Multi-lumen continuum flexible arm and robot

Abstract

The application provides a multi-lumen continuum flexible arm and robot. The multi-lumen continuum flexible arm comprises a flexible bending section, a front cap and one or more working components; the flexible bending section is provided with multiple channels, including multiple driving wire channels and multiple part channels; the main body of the flexible bending section is arranged along an axial direction, and first gap structures and second gap structures are arranged in sequence and alternately, and an intermediate sheet structure is arranged between the first gap structures and the second gap structures, and in combination with the design of the part channels, vertical and horizontal bending operations can be realized while reducing the size of the multi-lumen continuum robot structure, and the combined structure can realize bending in multiple directions, and realize related operations in narrow and limited operations or other spaces.

Description

Technical Field

[0001] This invention relates to the field of flexible arms, and more specifically, to a multi-cavity continuous flexible arm and robot. Background Technology

[0002] Traditionally, robotic arms used in surgery are integrated into surgical robot systems to assist in the smooth execution of procedures. Stable, precise, and flexible robotic arms can perform operations in confined spaces inaccessible to human hands. However, rigid robotic arms can easily damage delicate human tissues. Therefore, soft robotic arms for minimally invasive surgery have attracted widespread attention since their emergence.

[0003] Compact, soft robotic arms can enter the human body through incisions to perform endoscopic examinations such as those using a gastroscopy. They can also perform operations like grasping by loading functional modules at their end effector. Softness offers numerous advantages.

[0004] Currently, many soft robotic arms use pneumatic principles, but pneumatic soft robotic arms have safety hazards. Since they use pneumatic power to drive the soft body to move or deform, if the soft body ruptures, the air leakage can harm small blood vessels or organs in the human body.

[0005] Patent document CN 115887012A discloses a multifunctional soft surgical robotic arm for inserting into the human body to process human tissue, relating to the field of medical device technology. It includes multiple bending units, an end effector direction control component, a support, and a camera. The bending units are connected in series, and each unit is a pneumatic bending unit capable of independent pneumatic control. The support is mounted on the end effector pneumatic bending unit and supports a cutting tool or laser head. The end effector direction control component controls the movement of the cutting tool on the support. The camera is fixedly mounted on the support for real-time image capture within the human body. However, this design still relies on pneumatic principles, and the pneumatic bending units are made of soft material. If the soft material ruptures, air leakage could still pose a hazard to the human body. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a multi-cavity continuous flexible arm and robot.

[0007] According to the present invention, a multi-cavity continuous flexible arm includes a flexible bending section, a front cap, and one or more working components;

[0008] The working component includes a working cable and a working head that are connected to each other; the front cap is installed at one end of the flexible bending section, the working head is installed on the front cap, and the working cable passes through the front cap and the flexible bending section.

[0009] Preferably, the flexible bending segment includes multiple intermediate sheet structures, multiple first gap structures, multiple second gap structures, multiple drive wires, multiple vertical support beam structures, and multiple horizontal support beam structures;

[0010] The intermediate plate structure has multiple drive wire through holes and multiple component through holes;

[0011] The first gap structure and the second gap structure are arranged alternately in sequence, and an intermediate plate structure is arranged between the first gap structure and the second gap structure;

[0012] The vertical support beam structure is located within the first gap structure, and the horizontal support beam structure is located within the second gap structure;

[0013] Along the axial direction of the flexible bending section, the drive wire through holes opened on the plurality of intermediate sheet structures, the corresponding positions of the drive wire through holes in the first gap structure, and the corresponding positions of the drive wire through holes in the second gap structure form drive wire channels; the drive wire is located in the drive wire channel, and one end of the drive wire is connected to the front cap.

[0014] Along the axial direction of the flexible bending section, the part through holes opened on the plurality of intermediate sheet structures, the corresponding positions of the part through holes in the first gap structure, and the corresponding positions of the part through holes in the second gap structure form part channels; the part channels are used to pass through working cables and / or working parts.

[0015] Preferably, both the vertical support beam structure and the horizontal support beam structure are integrally connected to the intermediate piece structure.

[0016] Preferably, it further includes a control and operation device; the control and operation device is located at the other end of the flexible bending section, and the drive wire is connected to the control and operation device.

