 6(b). Figures 7(a)-7(c) As shown, a plurality of flexible structural bones 1110a form a line AA, and a plurality of flexible structural bones 1110b form a line BB. For example, the line AA can be a straight line formed by two flexible structural bones 1110a, and the line BB can be a straight line formed by two flexible structural bones 1110b, as shown in FIG. 6(a). Alternatively, the line AA can be an arc formed by two flexible structural bones 1110a, and the line BB can be an arc formed by two flexible structural bones 1110b, as shown in FIG. 6(b).

[0079] The curve AA' and the curve BB' can include at least one of the following distributions: the curve AA' partially overlaps the curve BB' (refer to FIG. 7(a)), the curve AA' is adjacent to the curve BB' (refer to FIG. 7(b)), the curve AA' is opposite to the curve BB', the curve AA' is spaced apart from the curve BB' in the circumferential direction (refer to FIG. 7(c)), the curve AA' is an arc, or the curve BB' is an arc.

[0080] In some embodiments, the connection structure 1100a can include a plurality of flexible struts 1110a, and the connection structure 1100b can include a single flexible strut 110b, the plurality of flexible struts 1110a forming the line AA or the curve AA'. The projection of the flexible strut 1110b in the axial direction of the continuum structure overlaps, is adjacent to, or is opposite to the projection of the line AA or the curve AA' in the axial direction.

[0081] Similarly, the connection structure 1100a can include a single flexible strut 1110a, and the connection structure 1100b can include a plurality of flexible struts 1110b, the plurality of flexible struts 1110b forming the line BB or the curve BB'. The projection of the flexible strut 1110a in the axial direction of the continuum structure can overlap, be spaced apart in the circumferential direction, or be adjacent to the projection of the line BB or the curve BB' in the axial direction. FIGS. 8(a) and 8(b) respectively show different projection views of the flexible struts of a continuum structure in the axial direction according to some embodiments of the present disclosure. As shown in FIG. 8(a), the plurality of flexible struts 1110a form the curve AA', and the projection of the flexible strut 1110b in the axial direction of the continuum structure is spaced apart in the circumferential direction from the projection of the curve AA' in the axial direction.

[0082] In some embodiments, the connection structure 1100a can include a plurality of flexible struts 1110a, and the connection structure 1100b can include a plurality of flexible struts 110b, the plurality of flexible struts 1110a forming the line AA or the curve AA'. The plurality of flexible struts 1110b forms the line BB or the curve BB'. The line AA or the curve AA' can partially overlap, intersect, be adjacent to, or be spaced apart in the circumferential direction from the line BB or the curve BB'. As shown in FIG. 8(b), the plurality of flexible struts 1110a form the curve AA', and the plurality of flexible struts 1110b (e.g., two flexible struts 1110b) form the line BB, the curve AA' being spaced apart in the circumferential direction from the line BB and being opposite to the line BB. It should be understood that the plurality of flexible struts 1110a can form the line AA, and the plurality of flexible struts 1110b can form the curve BB'.

[0083] Figures 9(a)-9(c)Figures 9(a) to 9(c) respectively show different schematic views of the different projections of the flexible structural framework along the axial direction of the continuum structure according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 9(a), the projection of one or more flexible structural frameworks 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 frameworks in the high-density distribution region M can be greater than the number of flexible structural frameworks in the low-density distribution region N. Alternatively, the distribution spacing of the flexible structural frameworks in the high-density distribution region M can be smaller than the distribution spacing of the flexible structural frameworks in the low-density distribution region N.

[0084] In some embodiments, no flexible structural framework is provided in the low-density distribution region N. It should be understood by those skilled in the art that a plurality of high-density distribution regions M and a plurality of low-density distribution regions N can be included, and the high-density distribution region M and the low-density distribution region N are relative concepts, and the division is not absolute and can be adjusted according to actual application. For example, as shown in Figure 9(a), the high-density distribution region M can refer to the left upper semicircular region, and the low-density distribution region N can refer to the right lower semicircular region.

[0085] It should be understood that the high-density distribution region M or the low-density distribution region N can be one or more arc-shaped regions or one or more rectangular regions or one or more irregular regions and the like along the circumference of the spacer disc 1200. The high-density distribution region M and the low-density distribution region N can be two adjacent regions, or two regions spaced apart, or at least part of the high-density distribution region M is opposite to the low-density distribution region N. The high-density distribution region M and the low-density distribution region N can form a complete circumference of the spacer disc 1200, or can form an incomplete circumference of the spacer disc 1200 (see Figure 9(a)). For example, as shown in Figure 9(b), a plurality of flexible structural frameworks 1110a can form a high-density distribution region M1 and a low-density distribution region N1, a plurality of flexible structural frameworks 1110b can form a high-density distribution region M2 and a low-density distribution region N2, and the high-density distribution region M1 and the high-density distribution region M2 can be adjacent, opposite, spaced apart along the circumference, or at least partially overlap or completely overlap. Similarly, the low-density distribution region N1 and the low-density distribution region N2 can be adjacent, opposite, spaced apart along the circumference, or at least partially overlap or completely overlap. The low-density distribution region N1 and the low-density distribution region N2 can be connected to form a larger low-density distribution region, as shown in the right lower semicircle of Figure 9(b) or the lower semicircle of Figure 9(c). In the low-density distribution region N1 and the low-density distribution region N2, no flexible structural framework can be provided, as shown in Figure 9(c). It should be understood that a plurality of additional connecting flexible structural frameworks 1110c can also form the high-density distribution region M and the low-density distribution region N together with the flexible structural frameworks 1110a or the flexible structural frameworks 1110b, or independently form the high-density distribution region and the low-density distribution region.

