Snake bone structure, flexible slender structure and flexible surgical system

Abstract

The invention relates to the technical field of medical instruments, and provides a snake bone structure, a flexible slender structure and a flexible surgical system.The snake bone structure comprises a joint, an elastic part and a control element; an elastic piece is arranged between every two adjacent joints; the elastic piece is fixedly connected with the joint; the elastic piece has elasticity; a control element channel is arranged on the joint, and the control element is arranged in the control element channel in a penetrating mode. The flexible slender structure comprises a bending section and an insertion section, the bending section is connected with the insertion section; the bent section comprises a snake bone structure; a flexible surgical system includes a trolley system, a control system, a positioning arm, an insertion arm, a guide bracket, a drive assembly, and a flexible elongate structure. According to the technical scheme, accurate control over bending of the snake bone structure and the flexible slender structure can be achieved, the consistency of the axial position is kept, the snake bone structure can be smaller in size and suitable for operation in a smaller cavity, and cost is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to the technical field of flexible medical devices, medical equipment and medical surgical robots. Background Art

[0002] Compared to traditional open surgery, minimally invasive surgery uses smaller incisions or natural orifices to deliver minimally invasive medical devices to the target surgical site. This approach results in minimal or no incisions, facilitating a faster recovery for patients and has become the preferred approach of an increasing number of doctors and patients. Because human blood vessels and natural cavities often have multiple branching nodes and are not straight, rigid surgical instruments are unable to reach certain surgical sites. Flexible surgical instruments and robotic surgical systems, due to their operational flexibility and structural compliance, are able to navigate branching nodes and tortuous paths within blood vessels and cavities to reach target locations that are inaccessible to more rigid instruments, playing an increasingly important role in the surgical market.

[0003] Existing flexible surgical instruments or flexible surgical robots usually have controllable bending sections and uncontrollable bending sections. The uncontrollable bending sections are realized by some flexible tubes, hypotubes and other tubular structures. There is no need to precisely control their bending position, and their flexibility can be adjusted as needed. The controllable bending section is generally called a snake-bone structure, or a slender support structure, which is collectively referred to as a snake-bone structure here. The controllable bending section is generally driven to bend by a control element fixed at the distal end of the snake-bone structure. Currently, the commonly used snake-bone structures include hypotube snake-bone structures, thin-walled laser-cut snake-bone structures, riveted snake-bone structures, and snake-bone structures that have appeared in recent years using super-elastic nickel-titanium alloy tubes for integral cutting. The main problems of the above-mentioned existing technologies are: the overall longitudinal (axial) length tolerance of the snake-bone structure during movement is large, resulting in poor consistency in the product's motion curve; the overall size of the snake-bone structure is large, and the outer diameter cannot be made smaller under the same inner diameter channel requirements, making it unsuitable for operations with smaller cavities; the processing is extremely difficult and the processing cost is extremely high.

[0004] Therefore, it is an urgent problem to be solved in this field to study a flexible slender structure for flexible surgical instruments or flexible surgical robots, in which the design of the controllable bending section can solve the problem of poor consistency of the motion curve of the flexible instrument, and can make the outer diameter smaller under the same inner diameter channel, while meeting the requirements of low material cost and low processing cost. Summary of the Invention

[0005] In order to solve at least one of the problems mentioned in the background technology, the present application provides a snake-bone structure, a flexible slender structure, and a flexible surgical system.

[0006] To achieve the above objectives, in a first aspect, the present application provides a snake-bone structure, comprising: a joint, an elastic member, and a control element;

[0007] An elastic member is provided between two adjacent joints; the elastic member is fixedly connected to the joint; the elastic member is elastic or superelastic; the elastic member is elastic and can be elastically deformed when subjected to external force, and returns to its original shape after the external force is released;

[0008] A control element passage is provided on the joint, and the control element passage is used to pass through the control element;

[0009] Under the traction of the control element, the bending of the snake-bone structure is achieved through the bending of the elastic member.

[0010] Furthermore: one end of the control element is connected to the distal end of the snake-bone structure, or the distal end of the snake-bone structure is fixedly connected to the head end of the external device, and one end of the control element is connected to the head end;

[0011] The other end of the control element passes through the control element passage of the snake-bone structure and is connected to a driving component of the peripheral device.

[0012] The control element moves along the control element path under the drive of the drive assembly: the control element on the side of the curved outer circle moves toward the distal end of the serpentine structure, and the control element on the side of the curved inner circle moves toward the proximal end of the serpentine structure, thereby realizing the bending of the serpentine structure.

[0013] The elastic member has elasticity or superelasticity.

[0014] Furthermore: the number of the control elements is greater than or equal to 1; the elastic member is made of superelastic nickel-titanium alloy.

[0015] Furthermore: the multiple control elements are arranged to be geometrically symmetrical, or the multiple control elements are arranged to be spaced at the same central angle.

[0016] Furthermore: the two ends of the elastic member are configured as follows:

[0017] The cross-sectional shapes of the two ends of the elastic member are circular, arc-shaped, square, triangular, elliptical, involute, serrated, polygonal, or polygonal with arc chamfers, or the two ends of the elastic member are bent to form a bent shape.

[0018] Furthermore, the control element passage is a control element slot hole opened on the joint along the length direction of the snake bone structure, and the control element is inserted into the control element slot hole;

[0019] The control element slot is configured to be: opened from one side of the joint outer wall without penetrating the joint inner wall, opened from one side of the joint inner wall without penetrating the joint outer wall, or opened between the joint outer wall and the inner wall.

[0020] Furthermore, a control element slot is formed by punching the joint to serve as the control element passage. The control element slot can be formed by punching two parallel cuts, then pressing a groove in the middle between the parallel cuts, with the groove and the outer wall forming the control element slot. Alternatively, the control element passage can be formed by gluing or welding a prefabricated part to the inner or outer wall of the joint.

[0021] Furthermore, the elastic member and the joint are connected by snap connection, snap connection plus bonding, or snap connection plus welding; a snap groove is provided on the joint to connect with both ends of the elastic member, and the snap groove matches the shape of both ends of the elastic member;

[0022] And / or, bosses or grooves are provided at both ends of the elastic member, and a structure having a shape matching the bosses or grooves is provided on the slot;

[0023] And / or, the elastic member and the slot are formed by centripetal cutting.

[0024] Furthermore: the elastic member and the joint are connected by bonding or welding;

[0025] A connecting surface is provided on the elastic member, and the connecting surface is used to connect the joint by bonding or welding.

[0026] Furthermore, the axial projection of the inner wall of the joint is a circle, a square, a rectangle, a polygon, a square with circular chamfers, or a polygon with circular chamfers; the axial projection of the outer wall of the joint is a circle, a square, a rectangle, a polygon, a square with circular chamfers, or a polygon with circular chamfers;

[0027] And / or, the upper surface of the joint is a plane, an inclined surface, a stepped surface or a curved surface; the lower surface of the joint is a plane, an inclined surface, a stepped surface or a curved surface;

[0028] When the upper surface or the lower surface of the joint is an inclined surface, the inclination angle of the inclined surface is set according to the curvature required by the axial position of the joint.