[0017] Preferably, the drive wire includes a round head and a wire body, the wire body being connected to the front cap via the round head.

[0018] Preferably, it also includes a sealing protective tube, and the number of the sealing protective tubes is multiple.

[0019] Preferably, the working components include any one or more of the following: a camera device, a first lighting or sensing device, a second lighting or sensing device, or an operating device.

[0020] Preferably, it also includes a channel wall structure, wherein the first gap structure and the plurality of second gap structures are each provided with a channel wall structure, the channel wall structure corresponding to the position of the through hole of the part; the channel wall structure is integrally connected with the intermediate piece structure.

[0021] Preferably, the flexible bending segment is formed by subtractive manufacturing or by integral molding.

[0022] According to the present invention, a robot is provided that employs the aforementioned multi-cavity continuum flexible arm.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention utilizes the structural features of the first gap structure and the second gap structure arranged alternately, with an intermediate plate structure arranged between the first gap structure and the second gap structure. Combined with the design of the part channel, it can reduce the overall size of the continuous body and the assembly, and can integrate multiple sensing and operating devices. The combined structure can achieve bending in multiple directions, enabling related operations in narrow and limited surgical or other spaces.

[0025] 2. This invention uses a drive wire instead of a pneumatic principle to operate the bending deformation of the flexible bending section, thus avoiding the harm to the human body caused by air leakage due to soft body rupture in the prior art. Attached Figure Description

[0026] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0027] Figure 1 A schematic diagram of the multi-cavity continuum flexible arm system;

[0028] Figure 2 A schematic diagram of the drive wire structure for a multi-cavity continuum flexible arm;

[0029] Figure 3 A schematic diagram of the two-view structure of the sealing protection tube for a multi-cavity continuous flexible arm;

[0030] Figure 4 A schematic diagram of a multi-cavity continuum flexible arm containing a flexible bending section;

[0031] Figure 5 This is a schematic diagram of a partial structure of the flexible bending section;

[0032] Figure 6 Three-view diagram of the flexible bending segment structure;

[0033] Figure 7 A schematic cross-sectional view of a vertically supported beam structure showing a flexible bending section;

[0034] Figure 8 The diagram shows a cross-sectional view of a horizontally supported beam structure, illustrating the flexible bending section.

[0035] Figure 9This is a schematic diagram of the upward bending state of the flexible bending section structure;

[0036] Figure 10 for Figure 9 Front view diagram;

[0037] Figure 11 This is a schematic diagram of the flexible bending section structure in a downward bending state.

[0038] Figure 12 for Figure 11 Front view diagram;

[0039] Figure 13 This is a schematic diagram of the flexible bending section structure bending to the left.

[0040] Figure 14 for Figure 13 Front view diagram;

[0041] Figure 15 This is a schematic diagram of the flexible bending section structure bending to the right.

[0042] Figure 16 for Figure 15 Front view diagram;

[0043] Figure 17 This is a schematic diagram of a preferred embodiment of the present invention with a channel wall structure;

[0044] Figure 18 A partial structural diagram of the flexible bending section in a preferred embodiment with a channel wall structure;

[0045] Figure 19 Three views of the flexible bending section structure in a preferred embodiment with a channel wall structure;

[0046] Figure 20 In the preferred example with a passage wall structure, a cross-sectional schematic diagram of the vertical support beam structure is shown;

[0047] Figure 21 In the preferred example with a passage wall structure, a cross-sectional schematic diagram of the horizontal support beam structure is shown;

[0048] The diagram shows:

[0049] Detailed Implementation

[0050] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0051] This invention provides a multi-cavity continuous flexible arm 1, such as Figure 1-16 As shown, the device includes a flexible bending section 11, a front cap 13, and one or more working components. Each working component includes an interconnected working cable and a working head. The front cap 13 is mounted on one end of the flexible bending section 11, and the working head is mounted on the front cap 13. The working cable passes through the front cap 13 and the flexible bending section 11. The working component includes any one or more of a camera device 14, a first lighting or sensing device 16, a second lighting or sensing device 17, or an operating device 19, wherein the operating device 19 is a gripper structure. In a preferred embodiment, the flexible bending section 11 is made of a polymer material.