[0086] 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.

[0087] 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.

[0088] In some embodiments, as shown in FIG. 9(a), the projection of one or more driving structure bones 1300 along the axial direction of the plurality of connection structure 1100 flexible structure bones 1110 in the low-density distribution area N is greater than that in the high-density distribution area M. It should be understood that one or more driving structure bones 1300 can also be distributed only in the low-density distribution area. By arranging more driving structure bones in the low-density distribution area N, the bending of the continuum structure can be controlled more finely and stably, such as the bending angle, direction, and the like.

[0089] For example, the plurality of driving structure bones 1300 are distributed along the same circumference, or are distributed along a part of the circumference (see FIG. 9(a)), or are distributed along different circumferences. In some embodiments, one or more driving structure bones 1300 can include driving structure bones 1300 distributed in the middle position of the low-density distribution area N. For example, as shown in FIG. 7(a), the flexible structure bone 1110a and the flexible structure bone 1110b form a high-density distribution area M (for example, the right half of the circle area) and a low-density distribution area N (for example, the left half of the circle area), which is not distributed with flexible structure bones, and the driving structure bone 1300 can include a driving structure bone distributed in the middle position of the low-density distribution area N. By distributing the driving structure bone 1300 in the middle position of the corresponding low-density distribution area, stable and controllable driving can be achieved.

[0090] In some embodiments, the plurality of driving structure bones 1300 can be symmetrically distributed along the circumferential direction of the spacer disc 1200. For example, the projection of the plurality of flexible structure bones along the axial direction forms a high-density distribution area M and a low-density distribution area N, and the plurality of driving structure bones 1300 distributed in the high-density distribution area M and the low-density distribution area N can be symmetrically distributed about the center of the spacer disc 1200, or asymmetrically distributed. In some embodiments, as shown in FIG. 9(a), the plurality of driving structure bones 1300 are asymmetrically distributed along the circumferential direction of the spacer disc 1200. For example, the asymmetric distribution along the circumferential direction can include, but is not limited to, the plurality of driving structure bones 1300 being distributed along different inner contour lines or inner circumferential lines in the high-density distribution area M and the low-density distribution area N, respectively; or being distributed along the same inner contour line or inner circumferential line (see FIG. 9(a)), and the number of low-density distribution areas N is greater than that of high-density distribution areas M; or the plurality of driving structure bones 1300 are distributed at different intervals to form an asymmetric distribution along the circumferential direction of the spacer disc 1200. By the symmetrically or asymmetrically distributed driving structure bones 1300, one or more flexible structure bones 1300 of different distributions can be driven to achieve bending in multiple directions. According to actual needs, the number of flexible structure bones can be reduced in the direction of the desired bending, and the number of unnecessary driving structure bones 1300 can be reduced to achieve miniaturization of the continuum structure.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] Figure 11 A schematic diagram of the structure of a continuum device 100 according to some embodiments of the present disclosure is shown. For example... Figure 11 As shown, the continuum device 100 may include a plurality of continuum structures connected in series. In some embodiments, such as Figure 11 As shown, the continuum device 100 may include a continuum structure 1000 and a continuum structure 2000 connected in series with the continuum structure 1000. The continuum structure 1000 may include one or more connecting structures 1100, each connecting structure 1100 including a first number of flexible structural bones 1110 distributed circumferentially along the spacer disc. The continuum structure 2000 may include one or more connecting structures 2100, each connecting structure 2100 including a second number of flexible structural bones 2110 distributed circumferentially along the spacer disc. The first number and the second number are different.

[0095] In some embodiments, the continuum structure 1000 may include a plurality of connecting structures 1100, including connecting structures 1100a and 1100b connected in series. In some embodiments, the flexible structural members 1110a of connecting structure 1100a and 1110b of connecting structure 1100b are distributed differently along the circumferential direction of the spacer 1200 and are periodically connected in series. For example, connecting structure 1100a may include multiple members (e.g., such as...). Figure 11 The four-root flexible structural skeleton 1110a shown, and the connecting structure 1100b may include multiple roots (e.g., such as...). Figure 11The plurality of flexible structural bones 1110a forms an arc AA1, and the plurality of flexible structural bones 1110b forms an arc BB1. A projection of the arc AA1 and the arc BB1 along an axial direction of the continuum device 100 can include at least one of the following distributions: the arc AA1 and the arc BB1 partially overlap, the arc AA1 and the arc BB1 are adjacent, the arc AA1 and the arc BB1 are opposite, and the arc AA1 and the arc BB1 are spaced apart along a circumferential direction. It should be appreciated that the distribution of the flexible structural bones 1110a and the flexible structural bones 1110b along the circumferential direction of the spacer disk 1200 can also be the same. For example, the arc AA1 and the arc BB1 have the same distribution, and completely overlap with each other.