[0029] Furthermore: the elastic member is made of superelastic nickel-titanium alloy by casting, cutting, stamping, or 3D printing;

[0030] Alternatively, the elastic member is made by cold heading or winding both ends of a superelastic nickel-titanium alloy wire;

[0031] Alternatively, the elastic member is made of a spring with a core shaft.

[0032] In a second aspect, the present application further provides a flexible elongated structure comprising: a head end portion, a curved section;

[0033] The curved section includes the snake-bone structure;

[0034] The head end is fixedly connected to the distal end of the serpentine structure; one end of the control element is connected to the head end or to the distal end of the serpentine structure, and the other end of the control element passes through the control element passage of the serpentine structure and is connected to the driving component of the external device.

[0035] Further: the curved section further comprises: a woven mesh and / or an external flexible material layer;

[0036] The bending section is configured as follows:

[0037] The woven mesh is arranged outside the snake-bone structure, and the external flexible material layer is arranged outside the woven mesh;

[0038] Alternatively, the braided mesh is provided only on the outside of the snake-bone structure;

[0039] Alternatively, the outer flexible material layer is only provided on the outer side of the snake-bone structure.

[0040] Furthermore, the flexible elongated structure further comprises: an insertion section; the curved section is connected to the insertion section, and the insertion section is located at the proximal end of the flexible elongated structure relative to the curved section;

[0041] A control element sheath tube is provided in the insertion section, and the control element is inserted into the control element sheath tube;

[0042] On the control element sheath tube, a movement margin is left between a fixed position where the control element sheath tube is connected to the drive assembly and a connection point where the flexible slender structure is connected to the drive assembly.

[0043] Furthermore: the insertion section includes, from inside to outside: a clamp tube and a braided tube;

[0044] The control element sheath tube is arranged between the clamp channel tube and the braided tube; the gap between the clamp channel tube and the braided tube is larger than the outer diameter of the control element sheath tube, and the gap between the clamp channel tube and the braided tube is larger than the outer diameter of the control element sheath tube, so that the control element sheath tube can slide smoothly in the gap.

[0045] The braided tube comprises, from outside to inside: a flexible material layer and a metal braided mesh;

[0046] Or, the braided tube comprises, from outside to inside: a flexible material layer, a metal braided mesh, and a flexible material layer;

[0047] Alternatively, the braided tube comprises, from outside to inside: a flexible material layer, a metal braided mesh, and a metal spring.

[0048] The flexible material of the outer layer is Pebax (block polyetheramide resin), TPU (thermoplastic polyurethane elastomer) and other flexible materials, and the flexible material of the inner layer is PTFE (polytetrafluoroethylene), TPU, Pebax, PA (polyamide) and other flexible materials.

[0049] Furthermore, the inner cavity of the clamp channel tube forms an instrument channel, and the clamp channel tube extends to the curved section and passes through the joint of the serpentine structure.

[0050] Furthermore: in the insertion section, the distal end of the control element sheath tube is fixed to the proximal end of the bending section, and the proximal end of the control element sheath tube is fixed to the fixed position of the drive assembly, and the control element sheath tube leaves a movement margin between the fixed position of the drive assembly and the connection point where the flexible slender structure connects to the drive assembly.

[0051] Furthermore: a control element sheath tube and component wires are passed through the gap between the braided tube and the clamp channel tube;

[0052] Furthermore: the control element sheath tube is fixed on the proximal joint of the serpentine structure, or the control element sheath tube is fixed on an adapter, and the adapter is installed on the proximal joint of the serpentine structure.

[0053] In a third aspect, the present application further provides a flexible surgical system, comprising: a trolley system, a control system, a positioning arm, an insertion arm, a guide bracket, a drive assembly, and the flexible elongated structure;

[0054] The control system is arranged on the trolley system, the positioning arm is installed on the trolley system, the insertion arm is installed on the positioning arm, and the driving assembly is installed on the insertion arm, and the insertion arm can drive the driving assembly to move; the driving assembly includes an instrument box and a driving box, and the instrument box and the driving box are fixedly connected by means of clamping or the like, and a motor and a coupling are provided in the driving box; a transmission shaft and a traction wheel are provided in the instrument box, and after the instrument box and the driving box are fixedly connected, the motor in the driving box drives the transmission shaft and traction wheel in the instrument box to rotate through the coupling; the proximal end of the flexible and slender structure is fixedly connected to the instrument box, and the control element in the slender structure is connected to the traction wheel in the instrument box; the guide bracket is fixedly connected to the driving assembly, which is used to provide a direction for the movement of the flexible and slender structure, and the flexible and slender structure can move forward and backward along the guide bracket under the drive of the insertion arm.

[0055] Furthermore: a sensor is mounted on the flexible elongated structure, and the sensor is one or more of an EM sensor, an optical fiber shape sensor, and an imaging sensor;

[0056] The sensor is connected to the control system and is used to receive position information, orientation information, or shape information of the distal end of the flexible slender structure, thereby enabling the control system to position the flexible slender structure, plan its motion path, or control its bending motion.

[0057] Furthermore: the driving assembly includes: an instrument box and a driving box;

[0058] The drive box is provided with a motor and a coupling; the instrument box is provided with a transmission shaft and a traction wheel;

[0059] The flexible and slender structure is connected to the instrument box, and the instrument box is installed above the drive box; the end of the control element is connected to the traction wheel in the instrument box, and the traction wheel is connected to the motor in the drive box through the transmission shaft and the coupling. The motor rotates, thereby driving the coupling, the transmission shaft, and the traction wheel to rotate. The traction wheel drives the control element, thereby driving the bending section to perform bending motion.

[0060] Furthermore: the driving box is mounted on the insertion arm, the flexible elongated structure is mounted on the instrument box, and the instrument box is clamped with the driving box;

[0061] The movable portion on the insertion arm drives the drive box, the instrument box and the flexible and slender structure to move along its motion track, thereby enabling the flexible and slender structure to move forward and backward.

[0062] Compared with the related art, the present invention has the following advantages:

[0063] The serpentine structure provided by the first aspect of the present invention can realize precise bending and rotation control of the serpentine structure due to the provision of an elastic member fixedly connected to the joint. The connection structure of the elastic member and the joint is simple, so the size of the connection is small, and the overall thickness of the serpentine structure can be made smaller. Therefore, under the same inner diameter size, a smaller outer diameter size can be achieved, so it is suitable for a smaller cavity. At the same time, since there is no connection gap in the above-mentioned connection, the change in the longitudinal length of the serpentine during movement caused by the connection gap can be eliminated, thereby meeting the consistency of the movement curve of the serpentine structure. The control element passage can be cut directly on the joint wall, which can further reduce the wall thickness of the serpentine structure on the basis of ensuring the connection strength of the material. Ordinary materials can be used for the serpentine structure joint, and the material cost is low and the processing difficulty is small. Since the elastic member accounts for a small proportion of the material of the entire serpentine structure, the material cost of the entire serpentine structure is greatly reduced.