[0052] The flexible bending section 11 includes multiple intermediate sheet structures 32, multiple first gap structures 31, multiple second gap structures 33, multiple drive wires 15, multiple vertical support beam structures, and multiple horizontal support beam structures; in a preferred embodiment, the dimensions of the multiple first gap structures 31 may not be exactly the same, the dimensions of the multiple intermediate sheet structures 32 may not be exactly the same, and the dimensions of the multiple second gap structures 33 may not be exactly the same.

[0053] The intermediate plate structure 32 has multiple drive wire through holes and multiple component through holes;

[0054] The first gap structure 31 and the second gap structure 33 are arranged alternately in sequence, with an intermediate plate structure 32 arranged between the first gap structure 31 and the second gap structure 33. The vertical support beam structure is located within the first gap structure 31, and the horizontal support beam structure is located within the second gap structure 33. That is, the first gap structure 31 and the vertical support beam structure together form a vertical groove structure, and the second gap structure 33 and the horizontal support beam structure together form a horizontal groove structure. In a preferred embodiment, both the vertical support beam structure and the horizontal support beam structure are integrally connected to the intermediate plate structure 32. In a preferred embodiment, the flexible bending segment 11 is connected to the front cap 13 through the head of the flexible bending segment. The structure of the head of the flexible bending segment is the same as that of the intermediate plate structure 32, but its thickness is greater than that of the intermediate plate structure 32.

[0055] Along the axial direction of the flexible bending section 11, drive wire channels are formed by the drive wire through holes opened on the plurality of intermediate sheet structures 32, the corresponding locations of the drive wire through holes in the first gap structure 31, and the corresponding locations of the drive wire through holes in the second gap structure 33; the drive wire 15 is located within the drive wire channel, and one end of the drive wire 15 is connected to the front cap 13. Specifically, the drive wire 15 includes a first drive wire 151, a second drive wire 152, a third drive wire 153, and a fourth drive wire 154.

[0056] In a preferred embodiment, the drive wire 15 includes a round head and a wire body. The wire body is connected to the front cap 13 through the round head. The diameter of the round head is larger than that of the drive wire channel. The drive wire 15 is positioned and installed on the front cap 13 at the front end of the corresponding drive wire channel through the round head.

[0057] The drive wire channel includes a first drive wire channel 113, a second drive wire channel 114, a third drive wire channel 115, and a fourth drive wire channel 116; the first drive wire channel 113, the second drive wire channel 114, the third drive wire channel 115, and the fourth drive wire channel 116 are respectively used for passing through the first drive wire 151, the second drive wire 152, the third drive wire 153, and the fourth drive wire 154.

[0058] Along the axial direction of the flexible bending section 11, component through holes opened on the plurality of intermediate sheet structures 32, corresponding locations in the first gap structure 31 and the second gap structure 33, form component channels; the component channels are used for passing through working cables and / or working parts. Specifically, the component channels include a first component channel 111, a second component channel 112, a third component channel 117, and a fourth component channel 118; the first component channel 111 is used for passing through the working cable of the camera device 14, the second component channel 112 is used for passing through the working cable of the operating device 19, the third component channel 117 is used for passing through the working cable of the first lighting or sensing device 16, and the fourth component channel 118 is used for passing through the working cable of the second lighting or sensing device 17.

[0059] The front cap 13 is provided with channels or mounting holes of corresponding size to each channel of the flexible bending section 11, for mounting the camera device 14, drive wire 15, first lighting or sensing device 16, second lighting or sensing device 17, sealing protection tube 18, etc. in the multi-cavity continuous robot.

[0060] The multi-cavity continuous flexible arm 1 further includes a control and operation device 2, located at the other end of the flexible bending section 11, and the drive wire 15 is connected to the control and operation device 2. In a preferred embodiment, the control and operation device 12 is located at the rear end of the multi-cavity continuous flexible arm 1 and is used for driving control of the drive wire 15 of the multi-cavity continuous robot. In another preferred embodiment, the control and operation device 2 is also electrically connected to a working cable and can be used to control the camera device 14, the first lighting or sensing device 16, the second lighting or sensing device 17, the operation device 19, or other devices.