[0096] Similarly, the continuum structure 2000 can include a plurality of connection structures 2100 including connection structure 2100a and connection structure 2100b in series. The flexible structural bones 2110a of the connection structure 2100a and the flexible structural bones 2110b of the connection structure 2100b are distributed differently and periodically in series along the circumferential direction of the spacer disk 1200. For example, the connection structure 2100a includes a plurality of flexible structural bones 2110a (e.g., as shown in FIG. 21A), and the connection structure 2100b includes a plurality of flexible structural bones 2110b (e.g., as shown in FIG. 21B). Figure 11 Similarly, the continuum structure 2000 can include a plurality of connection structures 2100 including connection structure 2100a and connection structure 2100b in series. The flexible structural bones 2110a of the connection structure 2100a and the flexible structural bones 2110b of the connection structure 2100b are distributed differently and periodically in series along the circumferential direction of the spacer disk 1200. For example, the connection structure 2100a includes a plurality of flexible structural bones 2110a (e.g., as shown in FIG. 21A), and the connection structure 2100b includes a plurality of flexible structural bones 2110b (e.g., as shown in FIG. 21B). Figure 11 Similarly, the continuum structure 2000 can include a plurality of connection structures 2100 including connection structure 2100a and connection structure 2100b in series. The flexible structural bones 2110a of the connection structure 2100a and the flexible structural bones 2110b of the connection structure 2100b are distributed differently and periodically in series along the circumferential direction of the spacer disk 1200. For example, the connection structure 2100a includes a plurality of flexible structural bones 2110a (e.g., as shown in FIG. 21A), and the connection structure 2100b includes a plurality of flexible structural bones 2110b (e.g., as shown in FIG. 21B).

[0097] It should be appreciated that the arc (e.g., AA1 or BB1) formed by the flexible structural bones in the continuum structure 1000 can be replaced by a curve or a straight line, and the arc (e.g., AA2 or BB2) formed by the flexible structural bones in the continuum structure 2000 can also be replaced by a curve or a straight line. Those skilled in the art can understand that, although the arc AA1 and the arc BB1 are shown as being partially overlapped, the arc AA1 and the arc BB1 can also be adjacent, opposite, or spaced apart along the circumferential direction of the spacer disk 1200. Figure 11 Only two kinds of continuum structures 1000, 2000 are shown, but a plurality of continuum structures can also include one or more other kinds of continuum structures.

[0098] FIGS. 12(a) and 12(b) respectively show the axial projection of the flexible structure of the continuum structures 1000 and 2000 of a continuum instrument according to some embodiments of the present disclosure. In some embodiments, as shown in FIG. 12(a), a first number (e.g., 5) of flexible structure bones 1110a of the continuum structure 1000 and a first number (e.g., 5) of flexible structure bones 1110b can be staggered along the circumference of the spacer disk 1200. As shown in FIG. 12(b), a second number (e.g., 3) of flexible structure bones 2110a of the continuum structure 2000 and a second number (e.g., 3) of flexible structure bones 2110b can be staggered along the circumference of the spacer disk 1200. For example, the first number of flexible structure bones 1110a and 1110b (or the second number of flexible structure bones 2110a and 2110b) are regularly staggered along the axial projection of the continuum instrument 100 along the circumference. Alternatively, the first number of flexible structure bones 1110a and 1110b (or the second number of flexible structure bones 2110a and 2110b) are irregularly staggered along the axial projection of the continuum instrument 100 along the circumference.

[0099] In some embodiments, the easy bending direction of the continuum structure 1000 is different from the easy bending direction of the continuum structure 2000. It should be understood that in the present disclosure, the easy bending direction refers to the direction in which the continuum structure or the connection structure as a whole is most easily bent. The easy bending direction of the continuum structure is the direction in which the plurality of connection structures contained therein as a whole is most easily bent. In some embodiments, the direction in which bending is easy includes a sector region centered on the axis of the continuum structure or the connection structure, and the easy bending direction can refer to the central direction of the sector region. In some embodiments, the easy bending direction of the continuum structure refers to the central direction of the low-density distribution region opposite the high-density distribution region formed by the flexible structure bones of the plurality of connection structures along the axial direction. For example, the continuum structure includes a sector region in which no flexible structure bones (e.g., flexible structure bones 1110a, 1110b, 2110a, 2110b) are distributed, and the easy bending direction can refer to the central direction of the sector region. If there are multiple sector regions in which no flexible structure bones are distributed, the easy bending direction can refer to the central direction of the largest sector region. It should be understood that, as shown in FIGS. 12(a) and 12(b), the easy bending direction of the continuum structure 1000 is different from the easy bending direction of the continuum structure 2000. Figure 11

[0100] ​In some embodiments, the bendable directions of the continuum structure 1000 and the continuum structure 2000 are different. For example, the bendable directions of the continuum structure 1000 and the continuum structure 2000 may be opposite, and the bends of the continuum structure 1000 and the continuum structure 2000 may form an "S" shape. It should be understood that the bends of the continuum structure 1000 and the continuum structure 2000 may also form a wavy shape or an irregular curve, etc. It should be understood that an "S"-shaped bend can make the drive of the continuum device 100 more stable and controllable. In some embodiments, the curvatures of the continuum structure 1000 and the continuum structure 2000 are different. For example, the curvature of the continuum structure 2000 may be greater than that of the continuum structure 1000. By using different curvatures, the continuum device 100 can achieve complex configurations, and these configurations can be achieved in a controllable manner.