[0064] The flexible, elongated structure provided by the second aspect of the present invention utilizes the aforementioned serpentine structure, enabling precise bending and rotation control of the flexible, elongated structure. This allows for a smaller outer diameter, making it suitable for smaller cavities. This ensures that the flexible, elongated structure has a smaller longitudinal tolerance and meets the consistency of the motion curve. The joints of the serpentine structure can be made of common materials, resulting in lower material costs and less processing difficulty. Since the elastic member accounts for a relatively small proportion of the material in the entire flexible, elongated structure, the material cost of the entire flexible, elongated structure is significantly reduced.

[0065] The flexible surgical system provided by the third aspect of the present invention can achieve precise bending control of the flexible slender structure due to the use of the above-mentioned flexible slender structure. The flexible slender structure used has a smaller outer diameter, so it is suitable for surgery in smaller cavities. The above-mentioned serpentine structure can eliminate the change in the longitudinal length of the serpentine during movement caused by the connection gap, thereby ensuring that the flexible slender structure has a smaller longitudinal tolerance and meets the consistency of the movement curve. The joints of the serpentine structure can be made of ordinary materials, which have low material costs and low processing difficulty. Since the elastic parts account for a small proportion of the material of the entire flexible slender structure, the cost of the entire flexible surgical system is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A diagram of a typical working posture of a flexible surgical system provided by an embodiment of the present invention;

[0067] Figure 2 A schematic structural diagram of a flexible surgical system provided by an embodiment of the present invention;

[0068] Figure 3 A simplified diagram of the connection between the flexible elongated structure, the instrument box, and the drive box provided by an embodiment of the present invention;

[0069] Figure 4 A simplified diagram of a flexible elongated structure provided by an embodiment of the present invention;

[0070] Figure 5 A simplified cross-sectional view of an insertion section of a flexible, elongated structure provided in an embodiment of the present invention;

[0071] Figure 6 A simplified cross-sectional view of a curved section of a flexible, slender structure provided in an embodiment of the present invention;

[0072] Figure 7 A schematic diagram of a snake bone structure provided by an embodiment of the present invention;

[0073] Figure 8A A schematic diagram of the middle section of the snake-bone structure provided by an embodiment of the present invention;

[0074] Figure 8B A schematic diagram of a snake-bone structure joint provided by an embodiment of the present invention;

[0075] Figure 8C A schematic diagram of the connecting elastic members between the joints of the snake-bone structure provided by an embodiment of the present invention;

[0076] Figure 8D The bending state of the snake-bone structure provided by the embodiment of the present invention;

[0077] Figure 9A-1 and Figure 9A-2 It is a front view and a cross-sectional view of a hypotube cutting snake bone structure in the prior art;

[0078] Figure 9B-1 and Figure 9B-2 They are respectively a front view and a cross-sectional view of a thin-walled cutting snake bone structure in the prior art;

[0079] Figure 9C-1 This is a front view of a riveted snake-bone structure in the prior art;

[0080] Figure 9C-2 This is a cross-sectional view of a rivet in a riveted snake-bone structure of the prior art;

[0081] Figure 9D It is a thick-walled nickel-titanium alloy snake-bone structure in the prior art;

[0082] Figure 10A This is a schematic diagram of the connection between an elastic member with square structures at both ends and a joint with a square hole as a slot according to an embodiment of the present invention;

[0083] Figure 10B This is a schematic diagram of the connection between an elastic member with triangular structures at both ends and a joint with a triangular hole as a slot according to an embodiment of the present invention;

[0084] Figure 10C This is a schematic diagram of the connection between an elastic member with elliptical structures at both ends and a joint with an elliptical hole as the clamping slot according to an embodiment of the present invention;

[0085] Figure 10D This is a schematic diagram of the connection between an elastic member with sawtooth-shaped ends and a joint with a sawtooth-shaped slot according to an embodiment of the present invention;

[0086] Figure 10E This is a schematic diagram of the connection between an elastic member with boss structures at both ends and a joint with a groove in the elastic member's slot according to an embodiment of the present invention;

[0087] Figure 10F This is a schematic diagram of the connection between an elastic member with bent structures at both ends and a joint with a bent-shaped hole as a card slot according to an embodiment of the present invention;

[0088] Figure 11A This is a schematic diagram of the connection between an elastic member with long strips at both ends and a joint with a long strip-shaped slot according to an embodiment of the present invention;

[0089] Figure 11B This is a schematic diagram of the connection between a square elastic member with two butted ends and a joint according to an embodiment of the present invention;

[0090] Figure 11C A schematic diagram of the connection between an elastic member of another shape with two ends butted together and a joint according to an embodiment of the present invention;

[0091] Figure 12A-1 A three-dimensional diagram of a centripetally cut elastic member according to an embodiment of the present invention;

[0092] Figure 12A-2 A top view of a slot corresponding to a centripetally cut elastic member according to an embodiment of the present invention;

[0093] Figure 12A-3 A front view of a centripetally cut elastic member according to an embodiment of the present invention;

[0094] Figure 12B Schematic diagram of the snake-bone structure joint of the centripetal cutting slot according to an embodiment of the present invention;

[0095] Figure 12C A schematic diagram of the connection between the centripetally cut elastic member and the centripetally cut slot according to an embodiment of the present invention;

[0096] Figure 13 This is a schematic diagram of the connection between the nickel-titanium alloy wire elastic member and the snake-bone structure joint according to an embodiment of the present invention;

[0097] Figure 14A A schematic diagram of an arrangement of control element slots and wire slots according to an embodiment of the present invention;

[0098] Figure 14B Schematic diagram of another arrangement of control element slots and wire slots according to an embodiment of the present invention;

[0099] Figure 14C Schematic diagram of another arrangement of control element slots and wire slots according to an embodiment of the present invention;

[0100] Figure 14D A schematic diagram of the shape of a slot of a control element according to an embodiment of the present invention;

[0101] Figure 14E Another shape of the control element slot of the embodiment of the present invention;

[0102] Figure 15 The embodiment of the present invention is a serpentine joint with a non-circular axial projection shape of the joint outer surface;

[0103] Figure 16 The embodiment of the present invention is a serpentine joint with a non-circular axial projection shape of the inner surface of the joint;

[0104] Figure 17 A schematic diagram of a snake bone structure provided by an embodiment of the present invention, wherein the upper and lower joint surfaces of the snake bone structure are inclined surfaces;

[0105] Figure 18A A three-dimensional diagram of a snake-bone joint with inclined upper and lower surfaces according to an embodiment of the present invention;

[0106] Figure 18B This is a front view of a snake-bone joint structure with inclined upper and lower surfaces according to an embodiment of the present invention;

[0107] Figure 19A This is a schematic diagram of a snake bone structure in which the upper and lower surfaces of the snake bone structure joint are stepped surfaces according to an embodiment of the present invention;

[0108] Figure 19B-1 A three-dimensional diagram of a serpentine-bone joint with stepped upper and lower surfaces provided by an embodiment of the present invention;

[0109] Figure 19B-2 A front view of a serpentine bone structure joint provided by an embodiment of the present invention, wherein the upper and lower surfaces of the serpentine bone structure joint are stepped surfaces;

[0110] Figure 20 A cross-sectional view of a flexible elongated structure provided according to an embodiment of the present invention;

[0111] Figure 21 An enlarged cross-sectional view of a snake-bone structure segment of a flexible and slender structure provided according to an embodiment of the present invention;

[0112] Figure 22 A is a front view of a control element slot according to an embodiment of the present invention;

[0113] Figure 22 B is a cross-sectional view of the control element slot according to an embodiment of the present invention.