[0061] In a preferred embodiment, the multi-cavity continuous flexible arm 1 further includes multiple sealing protection tubes 18, which are flexible tube structures with different outer diameters and wall thicknesses. Specifically, the multiple sealing protection tubes 18 include a first sealing protection tube 181, a second sealing protection tube 182, a third sealing protection tube 183, a fourth sealing protection tube 184, and a fifth sealing protection tube 185.

[0062] The first sealing and protective tube 181 is arranged on the outer surface of the flexible bending section 11 and the front cap 13, and is sealed to prevent external gas, liquid and other substances from penetrating into the interior of the structure, thus protecting each device and channel.

[0063] The second sealing protection tube 182 is arranged inside the second part channel 112, and its outer surface is sealed to the inner wall of the second part channel 112 for sealing protection of the channel of the operating device 19. With the help of the fixed second sealing protection tube 182, the operating device 19 can perform operations required for surgery and other scenarios. Different types of devices or instruments can be arranged or passed through the second sealing protection tube 182 according to actual needs.

[0064] The third sealing protection tube 183 is arranged inside the first part channel 111, and its outer surface is sealed to the inner wall of the first part channel 111 for sealing protection of the camera device 14 or other devices; the cable of the camera device 14 is arranged inside the first part channel 111, and the front end of the camera device 14 is fixed to the front cap 13. Different types of devices or instruments can be arranged or passed through the third sealing protection tube 183 according to actual needs.

[0065] There are multiple fourth sealing protection tubes 184, which are respectively arranged in the first drive wire channel 113, the second drive wire channel 114, the third drive wire channel 115, and the fourth drive wire channel 116. Their outer surfaces are respectively sealed to the inner walls of the first drive wire channel 113, the second drive wire channel 114, the third drive wire channel 115, and the fourth drive wire channel 116, for sealing and protecting the drive channel of the drive wire 15. The first drive wire 151 is arranged in the fourth sealing protection tubes 184 arranged in the first drive wire channel 113 located on the upper side of the flexible bending section 11. 1. The front end is fixed to the front cap 13; 2. The second drive wire 152 is arranged in the fourth sealing protection tube 184 arranged in the second drive wire channel 114 provided on the lower side of the flexible bending section 11, and the front end of the second drive wire 152 is fixed to the front cap 13; 3. The third drive wire 153 is arranged in the fourth sealing protection tube 184 arranged in the third drive wire channel 115 provided on the upper side of the flexible bending section 11, and the front end of the fourth drive wire 153 is fixed to the front cap 13; 4. The fourth drive wire 154 is arranged in the fourth sealing protection tube 184 arranged in the fourth drive wire channel 116 provided on the lower side of the flexible bending section 11, and the front end of the drive wire 153 is fixed to the front cap 13.

[0066] A fifth sealing protection tube 185 is arranged inside the third part channel 117, with its outer surface sealing against the inner wall of the third part channel 117. It is used for sealing and protecting the first lighting or sensing device 16 or other devices. The first lighting or sensing device 16 is arranged inside the fifth sealing protection tube 185, and its front end is fixed to the front cap 13. Similarly, the fifth sealing protection tube 185 is arranged inside the fourth part channel 118, with its outer surface sealing against the inner wall of the fourth part channel 118. It is used for sealing and protecting the second lighting or sensing device 17 or other devices. The second lighting or sensing device 17 is arranged inside the fifth sealing protection tube 185, and its front end is fixed to the front cap 13.

[0067] In another preferred example, such as Figure 17-21 As shown, the multi-cavity continuous flexible arm 1 does not have a second sealing protection tube 182 and a third sealing protection tube 183; however, the multi-cavity continuous flexible arm 1 also includes a channel wall structure. The first gap structure 31 and the multiple second gap structures 33 each have a channel wall structure, and the channel wall structure corresponds to the position of the through hole in the part; the channel wall structure is integrally connected to the intermediate piece structure 32. Specifically, the channel wall structure provided in the first gap structure 31 includes a first tubular channel wall 1212 and a second tubular channel wall 1213, which are arranged vertically; the functions of the first tubular channel wall 1212 and the second tubular channel wall 1213 are the same as those of the third sealing protection tube 183 and the second sealing protection tube 182, respectively.