[0101] In some embodiments, the plurality of continuum structures may further include one or more additional continuum structures, which are connected in series with continuum structure 1000 and continuum structure 2000. Figure 13 A schematic diagram of the structure of a continuum device 200 according to some embodiments of the present disclosure is shown. For example... Figure 13 As shown, for example, one or more additional continuum structures include at least a continuum structure 3000. The continuum structure 3000 may include one or more connecting structures. In some embodiments, the connecting structures of the continuum structure 3000 include a third number of flexible structural bones, wherein the third number is less than a second number, and the second number is less than a first number. For example, the multiple connecting structures of the continuum structure 3000 may include a connecting structure 3100a and a connecting structure 3100b connected in series. The connecting structure 3100a may include a third number of flexible structural bones 3110a distributed circumferentially along the spacer disk (e.g., as shown in the diagram). Figure 13 The connecting structure 3100b may include a third number of flexible structural bones 3110b (e.g., as shown in the diagram) distributed circumferentially along the spacer disc. Figure 13 (As shown in the three). The flexible structural bones 3110a of the connecting structure 3100a and the flexible structural bones 3110b of the connecting structure 3100b are distributed differently along the circumferential direction of the spacer disk 1200 and are periodically connected in series, or the flexible structural bones 3110a of the connecting structure 3100a and the flexible structural bones 3110b of the connecting structure 3100b are distributed in the same circumferential direction of the spacer disk 1200.

[0102] In some embodiments, such as Figure 13As shown, the continuum instrument 200 can further include a continuum structure 4000. The plurality of connection structures of the continuum structure 4000 can include a connection structure 4100a and a connection structure 4100b. The connection structure 4100a can include a fourth number (e.g., 2) of flexible structural members 4110a distributed circumferentially along the spacer disk, and the connection structure 4100b can include a fourth number (e.g., 2) of flexible structural members 4110b distributed circumferentially along the spacer disk. Those skilled in the art can understand that although the connection structure 4100a and the connection structure 4100b are shown as having the same number of flexible structural members, the connection structure 4100a and the connection structure 4100b can have different numbers of flexible structural members. Figure 13 Only four kinds of continuum structures 1000, 2000, 3000, 4000 are shown, but the plurality of continuum structures can further include one or more other kinds of continuum structures.

[0103] In some embodiments, the bending curvatures of the plurality of continuum structures or partial continuum structures of the continuum instrument can gradually increase from the proximal end to the distal end along the axial direction of the continuum instrument.

[0104] Figure 14 A structural schematic diagram of a continuum instrument 300 according to some embodiments of the present disclosure is shown. As shown in FIG. 3, the continuum instrument 300 can include a plurality of serially connected continuum structures. For example, the plurality of continuum structures of the continuum instrument 300 can include, in sequence from the proximal end to the distal end, a continuum structure 1000, a continuum structure 2000, a continuum structure 3000, and a continuum structure 4000. Figure 14 As shown in FIG. 3, the continuum structure 1000 can include one connection structure 1100, which can include a first number (e.g., 6) of flexible structural members 1110. The continuum structure 2000 can include one connection structure 2100, which can include a second number (e.g., 5) of flexible structural members 2110. The continuum structure 3000 can include one connection structure 3100, which can include a third number (e.g., 4) of flexible structural members 3110. The continuum structure 4000 can include one connection structure 4100, which can include a fourth number (e.g., 3) of flexible structural members 4110. In this way, the number of flexible structural members of at least part of the continuum structures in the plurality of continuum structures can sequentially decrease from the proximal end to the distal end. Figure 14

[0105] ​In some embodiments, the continuum structures 1000, 2000 and 3000 are taken as examples. The continuum structure 1000 can include a plurality of connection structures 1100, the continuum structure 2000 can include one connection structure 2100, and the continuum structure 3000 includes one connection structure 3100. In some embodiments, the continuum structure 1000 can include a plurality of identically distributed connection structures 1100, the continuum structure 2000 can include a plurality of identically distributed connection structures 2100, and the continuum structure 3000 includes a plurality of identically distributed connection structures 3100. In this way, the number of flexible structural bones of the plurality of continuum structures can be sequentially decreased from the proximal end to the distal end along the axial direction. It should be understood that the number of flexible structural bones of the plurality of continuum structures or at least part of the continuum structures at the distal end is sequentially decreased from the proximal end to the distal end, so that the distal end of the continuum instrument has a greater bending curvature to adapt to a more deeply curved complex cavity, and the working end of the distal end can be more flexible to perform corresponding operations.