[0114] Figure 23A is a schematic diagram of a motion margin according to an embodiment of the present invention;

[0115] Figure 23B FIG. 4 is an enlarged diagram of the motion margin according to an embodiment of the present invention.

[0116] Description of reference numerals:

[0117] 100-Flexible Robot System 110-Insertion Arm; 120-Control System; 130-Trolley System; 160-Positioning Arm;

[0118] 2- Flexible slender structure; 201- Insertion section; 202- Bending section; 203- Head end; 205- Guide bracket; 206- Transition section; 207- Control element; 209- Instrument channel; 208- Control element sheath; 2081- Sheath tube curvature; 211- Control element slot; 2021- Intermediate joint; 2022- Distal serpentine joint; 2023- Elastic member; 2024- Proximal serpentine joint; 2025- Slot; 213- External flexible material layer; 214- Braided mesh; 216- Braided tube

[0119] 300-driving assembly; 301-instrument box; 302-driving box;

[0120] 901 - outer wall of the wire trough; 902 - wire trough; 903 - inner wall of the wire trough; 904 - rivet end one; 905 - rivet end two; 906 - rivet ear one; 907 - rivet ear two. DETAILED DESCRIPTION

[0121] To make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below. However, it should be understood that the description herein is only for explaining the present invention and is not intended to limit the scope of the present invention.

[0122] The present invention describes the various parts of the instrument box 301 according to their state in three-dimensional space. As used herein, the term "position" refers to the position of an object or a part of an object in three-dimensional space, for example, along the three translational degrees of freedom of the Cartesian coordinate system X, Y, and Z coordinates. As used herein, the term "orientation" refers to the rotational placement of an object or a part of an object, three rotational degrees of freedom, such as roll, pitch, and yaw. As used herein, the term "pose" refers to the position of an object or a part of an object in at least one translational degree of freedom, and the orientation of the object or a part of an object in at least one rotational degree of freedom. As used herein, the term "shape" refers to a set of poses, positions, or orientations measured along an object. Pitch and yaw of flexible tubular devices: the bending of a flexible tubular structure in the up and down direction is called pitch, and the bending in the left and right direction is called yaw;

[0123] Distal end, proximal end: For flexible and slender structures or instruments using flexible and slender structures, the end close to the operator is called the proximal end, and the other end away from the operator and close to the patient is called the distal end.

[0124] Longitudinal (axial): refers to the length direction of the snake bone structure.

[0125] Radial: All directions perpendicular to the longitudinal (axial) direction.

[0126] Nickel-titanium alloy: The nickel-titanium alloy material used in the present invention is a superelastic nickel-titanium alloy, which has superelasticity by controlling its composition. The control of the above composition refers to common industry techniques and will not be described in detail here.

[0127] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The characterization methods used herein can be found in the relevant descriptions in the prior art and will not be elaborated upon herein.

[0128] like Figure 1 、 Figure 2 As shown, the flexible surgical robot system includes a trolley system 130, a control system 120, a positioning arm 160, an insertion arm 110, an instrument box 301, and a drive box 302; a guide bracket 205, a flexible elongated structure 2; and a navigation system and operating system (not shown). The control system 120 has display, navigation, and control functions. The trolley system 130 is located near the patient's operating table, the control system 120 is located on the trolley system 130, the positioning arm 160 is mounted on the trolley system 130, the insertion arm 110 is mounted on the positioning arm 160, the drive box 302 is mounted on the insertion arm 110, and the flexible elongated structure 2 is mounted on the instrument box 301, which is then engaged with the drive box 302. During the surgical preparation phase, the positioning arm 160 is moved to the appropriate surgical position and the insertion arm 110 is rotated to the appropriate angle. The movable portion of the insertion arm 110 drives the drive box 302, the instrument box 301, and the flexible, slender structure 2 to move along its motion track, thereby moving the flexible, slender structure 2 forward and backward. The flexible, slender structure 2 is provided with a control element 207. The end of the control element 207 is connected to a traction wheel in the instrument box 301, which is not shown here. The traction wheel is connected to the motor in the drive box 302 through a transmission shaft and a coupling. The rotation of the motor in the drive box 302 drives the coupling, transmission shaft, and traction wheel to realize the action of the control element 207, and ultimately drives the bending section 202 of the flexible, slender structure 2 to bend according to the operator's intention. The operating system is electrically connected to the control system 120, and is used for the operator to remotely or locally operate the positioning arm 160, the insertion arm 110, and the drive box 302 to drive the flexible, slender structure 2 to move forward, backward, and bend according to the operator's desired purpose, ultimately reaching the patient's target position.

[0129] The flexible, elongated structure 2 may be equipped with sensors such as EM sensors, fiber optic shape sensors, and imaging sensors. These sensors are connected to the navigation module in the control system 120 and can receive information about the position, orientation, and shape of the distal end of the flexible, elongated structure 2 to facilitate navigation and positioning, or to plan its movement path within the patient's body. A visualization device may also be installed on the flexible, elongated structure 2 to observe images of target locations or to assist in confirming or calibrating the position of the flexible, elongated structure 2 during its movement.

[0130] When performing flexible surgical robotic surgery, the trolley system 130 is placed next to the patient's operating table and remains in a fixed position during the operation.

[0131] like Figure 3 As shown, the flexible, slender structure 2 is connected to the instrument box 301, which is installed above the drive box 302. The flexible, slender structure may include a head end 203, a curved section 202, and an insertion section 201. In some embodiments, the flexible, slender structure may not include the insertion section 201 and may directly include the curved section 202 and the head end 203. Whether the insertion section 201 is required is determined based on actual usage needs. The insertion section 201 is a non-controllable curved section, and the curved section 202 is a controllable curved section. The serpentine structure is the main structure of the curved section 202. The distal end of the control element 207 is fixedly connected to the distal end of the serpentine structure, and the proximal end of the control element 207 is connected to a traction wheel within the instrument box 301, which is not shown here. The motor in the drive box 302 rotates, driving the traction wheel in the instrument box 301 to rotate, which in turn drives the control element 207 in the flexible, elongated structure 2 to move. When the control element 207 in the flexible, elongated structure 2 moves toward the proximal end of the flexible, elongated structure 2, the distal end of the control element 207 fixed to the distal end of the serpentine structure moves toward the proximal end of the flexible, elongated structure 2, causing the serpentine structure to bend toward the control element 207. At this time, another control element 207 located in the flexible, elongated structure 2 opposite the control element 207 will also move toward the distal end of the flexible, elongated structure 2, ensuring that the serpentine structure bends smoothly to the target position. The head end 203 of the flexible, elongated structure can also be formed as an integral structure with the distal end of the serpentine structure.