[0068] The vertical support beam structure in the flexible bending section 11 includes a first vertical support beam 119, a second vertical support beam 1110, and a third vertical support beam 1111. A groove structure may also be provided on one or both sides of the first vertical support beam 119, the second vertical support beam 1110, and the third vertical support beam 1111; a first part channel 111 is formed between the first vertical support beam 119 and the second vertical support beam 1110, and a second part channel 112 is formed between the second vertical support beam 1110 and the third vertical support beam 1111.

[0069] The horizontal support beam structure in the flexible bending section 11 includes a first horizontal support beam 1112, a second horizontal support beam 1113, a third horizontal support beam 1114, and a fourth horizontal support beam 1115. A groove structure may be provided on one or both sides of the first horizontal support beam 1112, the second horizontal support beam 1113, the third horizontal support beam 1114, and the fourth horizontal support beam 1115. A third part channel 117 is located between the first horizontal support beam 1112 and the second horizontal support beam 1113; a second part channel 112 is located between the second horizontal support beam 1113 and the third horizontal support beam 1114; and a fourth part channel 118 is located between the third horizontal support beam 1114 and the fourth horizontal support beam 1115. This invention employs a vertical support beam structure (i.e., a combination of the first vertical support beam 119, the second vertical support beam 1110, and the third vertical support beam 1111) and a horizontal support beam structure (i.e., a combination of the first horizontal support beam 1112, the second horizontal support beam 1113, the third horizontal support beam 1114, and the fourth horizontal support beam 1115) arranged alternately along the axis of the main structure of the flexible bending section 11. An intermediate plate structure 32 is arranged between the first gap structure 31 and the second gap structure 33, thereby forming a vertical and horizontal interlaced bending hinge on the flexible bending section 11.

[0070] The groove structure and support beam of the flexible bending segment 11 of the multi-cavity continuum robot can be formed by cutting the multi-cavity main structure or by integral molding. The flexible bending segment 11 is formed by subtractive manufacturing or integral molding.

[0071] like Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 as well as Figure 10As shown, by driving the first drive wire 151 and the third drive wire 153 arranged in the fourth sealing protection tube 184 installed in the first drive wire channel 113 and the third drive wire channel 115 on the upper side of the stretching flexible bending section 11, the upward bending deformation of the multi-cavity continuous flexible arm 1 can be achieved.

[0072] like Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 11 as well as Figure 12 As shown, by driving the second drive wire 152 and the fourth drive wire 154 arranged inside the fourth sealing protection tube 184 installed in the second drive wire channel 114 and the fourth drive wire channel 116 located on the lower side of the flexible bending section 11, the downward bending deformation of the multi-cavity continuous flexible arm 1 can be achieved.

[0073] like Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 13 as well as Figure 14 As shown, by driving the third drive wire 153 and the fourth drive wire 154 arranged in the fourth sealing protection tube 184 installed in the third drive wire channel 115 on the upper side and the fourth drive wire channel 116 on the lower side of the flexible bending section 11 to drive the stretching section 11 backward, the bending deformation of the multi-cavity continuous flexible arm 1 to the left can be achieved.

[0074] like Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 Figure 15 as well as Figure 16 As shown, by driving the first drive wire 151 and the second drive wire 152 arranged in the fourth sealing protection tube 184 installed in the first drive wire channel 113 on the upper side and the second drive wire channel 114 on the lower side of the flexible bending section 11 to drive the stretching section 11 backward, the bending deformation of the multi-cavity continuous flexible arm 1 in the right direction can be achieved.