[0106] In some embodiments, the third number is less than the second number, and the second number is less than the first number. Figures 15(a)-15(c)Schematic projections of the flexible structural bones of continuum structures 1000, 2000, and 3000 according to some embodiments of the present disclosure are shown along the axial direction. For example, the connecting structure 1100a of continuum structure 1000 may include a first number of flexible structural bones 1110a, and the connecting structure 1100b may include a first number of flexible structural bones 1110b. As shown in FIG. 15(a), the projection of the flexible structural bones 1110a (or 1110b) along the axial direction of the continuum structure forms a complete first circumference. The connecting structure 2100a of continuum structure 2000 may include a second number of flexible structural bones 2110a, and the connecting structure 2100b may include a second number of flexible structural bones 2110b. As shown in FIG. 15(b), the projection of the flexible structural bones 2110a (or 2110b) along the axial direction of the continuum structure forms a first circumference with a notch G1. The connecting structure 3100a of the continuum structure 3000 may include a third number of flexible structural bones 3110a, and the connecting structure 3100b may include a third number of flexible structural bones 3110b. As shown in FIG15(c), the projection of the flexible structural bones 3110a (or flexible structural bones 3110b) along the axial direction of the continuum structure forms a first circumference with a notch G2, where the notch G2 is larger than the notch G1. In this disclosure, the notch G2 may include the notch G1, or the projections of the notch G1 and the notch G2 along the axial direction may partially overlap, be adjacent, opposite, or be circumferentially spaced. It should be understood that the bendable direction of the continuum structure 3000 may be the center direction of the notch G2, and the bendable direction of the continuum structure 2000 may be the center direction of the notch G1. The bending curvature of the continuum structure 3000 is greater than the bending curvature of the continuum structure 2000, and the bending curvature of the continuum structure 2000 is greater than the bending curvature of the continuum structure 1000. It should be understood that the gradual increase in curvature from proximal to distal allows the working end of the continuum instrument to perform corresponding operations more flexibly. By adjusting the amount and distribution of flexible structural bone (e.g., notches G1 and G2) in the continuum structure (e.g., continuum structures 1000, 2000, 3000), the bending characteristics of the continuum instrument can be easily altered.

[0107] Figure 16 A schematic diagram of the structure of a continuum device 400 according to some embodiments of the present disclosure is shown. For example... Figure 16As shown, the continuum device 400 may include at least three continuum structures 1000, 2000, and 3000 connected in series from proximal to distal. In some embodiments, the second quantity is less than the first and third quantities. For example, as shown in FIG15, the continuum structure 1000 may include one or more connecting structures 1100, which may include multiple flexible structural bones 1110 (e.g., 5 bones). The continuum structure 2000 may include one or more connecting structures 2100, which may include multiple flexible structural bones 2110 (e.g., 3 bones). The continuum structure 3000 may include one or more connecting structures 3100, which may include multiple flexible structural bones 3110 (e.g., 4 bones). The curvature of the continuum structure 2000 is greater than that of the continuum structures 1000 and 3000. It should be understood that the continuum structures 1000, 2000, and 3000 can form a general joint structure, enabling continuum instruments to perform bending movements similar to "finger joints." Furthermore, the continuum structure 2000 is more flexible and has a larger bending curvature, allowing it to function as a more flexible joint and achieve more precise control and manipulation.

[0108] In some embodiments, such as Figure 16 As shown, the continuum device 400 may further include a continuum structure 4000, which may include one or more connecting structures. The multiple connecting structures of the continuum structure 4000 may include a series connecting structure 4100a and a connecting structure 4100b. Connecting structure 4100a may include a fourth number (e.g., two) of flexible structural bones 4110a distributed circumferentially along the spacer disc, with two flexible structural bones 4110a forming a connecting line AA4. Connecting structure 4100b may include a fourth number (e.g., two) of flexible structural bones 4110b distributed circumferentially along the spacer disc, with two flexible structural bones 4110b forming a connecting line BB4. Connecting lines AA4 and BB4 are offset from the central axis of the continuum structure and intersect on their extensions.

[0109] It should be understood that the above are merely examples and not limitations; the multiple continuous structures 1000, 2000, 3000, and 4000 of a continuous instrument can also be other types of continuous structures. Furthermore, the above only illustrates cases where a continuous instrument includes continuous structures 1000, 2000, 3000, or 4000. A continuous instrument can also include one or more other types of continuous structures. By adjusting the bending direction and curvature of each continuous structure, complex and controllable configurations can be achieved. For example, the different bending directions of continuous structures 1000, 2000, 3000, and 4000 can form complex S-shapes.

[0110] In some embodiments, the continuum instrument (e.g., continuum instrument 100, 200, 300, or 400) can further include at least one rigid connector (not shown in the figures). The rigid connector can be disposed between at least one pair of adjacent continuum structures (e.g., continuum structures 1000, 2000, 3000, or 4000) of the plurality of continuum structures. It should be appreciated that the mutual interference between the plurality of continuum structures can be avoided by the rigid connector. In addition, the rigid connector can also impart appropriate rigidity to the continuum instrument to enable it to access deeper, tortuous complex lumens, which can avoid the plurality of continuum structures being too flexible to be precisely and stably driven.

[0111] In some embodiments, the continuum instrument (e.g., continuum instrument 100, 200, 300, or 400) can include a plurality of driving structure bones, one end of the plurality of driving structure bones being fixedly connected to the distal end spacing disc of the plurality of continuum structures, and the other end being used for receiving driving to independently drive the plurality of continuum structures to bend.