[0132] Preferably, there can be multiple control elements 207. In this case, the control system 120 plans the movement of the control element 207 according to the bending angle and shape requirements, so that some control elements 207 move toward the proximal end of the flexible slender structure 2, and some control elements 207 move toward the distal end of the flexible slender structure 2, and controls the movement amount of each control element 207, thereby controlling the bending of the snake-bone structure, thereby controlling the bending of the flexible slender structure 2, but the present invention is not limited to the above settings.

[0133] like Figure 4FIG. 2 is a simplified diagram of a flexible elongated structure 2 according to an embodiment of the present invention, in which a drive assembly 300 is used instead of Figure 3 The instrument box 301 and the drive box 302 in the apparatus box 301 and the drive assembly 300 can be driven manually or by a motor, etc., and the structure can be used for manual instruments or robotic systems; the structure of the flexible and slender structure 2 includes a head end 203, an insertion section 201, a bending section 202, and a drive assembly 300. The transition position of the insertion section 201 and the bending section 202 forms a transition section 206, and the bending section 202 is a controllable bending section; the head end 203 is located at the distal end of the bending section 202 and is connected to the bending section 202. The head end 203 can also be made into an integral structure with the bending section 202; the head end 203 can also be made into an integral structure with the snake bone structure; The structure is the main structure of the bending section 202, and the control element 207 is fixedly connected to the distal end of the serpentine structure. Since the head end 203 is fixedly connected to the distal end of the serpentine structure, the control element 207 can also be connected to the head end 203; the connection between the control element 207 and the distal end of the serpentine structure can be a fixed connection method such as bonding, welding, and clamping; the number of control elements 207 is greater than or equal to 1, and can be the commonly used 2, 4, 6, 8, 10, etc., or can be designed to other numbers, such as 1, 3, 5, 7, 9, etc. The present invention is not limited to the numerical values ​​of the above examples, and other numerical values ​​not listed and within the numerical range are also applicable. The structure in this figure is 4 control elements 207; the control elements 207 pass through the control element slots 211 on the serpentine structure, and then pass through the insertion section 201 in sequence, and are connected to the drive assembly 300 at the distal end of the flexible slender structure 2.

[0134] The entire serpentine structure consists of multiple joints, which are connected by elastic members 2023. The joints of the serpentine structure are made of ordinary metal, engineering plastic, or ceramic. In special cases, superelastic materials such as nickel-titanium alloy can also be used for the joints, but superelastic materials are not very useful and are relatively expensive. Stainless steel is the best choice. Elastic members 2023 are made of elastic or superelastic materials, or materials capable of elastic bending. Nickel-titanium alloy is the best choice. Through the elastic bending deformation of elastic members 2023, the overall controllable bending of the serpentine structure is achieved. Elastic members 2023 are connected to the joints by means of clipping, clipping and bonding, clipping and welding, bonding, welding, etc. This structure not only meets the material connection strength requirements, but also reduces the outer diameter of the serpentine with the same inner diameter, thereby reducing the outer diameter of the serpentine structure and the flexible, slender structure 2 as a whole, making it suitable for smaller cavities. At the same time, because the elastic member 2023 is fixedly connected to the joint, there is no connection gap between the elastic member 2023 and the joint. The solution of the present invention can ensure a smaller longitudinal tolerance of the serpentine structure, meet the consistency of the movement curve of the serpentine structure, and thus achieve precise control of the bending of the serpentine structure. In the solution of the present invention, the fixed connection between the elastomer and the joint can ensure a smaller longitudinal tolerance of the serpentine structure, and better meet the consistency of the movement curve of the serpentine structure. Because the serpentine structure joints are processed or molded separately, the processing cost of the serpentine structure joints is relatively low, the processing difficulty is low, and the yield rate is high. The main material of the serpentine structure is ordinary materials such as stainless steel, and the material cost is relatively low. The serpentine structure elastic member 2023 is an elastic or superelastic material, but because the material proportion of the elastic member 2023 in the entire serpentine structure is relatively small, the material cost of the entire serpentine structure is very low.

[0135] Compared to solutions that insert elastic bodies into the serpentine structure to maintain its elasticity, the elastic bodies in these solutions only function to restore the serpentine to its original shape after the bending is released. Each elastic body in the present invention is fixedly connected to only two adjacent joints. When the control element is pulled, the elastic body bends in the direction of the control element's pull due to the force applied, thereby achieving the bending of the serpentine in the direction of the control element's pull. After the control element's pulling force is released, the elastic body returns to its original shape after the external force is released, thereby achieving the restoration of the serpentine structure. While achieving the bending of the serpentine, the elastic body in the present invention maintains the distance between the joints of the serpentine unchanged, thereby ensuring that the overall longitudinal length of the serpentine does not change during movement. In the structure where elastic bodies are inserted into the serpentine structure, each elastic body passes through all the joints on the serpentine. The elastic body has no limiting effect on the longitudinal position of the joints and cannot ensure that the relative positions of adjacent joints do not change.

[0136] A control element sheath tube 208 is provided in the insertion section 201. The control element sheath tube 208 is a flexible tube that provides a separate passage for each control element 207, thereby preventing the control element 207 from being squeezed and rubbed against the outer braided tube 216 of the insertion section 201, the internal clamp channel tube, other control elements, video element wires, sensor wires, etc., thereby reducing the movement resistance of the control element; the number of control element sheath tubes 208 is consistent with the number of control elements 207; the distal end of the control element sheath tube 208 is fixed to the transition section 206 of the flexible and slender structure, and the proximal end of the control element sheath tube 208 is fixed to the fixed position of the drive assembly 300. At the same time, the control element sheath tube 208 leaves a certain amount of movement margin between the fixed position of the drive assembly 300 and the connection point where the flexible and slender structure 2 is connected to the drive assembly 300; Figure 23A 、 23B As shown, the fixed position refers to the position where the control element sheath tube 208 is fixed on the fastener (usually a bolt) in the instrument box 301, and the connection point refers to the position where the flexible slender structure 2 is connected to the instrument box 301. The movement margin is set between the fixed position and the connection point. The above example uses the drive assembly 300 including the drive box 302 and the instrument box 301 as an example. It can be understood that the present invention is not limited to the above example and can also be other drive assemblies 300 as long as the driving method of the present invention is realized. The gap between the braided tube 216 and the clamp tube needs to be slightly larger than the outer diameter of the control element sheath tube 208 so that the control element sheath tube 208 can slide smoothly in the above gap; when the insertion section 201 is bent, the lengths of the control element sheath tube 208 at the inner and outer circles of the bending position are inconsistent. The inner circle control element sheath tube 208 is short, and the outer circle control element sheath tube 208 is long. At this time, a movement margin is reserved at the fixing point of the control element sheath tube 208 and the drive assembly 300. Sleeve 208 can slide toward the bend, maintaining its overall length at its front and rear fixed ends. Similarly, the excess length of the inner control element sheath 208 at the bend moves toward the remaining allowance at the fixed location of the drive assembly 300, ensuring its overall length remains constant. The overall length of control element sheath 208 remains constant, and the length of control element 207 within control element sheath 208 remains unchanged. This ensures that the insertion section 201 does not affect control element 207 during bending, thereby ensuring the consistency of the bending motion of the bending section 202. The dotted line in the figure represents the instrument channel 209 formed by the clamp channel tube.