[0075] In summary, this invention can also be understood as follows: a multi-cavity continuous flexible arm 1 includes a flexible bending section 11, a front cap, a camera device, a drive wire, and a lighting or sensing device. The flexible bending section structure is provided with multiple channels, including multiple drive wire channels and multiple component channels; drive wires can be arranged in the drive wire channels, and various camera, lighting, sensing, or operating devices can be installed or pass through the component channels; the main body of the flexible bending section structure is arranged along the axial direction using the alternating arrangement of the first gap structure 31 and the second gap structure 33, with an intermediate plate structure 32 arranged between the first gap structure 31 and the second gap structure 33. Utilizing the combined bending hinge structure (i.e., the flexible bending section 11), combined with the design of the component channels, it is possible to achieve bending operations in both vertical and horizontal directions while reducing the structural size of the multi-cavity continuous robot. This invention's multi-cavity continuous robot can accommodate or pass through various camera, lighting, sensing, and operating devices, enabling related operations in narrow and limited surgical or other spaces.

[0076] The present invention utilizes the structural features of the first gap structure 31 and the second gap structure 33 arranged alternately, with an intermediate piece structure 32 arranged between the first gap structure 31 and the second gap structure 33. Combined with the design of the part channel, it can reduce the overall size of the continuum and the assembly, and can integrate multiple sensing and operating devices. The combined structure can achieve bending in multiple directions, enabling related operations in narrow and limited spaces or other spaces.

[0077] The present invention also provides a robot employing the aforementioned multi-cavity continuum flexible arm.

[0078] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0079] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A multi-cavity continuous flexible arm, characterized in that, Includes a flexible bending section (11), a front cap (13), and one or more working parts; The working component includes a working cable and a working head that are connected to each other; the front cap (13) is installed at one end of the flexible bending section (11), the working head is installed on the front cap (13), and the working cable passes through the front cap (13) and the flexible bending section (11). The flexible bending section (11) includes multiple intermediate sheet structures (32), multiple first gap structures (31), multiple second gap structures (33), multiple drive wires (15), multiple vertical support beam structures, and multiple horizontal support beam structures; The intermediate plate structure (32) has multiple drive wire through holes and multiple component through holes; The first gap structure (31) and the second gap structure (33) are arranged alternately in sequence, and an intermediate piece structure (32) is arranged between the first gap structure (31) and the second gap structure (33). The vertical support beam structure is located within the first gap structure (31), and the horizontal support beam structure is located within the second gap structure (33); Along the axial direction of the flexible bending section (11), the drive wire through holes opened on the plurality of intermediate sheet structures (32), the corresponding positions of the drive wire through holes in the first gap structure (31), and the corresponding positions of the drive wire through holes in the second gap structure (33) form drive wire channels; the drive wire (15) is located in the drive wire channel, and one end of the drive wire (15) is connected to the front cap (13); Along the axial direction of the flexible bending section (11), the part through holes opened on the plurality of intermediate sheet structures (32), the corresponding parts of the first gap structure (31) and the corresponding parts of the second gap structure (33) form part channels; the part channels are used to pass through working cables and / or working parts.

2. The multi-cavity continuous flexible arm according to claim 1, characterized in that, Both the vertical support beam structure and the horizontal support beam structure are integrally connected to the intermediate plate structure (32).

3. The multi-cavity continuous flexible arm according to claim 1, characterized in that, It also includes a control operation device (2); the control operation device (2) is located at the other end of the flexible bending section (11), and the drive wire (15) is connected to the control operation device (2).

4. The multi-cavity continuous flexible arm according to claim 1, characterized in that, The drive wire (15) includes a round head and a wire body, the wire body being connected to the front cap (13) through the round head.

5. The multi-cavity continuous flexible arm according to claim 1, characterized in that, It also includes a sealing protection tube (18), and the number of the sealing protection tubes (18) is multiple.

6. The multi-cavity continuous flexible arm according to claim 1, characterized in that, The working components include any one or more of the following: a camera device (14), a first lighting or sensing device (16), a second lighting or sensing device (17), or an operating device (19).

7. The multi-cavity continuous flexible arm according to claim 1, characterized in that, It also includes a channel wall structure. The first gap structure (31) and multiple second gap structures (33) are each provided with a channel wall structure. The channel wall structure corresponds to the position of the through hole of the part. The channel wall structure is integrally connected with the intermediate piece structure (32).

8. The multi-cavity continuous flexible arm according to claim 1, characterized in that, The flexible bending segment (11) is formed by subtractive manufacturing or by integral molding.

9. A robot, characterized in that, The multi-cavity continuous flexible arm according to any one of claims 1-8 is adopted.

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