[0112] Figure 17 Structural diagrams showing the distribution of driving structure bones of the continuum instrument according to some embodiments of the present disclosure are shown. In some embodiments, as shown in FIG. 13A, Figure 17 one or more driving structure bones 1300 and one or more driving structure bones 2300. A first end of the one or more driving structure bones 1300 is fixedly connected to the distal end spacing disc 1200 of the continuum structure 1000 of the plurality of continuum structures. A first end of the one or more driving structure bones 2300 is fixedly connected to the distal end spacing disc 2200 of the continuum structure 2000 of the plurality of continuum structures. In some embodiments, as shown in FIG. 13B, Figure 17 one or more driving structure bones 3300 and one or more driving structure bones 4300. A first end of the one or more driving structure bones 3300 is fixedly connected to the distal end spacing disc 3300 of the continuum structure 3000 of the plurality of continuum structures. A first end of the one or more driving structure bones 4300 is fixedly connected to the distal end spacing disc 4200 of the continuum structure 4000 of the plurality of continuum structures. Figure 17 In FIG. 13C, only the case including one driving structure bone 1300, one driving structure bone 2300, one driving structure bone 3300, and one driving structure bone 4300 is shown, and it should be appreciated that the corresponding continuum structure can also include two, three, or more driving structure bones. Through the driving structure bones, each continuum structure 1000, 2000, 3000, 4000 can be independently controlled, improving the controllability, flexibility, and operability of the continuum instrument.

[0113] Figures 18(a)-18(c)The distribution shows different schematic views of the projection of the driving structure bones of the continuum instrument along the axial direction according to some embodiments of the present disclosure. In some embodiments, the plurality of driving structure bones can include the plurality of driving structure bones 1300 and the plurality of driving structure bones 2300. It should be understood that the plurality of driving structure bones 1300 can be distributed symmetrically along the circumference of the spacer disk (as shown in FIG. 18(a)) or asymmetrically. It should be understood that the symmetric distribution along the circumference can be axial symmetry, central symmetry distribution. Alternatively, the plurality of driving structure bones 2300 are distributed symmetrically along the circumference of the spacer disk (as shown in FIG. 18(a)) or asymmetrically. Alternatively, the plurality of driving structure bones 1300 and the plurality of driving structure bones 2300 are distributed symmetrically along the circumference of the spacer disk (as shown in FIG. 18(a)) or asymmetrically (as shown in FIG. 18(b)). Alternatively, the driving structure bones 1300 and the driving structure bones 2300 are staggered (as shown in FIG. 18(c)). It should be understood that the symmetric distribution of the driving structure bones along the circumference of the spacer disk can make the driving of the plurality of continuum structures more stable and controllable.

[0114] In some embodiments, as shown in FIG. 18(a), the number of the projection of the one or more driving structure bones 1300 and the one or more driving structure bones 2300 along the axial direction of the continuum structure in the low-density distribution area N is greater than the number in the high-density distribution area M. In this way, the bending of the continuum instrument, such as bending in the easy-bending direction, can be more conveniently and finely controlled by the driving structure bones. For example, the projection of the one or more flexible structure bones 1110 and the one or more flexible structure bones 2110 along the axial direction can be distributed in the high-density distribution area M (e.g., the lower half circle), and the projection of the one or more driving structure bones 1300 and the one or more driving structure bones 2300 along the axial direction can be distributed in the low-density distribution area N (e.g., the upper half circle), so as to drive the continuum structures 1000 and 2000 to bend to the side of the low-density distribution area N. It should be understood that the above distribution of the flexible structure bones and the driving structure bones is only by way of example and is not limited thereto.

[0115] In some embodiments, the cross-sectional dimension (e.g., radius) of the plurality of continuum structures in series gradually decreases along the axial direction of the continuum structures from the proximal end to the distal end. For example, the plurality of continuum structures can include continuum structure 1000, continuum structure 2000, continuum structure 3000, and continuum structure 4000 in series from the proximal end to the distal end. The cross-sectional dimension of the continuum structure 1000 located at the proximal end can gradually decrease from the proximal end to the distal end, for example, the size of the spacer disks gradually decreases. Similarly, the cross-sectional dimension of the continuum structure 2000, 3000, or 4000 can also gradually decrease from the proximal end to the distal end, so that the cross-section of the continuum instrument gradually decreases from the proximal end to the distal end as a whole. It should be understood that the cross-sectional dimension can be the cross-sectional dimension of the spacer disk of the corresponding continuum structure. It should be understood that the gradual decrease in the cross-sectional dimension of the plurality of continuum structures in series from the proximal end to the distal end can enable the distal end of the continuum instrument to enter a gradually narrowing lumen in a deep place without damaging the lumen tissue, and can better adapt to complex lumens and complex operation tasks.

[0116] In some embodiments, the cross-sectional dimension (e.g., radius) of the plurality of continuum structures in series gradually decreases along the axial direction of the continuum structures from the proximal end to the distal end. For example, the plurality of continuum structures can include continuum structure 1000, continuum structure 2000, continuum structure 3000, and continuum structure 4000 in series from the proximal end to the distal end. The cross-sectional dimension of the continuum structure 1000 located at the proximal end can gradually decrease from the proximal end to the distal end, for example, the size of the spacer disks gradually decreases. Similarly, the cross-sectional dimension of the continuum structure 2000, 3000, or 4000 can also gradually decrease from the proximal end to the distal end, so that the cross-section of the continuum instrument gradually decreases from the proximal end to the distal end as a whole. It should be understood that the cross-sectional dimension can be the cross-sectional dimension of the spacer disk of the corresponding continuum structure. It should be understood that the gradual decrease in the cross-sectional dimension of the plurality of continuum structures in series from the proximal end to the distal end can enable the distal end of the continuum instrument to enter a gradually narrowing lumen in a deep place without damaging the lumen tissue, and can better adapt to complex lumens and complex operation tasks.