[0137] To accurately control the bending angle of the serpentine structure by paying out or taking up the length of the control element 207, the prerequisite is that the length of the control element sheath tube 208 must be fixed. If the length of the control element sheath tube 208 changes, the length of the control element 207 within the control element sheath tube 208 will also change. This change will affect the actual paying out or taking up length of the control element 207 in the serpentine structure section, ultimately affecting the serpentine bending angle and reducing the control accuracy of the serpentine structure bending. The factor causing the length of the control element sheath tube 208 to change is that when the insertion section 201 bends, the sides of the control element sheath tube 208 in different directions have different curvatures (for example, the side at the outer circle of the bend has a larger curvature). The control element sheath tube 208 on the side with the larger curvature may be stretched, resulting in inconsistent lengths of the control element sheath tube 208 in different directions. This, in turn, causes the actual paying out or taking up length of the control element 207 at the serpentine to be inconsistent with the paying out or taking up length at the drive section. The solution adopted by the present invention is to fix both ends of the control element sheath tube 208 and keep the total length unchanged. The control element sheath tube 208 can slide freely in the gap between the braided tube 216 and the clamp tube. A certain amount of movement margin is left between the fixed position of the control element sheath tube 208 at the drive assembly 300 and the connection point where the flexible slender structure 2 connects to the drive assembly 300. When the insertion section bends, by releasing the above-mentioned movement margin, the control element sheath tube 208 on the side with the larger curvature will slide from the proximal end to the bend, ensuring that the total length of the control element sheath tube 208 remains unchanged. The above-mentioned movement margin can be achieved by changing the state of the control element sheath tube 208 at the proximal fixed position from a curve to a straight line, for example, Figure 23A 、 Figure 23B As shown, a sheath tube curvature 2081 is formed distally of the fixed position between the control element sheath tube 208 and the drive assembly 300, providing a motion margin. The required slippage amount can be less than or equal to the length margin created by the curvature. This will not be described in detail here. The present invention is not limited to the above-described method; any method that achieves the motion margin is acceptable. Similarly, the control element sheath tube 208 on the side with less curvature can slide toward the proximal fixed position, increasing its motion margin. This motion margin should be greater than the required slippage amount. The present invention is not limited to the above-described method; any method that ensures that the control element sheath tube 208 maintains a fixed length is acceptable.

[0138] Figure 5This is a simplified cross-sectional view of the insertion section 201 of the flexible slender structure 2 according to an embodiment of the present invention. The insertion section 201 is a non-controllable bending section of the flexible slender structure. The insertion section 201 includes a braided tube 216 and a clamp channel tube from the outside to the inside, and an instrument channel 209 is formed in the clamp channel tube. The control element sheath tube 208, the video element and the sensor wire all pass through the gap between the braided tube 216 and the clamp channel tube; the insertion section 201 can maintain a certain axial rigidity and bendability as a whole, and can also adjust the axial rigidity and bendability at different positions of the insertion section 201 according to the requirements of axial rigidity and bendability at different positions. Generally, the axial rigidity and bendability at different positions are adjusted by the rigidity of the braided tube 216. Figure 5 As shown, the braided tube 216 is generally composed of three layers: an outer layer made of a flexible material such as Pebax or TPU, a middle layer of a metal braided mesh, and an inner layer made of a flexible material such as PTFE, TPU, Pebax, or PA. The outer layer of the braided tube 216 can also be sprayed with a wear-resistant coating to reduce friction between the outer layer and the human body's cavities. The inner layer can also be made of a metal spring structure; the inner layer is optional. The axial rigidity and flexibility of the braided tube 216 can be adjusted at different locations by adjusting the hardness of different sections of the outer layer, the density of the metal braided mesh, the shape and size of the braided wires, and the hardness of the inner layer. The gap between the braided tube 216 and the clamp channel tube needs to be slightly larger than the outer diameter of the control element sheath tube 208 and the wire to ensure that the control element sheath tube 208 and the wire can slide reliably in the path when the flexible slender structure 2 is bent; the gap between the braided tube 216 and the clamp channel tube can also be filled with flexible material, and a movement channel for the control element sheath tube 208 and the wire is left to ensure that the control element sheath tube 208 and the wire can slide smoothly when the flexible slender structure 2 is bent; ensuring the smooth sliding of the control element sheath tube 208 can effectively prevent the flexible slender structure from bending. The control element sheath tube 208 at different locations is inconsistent in length at the bend, causing the control element sheath tube 208 to be compressed at the inner circle of the bend and stretched at the outer circle, resulting in inconsistent overall lengths of the control element sheath tube 208 at different locations. This variation in the length of the control element sheath tube 208 at different locations causes the length of the control element 207 therein to vary, ultimately leading to inconsistent bending motion of the bend section 202. The smooth sliding of the control element sheath tube 208 prevents this inconsistency. The smooth sliding of the wire prevents the wire from being excessively compressed at the inner circle and excessively stretched at the outer circle when the flexible, slender structure 2 bends. Excessive compression can cause the wire to bend and become easily damaged, while excessive stretching can cause the wire to unexpectedly break, ultimately disconnecting the power to the video element or sensor element or preventing it from receiving signals.

[0139] The number of control elements 207 and control element sheath tubes 208 can be determined according to needs, and is usually 2 or 4. This figure shows 4. The number and position of the wires are determined according to specific needs.

[0140] Figure 6 This is a simplified cross-sectional view of a curved section 202 of a flexible, elongated structure 2 according to one embodiment of the present invention. This section 202 is a controllable bendable section, providing controllable bending, enabling instruments to reach the target area on the patient. Curved section 202 comprises, from the inside to the outside, a clamp channel tube, a serpentine structure, a support braid 214, and an outer flexible material layer 213. The lumen of the clamp channel tube forms an instrument channel 209, through which surgical instruments can pass to reach the target location on the patient at the distal end of the flexible, elongated structure. A small or no gap can exist between the clamp channel tube and the serpentine structure. The serpentine structure is designed with a control element passageway and a wire channel for a video element or sensor to ensure smooth movement of the control element 207 and the catheter during bending. The control element passageway and the catheter channel should be slightly larger than the size of the control element 207 and the wire, respectively, to prevent limited movement of the control element 207 and the wire during bending, which could result in control failure of the control element 207 or damage to the wire due to excessive compression or stretching.