[0117] In some embodiments, the driving structural bones (e.g., driving structural bone 1300) of the proximal continuum structure (e.g., continuum structure 1000) of the plurality of continuum structures are distributed outside the driving structural bones (e.g., driving structural bones 2300, 3300, or 4300) of the distal continuum structure (e.g., continuum structures 2000, 3000, or 4000). For example, if the cross-sectional dimension of the proximal continuum structure 1000 is larger than the cross-sectional dimension of the distal continuum structure 2000 (or continuum structures 3000, 4000), the driving structural bone 1300 can be distributed outside the driving structural bone 2300. Alternatively, the cross-sectional dimensions of the proximal continuum structure 1000 are the same as those of the distal continuum structure 2000 (or continuum structures 3000, 4000), the driving structure bone 1300 is distributed on the third inner contour line or the third inner circumferential line, and the driving structure bone 2300 is distributed on the fourth inner contour line or the fourth inner circumferential line. The third inner contour line or the third inner circumferential line is outside the fourth inner contour line or the fourth inner circumferential line, further away from the central axis, so that the driving structure bone 1300 is distributed outside the driving structure bone 2300.

[0118] In some embodiments, such as Figure 19 As shown, this disclosure also provides a surgical robot 10, which may include continuum instruments (e.g., continuum instruments 100, 200, 300, 400) 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 (or continuum instruments 200, 300, 400) disposed at the end of the robotic arm 2. The continuum instrument 100 may include one or more serially connected continuum structures (e.g., continuum structures 1000, 2000, 3000, 4000) and an end effector 3 disposed at the end of the continuum structure. The end effector 3 may include, but is not limited to, a surgical actuator, imaging device, lighting device, ultrasound probe, probe, or drug delivery device. 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 (or continuum instruments 200, 300, 400) 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 can be inserted into the cavity via one or more continuum instruments 100 (or continuum instruments 200, 300, 400) for endovascular interventional diagnosis and treatment. The continuum structure (e.g., continuum structures 1000, 2000, 3000, 4000) can adapt to complex curved environments without damaging the cavity through staggered flexible bone structures (e.g., flexible bone structures 1110, 2110, 3110, 4110).

[0119] Note that the above merely describes exemplary embodiments of the present disclosure and the principles of the technology applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, reconfigurations and substitutions can be made by those skilled in the art without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and can 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 claims.

Claims

1. A continuum instrument, comprising: Comprise: a plurality of continuum structures, the continuum structures comprising: a plurality of spacer disks; and one or more connection structures, the connection structures comprising: one or more flexible structural struts, first and second ends of the one or more flexible structural struts being fixedly connected to adjacent spacer disks, respectively, and the one or more flexible structural struts being distributed circumferentially along the spacer disks; the plurality of continuum structures comprising at least: a first continuum structure, comprising: a plurality of first spacer disks; and one or more first connection structures, the first connection structures comprising: a first number of first flexible structural struts, first and second ends of the first flexible structural struts being fixedly connected to adjacent first spacer disks, respectively, and the first number of first flexible structural struts being distributed circumferentially along the first spacer disks; a projection of the first flexible structural struts along an axial direction of the continuum device comprising a high density distribution region and a low density distribution region; and a second continuum structure, comprising: a plurality of second spacer disks; and one or more second connection structures, the second connection structures comprising: a second number of second flexible structural struts, first and second ends of the second flexible structural struts being fixedly connected to adjacent second spacer disks, respectively, and the second number of second flexible structural struts being distributed circumferentially along the second spacer disks; a projection of the second flexible structural struts along an axial direction of the continuum device comprising a high density distribution region and a low density distribution region; wherein the first number and the second number are different; a plurality of drive struts, first ends of the plurality of drive struts being fixedly connected to distal-most spacer disks of the plurality of continuum structures, second ends of the plurality of drive struts being configured to receive a drive to independently drive bending of the plurality of continuum structures; the plurality of drive struts comprising at least one or more first drive struts and one or more second drive struts, first ends of the one or more first drive struts being fixedly connected to distal-most spacer disks of the first continuum structure, first ends of the one or more second drive struts being fixedly connected to distal-most spacer disks of the second continuum structure; a number of the one or more first drive struts in the low density distribution region of the projection of the first flexible structural struts is greater than a number of the one or more first drive struts in the high density distribution region; and / or a number of the one or more second drive struts in the low density distribution region of the projection of the second connection structures is greater than a number of the one or more second drive struts in the high density distribution region.

2. The continuum instrument of claim 1, wherein, the first continuum structure comprises a plurality of the first connection structures, the plurality of the first connection structures comprising at least two first connection structures having different and periodically connected first flexible structural struts distributed circumferentially along the first spacer disks, or first flexible structural struts of the plurality of the first connection structures being distributed identically circumferentially along the first spacer disks; and / or the second continuum structure comprises a plurality of the second connection structures, the plurality of the second connection structures comprising at least two second connection structures having different and periodically connected second flexible structural struts distributed circumferentially along the second spacer disks, or second flexible structural struts of the plurality of the second connection structures being distributed identically circumferentially along the second spacer disks.

3. The continuum instrument of claim 1, wherein, The plurality of continuum structures further comprises one or more additional continuum structures in series with the first and second continuum structures.

4. The continuum instrument of any of claims 1-3, wherein, The plurality of continuum structures has a number of flexible structural members decreasing sequentially from proximal to distal along an axial direction of the continuum instrument.

5. The continuum instrument of any of claims 1-3, wherein, The plurality of continuum structures has a cross-sectional dimension decreasing sequentially from proximal to distal along an axial direction of the continuum instrument.

6. The continuum instrument of any of claims 1-3, wherein, Further comprising: at least one rigid connector disposed between at least one pair of adjacent continuum structures of the plurality of continuum structures.

7. The continuum instrument of claim 1, wherein, The first and second continuum structures are in series, the first continuum structure has a different direction of easy bending than the second continuum structure and / or the first continuum structure has a different bending curvature than the second continuum structure.

8. The continuum instrument of claim 7, wherein, The plurality of continuum structures further comprises a third continuum structure in series with the second continuum structure, wherein the second continuum structure has a greater bending curvature than the first and third continuum structures.

9. The continuum instrument of claim 8, wherein, The third continuum structure comprises: a plurality of third spacer disks; and one or more third connecting structures comprising: a third number of third flexible structural members having first and second ends fixedly connected to adjacent third spacer disks, respectively, and distributed along a circumferential direction of the spacer disks, wherein the second number is less than the first and third numbers.

10. The continuum instrument of claim 1, wherein, The plurality of continuum structures further comprises a third continuum structure in series with the second continuum structure, the third continuum structure comprising: a plurality of third spacer disks; and one or more third connecting structures comprising: a third number of third flexible structural members having first and second ends fixedly connected to adjacent third spacer disks, respectively, and distributed along a circumferential direction of the spacer disks, wherein the third number is less than the second number, and the second number is less than the first number.

11. The continuum instrument of claim 10, wherein, The first, second, and third continuum structures are in series from proximal to distal, the first continuum structure comprises a plurality of first connecting structures, the second continuum structure comprises one second connecting structure, and the third continuum structure comprises one third connecting structure.

12. The continuum instrument of claim 10, wherein: a projection of the first number of first flexible structural members along an axial direction of the continuum instrument forms a first circumference, a projection of the second number of second flexible structural members along the axial direction of the continuum instrument forms a second circumference having a first gap, a projection of the third number of third flexible structural members along the axial direction of the continuum instrument forms a third circumference having a second gap, the second gap is greater than the first gap, the second gap and the first gap partially overlap, or the first gap is adjacent to, opposite to, or spaced apart along a circumferential direction from the second gap.

13. The continuum instrument of any of claims 1-3, wherein, For at least one of the continuum structures, the plurality of connecting structures comprises two connecting structures, and a projection of a curve formed by the flexible structural backbone of the two connecting structures along an axial direction of the continuum device partially overlaps, is adjacent to, is opposite to, or is spaced apart along a circumferential direction.

14. The continuum instrument of any of claims 1-3, wherein, For at least one of the continuum structures, a projection of the flexible structural backbone of the plurality of connecting structures along an axial direction of the continuum device is asymmetrically distributed.

15. The continuum instrument of claim 1, wherein, The plurality of driving structural backbones comprises a plurality of first driving structural backbones and a plurality of second driving structural backbones, and a distribution of the plurality of first driving structural backbones and the plurality of second driving structural backbones comprises at least one of the following: the plurality of first driving structural backbones are symmetrically distributed along a circumferential direction of the spacer disc; or the plurality of second driving structural backbones are symmetrically distributed along a circumferential direction of the spacer disc; or the plurality of first driving structural backbones are asymmetrically distributed along a circumferential direction of the spacer disc; or the plurality of second driving structural backbones are asymmetrically distributed along a circumferential direction of the spacer disc.

16. The continuum instrument of claim 1, wherein, The plurality of spacer discs comprises one or more first mounting holes distributed along a first inner contour line or inner circumference line and one or more second mounting holes distributed along a second inner contour line or inner circumference line, the first inner contour line or inner circumference line is radially spaced apart from the second inner contour line or inner circumference line, one or more flexible structural backbones are fixedly connected with corresponding first mounting holes of an adjacent spacer disc, and one or more driving structural backbones are slidingly arranged in corresponding second mounting holes of the plurality of spacer discs.

17. The continuum instrument of claim 16, wherein, The first inner contour line or inner circumference line is a first distance from a central axis of the continuum structure, and the second inner contour line or inner circumference line is a second distance from the central axis of the continuum structure, and the second distance is greater than the first distance.

18. A surgical robot, characterized in that, The continuum device comprises the continuum structure according to any one of claims 1-17. The continuum device comprises the continuum structure according to any one of claims 1-17.

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