[0141] The distal end of the control element 207 is fixedly connected to the distal end of the serpentine structure. Under the control of the drive assembly 300, the control element 207 moves along the control element slot 211 designed in the serpentine structure. Because the distal end of the control element 207 is fixedly connected to the distal end of the serpentine structure, when the control element 207 moves toward the proximal end of the elongated flexible structure 2, the distal end of the control element 207 fixed to the distal end of the serpentine structure moves toward the proximal end of the flexible elongated structure, causing the serpentine structure to bend toward the control element 207. At this time, another control element 207 located opposite the control element 207 within the flexible elongated structure will move toward the distal end of the flexible elongated structure, ensuring that the serpentine structure bends smoothly to the target position. The head end 203 of the flexible elongated structure can also be integrally formed with the distal end of the serpentine structure. The number of control elements 207 can be determined as needed, with two or four being common. This figure shows four. The number and specific location of the wires can be determined as needed.

[0142] Movement of the control element 207 toward the proximal end of the elongated flexible structure 2 can be achieved by the drive assembly 300 contracting the control element 207. Movement of the control element 207 toward the distal end of the elongated flexible structure 2 can be achieved by the drive assembly 300 extending the control element 207, for example, by rotating the traction wheel forward or backward to extend or contract the control element 207. However, the present invention is not limited to the above-described methods; any method that achieves movement of the control element 207 toward the proximal end or distal end of the elongated flexible structure 2 is sufficient.

[0143] The braided mesh 214 can enhance the axial rigidity of the curved section 202 and enable the snake-bone structure to return to its original state after the snake-bone structure is released from bending, thereby increasing the resilience of the snake-bone structure after the snake-bone structure is released from bending. The braided mesh 214 is not a necessary layer.

[0144] The outer flexible material layer 213 seals the curved section 202 and reduces friction between the snake-bone structure and the human body. In applications where friction and sealing are not required, the outer flexible material layer is not essential. The outer flexible material also facilitates the recovery of the snake-bone structure after release from bending.

[0145] After the control element 207 is released, the elastic member 2023 itself has elasticity or superelasticity. When the external force on the elastic member 2023 is released, the elastic member 2023 returns to its original shape, and the snake-bone structure returns to its original shape, thereby accurately controlling the recovery of the snake-bone structure after the bending is released.

[0146] Figure 7 This is a simplified diagram of the snake-bone structure of the curved section 202 of the flexible slender structure 2 of an embodiment of the present invention. The snake-bone structure includes joints and elastic members 2023. The joints include: a distal snake-bone joint 2022, an intermediate joint, and a proximal snake-bone joint 2024. The distal snake-bone joint 2022 is connected to the head end 203 of the snake-bone structure, and the distal snake-bone joint 2022 can also replace the head end 203. The proximal snake-bone joint 2024 is located in the transition section 206 of the flexible slender structure. The control element sheath tube 208 is fixedly installed at the proximal snake-bone joint 2024 by bonding, welding or clamping, and can also be fixedly installed by an adapter. At the proximal serpentine joint 2024, the control element sheath tube 208 is installed on the adapter; the control element 207 is fixedly connected to the distal serpentine joint 2022. The connection between the control element 207 and the distal end of the serpentine structure can be a fixed connection method such as bonding, welding, or clamping. The number of control elements 207 can be two or four, which is common, or it can be designed to be another number. The structure in this figure shows four control elements 207. The control element 207 passes through the slots in the serpentine structure and then through the control element sheath tube 208 of the insertion section 201, and is connected to the drive assembly 300 at the distal end of the flexible, slender structure. It will be understood that the various joints in the serpentine structure can be processed into the same or different structures based on their longitudinal position and bending curvature requirements. The above-mentioned distal serpentine joint 2022, intermediate joint, and proximal serpentine joint 2024 are only used to facilitate the description of their positions and are not intended to limit the present invention.

[0147] The entire snake-bone structure consists of multiple joints, connected by elastic members 2023. The snake-bone joints are made of standard metal, engineering plastic, or ceramic. In special cases, superelastic materials such as nickel-titanium alloys can also be used, but superelastic materials are less effective and more expensive, making stainless steel the optimal choice. Elastic members 2023 are made of elastic or superelastic materials, or materials capable of elastic bending, with superelastic nickel-titanium alloys being the optimal choice. Through the elastic bending deformation of elastic members 2023, the overall controllable bending of the snake-bone structure is achieved. Elastic members 2023 are connected to the joints through methods such as snap-fitting, snap-fitting and bonding, snap-fitting and welding, bonding, or welding. This structure not only ensures sufficient material connection strength, but also allows for a smaller snake-bone outer diameter while maintaining the same inner diameter. Furthermore, the absence of gaps eliminates variations in the longitudinal length of the snake-bone during movement, thereby ensuring a consistent snake-bone motion curve. Because the snake-bone joints can be fabricated through machining, injection molding, or metal injection molding, the cost and difficulty of manufacturing the snake-bone joints are low. The main material of the snake-bone structure is common materials such as stainless steel, which has a low material cost. The elastic member 2023 of the snake-bone structure is made of elastic or superelastic material. However, since the elastic member 2023 accounts for a small proportion of the material of the entire snake-bone structure, the material cost of the entire snake-bone structure is very low.

[0148] The snake-bone joints are provided with slots 2025, control element passages, and wire passages. The slots 2025 are connected to the elastic member 2023. The joints of the snake-bone structure can be identical, or different joints can be used to connect them to meet actual needs. The connection process needs to ensure that the control element slots 211 and the wire slots are unobstructed. Adjacent joints in the figure are identical, but adjacent joints can also be designed with different structures, as long as the opening positions of the control element slots 211 and the wire slots are consistent. Figure 8A The middle elastic members 2023 are positioned relative to each other, with the pair of elastic members 2023 between the joint and the joint below being rotated 90 degrees relative to the pair of elastic members 2023 between the joint and the joint above. It is understood that two pairs of elastic members 2023 can also be provided, for example, arranged at 90 degrees from each other, but the present invention is not limited to such a configuration. The number of elastic members 2023 is preferably 1-10, more preferably 2-4. Due to the elastic or superelastic nature of the elastic members 2023, their number can be adjusted as needed, but excessive numbers of elastic members 2023 would increase unnecessary cost and complexity in manufacturing.

[0149] like Figure 8AAs shown in FIG-D, the elastic member 2023 is provided with circular structures at both ends. Circular slots 2025 are provided at the connection points of two adjacent joints. The circular structures at both ends of the elastic member 2023 engage with the circular slots 2025 of the two adjacent joints, respectively. The circular structures of the elastic member 2023 and the circular slots 2025 of the joints cooperate to secure the longitudinal position of the serpentine structure. The circular structures at both ends of the elastic member 2023 can also be designed as square, triangular, elliptical, involute, or sawtooth shapes, or with bosses or grooves to further enhance the secure engagement. The ends can also be designed with curved shapes. These shapes ensure that the structures at both ends of the elastic member 2023 and the slots 2025 of the joints do not rotate relative to each other after engagement. Therefore, bonding or welding is not required after engagement. The axial position is secured by the engagement, while the radial position (along the radial direction) is secured by the inner clamping tube and the outer braided mesh 214 or the outer flexible structure. Of course, the two ends of the elastic member 2023 and the corresponding positions of the joint can also be clamped together and then fixedly connected by bonding, welding, riveting, etc., to further ensure that the radial position of the elastic member 2023 and the joint remains unchanged. At the same time, the fixed connection methods such as bonding and welding can also ensure the consistency of the axial length of the snake-bone structure, prevent the slight axial displacement caused by the clamping gap, and better ensure the consistency of the axial length of the snake-bone structure. The shape of the clamping part can also be a shape that can be improved by all workers in this field based on the technical solution of the present invention. The connection between the elastic member 2023 and the joint can also be directly connected by bonding, welding or other fixing methods without clamping, such as the connection method or docking method designed for the joint of the elastic member 2023 and the joint to be long strip-shaped; in this case, the slot 2025 can be omitted on the joint, and the width and shape of the elastic member 2023 can be adjusted as needed, including all other shapes that can be thought of by all workers in this field based on the technical solution of the present invention. The connection method between the above-mentioned elastomer and the joint in the solution provided by the embodiment of the present invention has the following advantages compared with the structure of connecting two adjacent joints with a hinge structure: the hinge method will produce a gap at the connection due to the mutual rotation at the connection, and the connection gap will cause the longitudinal length of the snake bone to change during the movement of the snake bone, and cannot accurately guarantee the consistency of the axial length of the snake bone; on the other hand, the elastomer 2023 of the present invention can provide bending in any direction, while each pair of hinges can only provide bending in two fixed directions.

[0150] The snake-bone structure joints do not need to be deformed, and can be made of ordinary materials such as metal, engineering plastics or ceramics. In special cases, the joints can also be made of superelastic materials such as nickel-titanium alloys, but the selection of superelastic materials here is not very meaningful and the cost is relatively high. The best choice is stainless steel. The elastic member 2023 is an elastic or superelastic material or a material that can achieve elastic bending function. The best choice is superelastic nickel-titanium alloy. The overall controllable bending of the snake-bone structure is achieved through the elastic bending deformation of the elastic member 2023. The elasticity of the elastic member 2023 can ensure that the snake-bone structure bends according to the expected motion curve under the action of tension when it is pulled by the control element 207. At this time, the shape of the snake-bone structure joint does not change, and the elastic member 2023 elastically bends under the action of tension. Figure 8D ; When the tension is released, the shape of the elastic member 2023 returns to its initial state; the elastic member 2023 is connected to the joint by means of snapping, snapping and bonding, snapping and welding, bonding, welding, etc. Since the connection between the elastic member 2023 and the joint here only needs to be fixed by simple snapping or snapping and welding or bonding, the snapping position structure is simple, and its radial dimension can be very small. Compared with riveting, laser cutting of snake bone structure, etc., the size of the connection is smaller, the overall thickness can be smaller, and the control element slot 211 and the wire slot can be directly cut out on the snake bone structure wall, so the structure can meet the material connection strength and reduce the outer diameter of the snake bone under the same inner diameter. At the same time, because it has no connection gap, the change in the longitudinal length of the snake bone during movement caused by the connection gap can be eliminated, thereby meeting the consistency of the snake bone structure movement curve. Because the snake bone structure joint is processed or molded separately, compared with the thick-walled snake bone structure directly cut by nickel titanium, the snake bone structure joint has a lower processing cost and less processing difficulty. The main material of the snake-bone structure is common materials such as stainless steel, which has a low material cost. The elastic member 2023 of the snake-bone structure is made of elastic or superelastic material. However, since the elastic member 2023 accounts for a small proportion of the material of the entire snake-bone structure, the material cost of the entire snake-bone structure is very low.

[0151] Figures 9A-9D illustrate prior art serpentine structures. A comparison with the prior art demonstrates the significant advantages of the present invention's serpentine structure. Commonly used serpentine structures include hypotube serpentines, thin-walled laser-cut serpentines, and riveted serpentines. Furthermore, the recently introduced serpentine structure, which utilizes a single-piece cut from a superelastic nickel-titanium alloy tube, is also a popular choice. While hypotube serpentines, thin-walled laser-cut serpentines, and riveted serpentines are often constructed from stainless steel, offering low material costs, these serpentine structures present unresolved challenges. While hypotube serpentines offer superior bending and recovery performance, their uncontrollable longitudinal deformation length prevents their use in surgical robotic systems requiring precise control. Thin-walled laser-cut serpentines offer lower material and processing costs, but their connection strength relies on the centripetal cut surface, resulting in lower connection strength and limited use in disposable devices. Furthermore, the presence of gaps between the serpentine's engaging surfaces causes variations in the longitudinal length of the serpentine during movement, resulting in poor product motion curve consistency. While riveted serpentine structures are more expensive to manufacture than thin-walled laser-cut serpentine structures, they offer superior connection strength and are often used in reusable devices. However, due to the rotational play of the rivets, riveted serpentine structures also suffer from large longitudinal length tolerances and poor product motion curve consistency. Another issue with hypotube serpentine structures, thin-walled laser-cut serpentine structures, and riveted serpentine structures is their large overall size, making it impossible to achieve a smaller outer diameter while maintaining the same inner diameter. The superelastic nickel-titanium alloy tube is integrally cut into a serpentine structure, and its overall longitudinal tolerance is controllable, with good motion consistency. The elastic nickel-titanium alloy serpentine structure is further divided into thin-walled serpentine structure and thick-walled serpentine structure. The thin-walled serpentine structure requires the control element slots to be pressed out or installed separately. The pressed out or separately installed slots result in a larger radial dimension, making it impossible to reduce the outer diameter. The slots of the thick-walled nickel-titanium alloy serpentine structure are directly machined on the serpentine structure wall, but because the slots run through the entire serpentine structure, the entire slot needs to be cut out in one piece, and the slot size is small. The ratio of the slot depth to the slot diameter is too large, resulting in very high processing difficulty and extremely high processing costs. Another key issue with the nickel-titanium alloy serpentine structure is the high material cost, which is several hundred yuan for a single serpentine structure.

[0152] Figure 9A-1 and Figure 9A-2 These are the front and top views of the hypotube cutting snake bone structure; Figure 9B-1 and Figure 9B-2They are respectively the front view and top view of a thin-walled cut serpentine structure of the prior art. The sea-wave tube serpentine structure, the thin-walled laser-cut serpentine structure, and the riveted serpentine structure mostly use stainless steel materials, and the material cost is low, but the serpentine structure has unsolvable problems. The sea-wave tube serpentine structure has good bending and recovery performance, but because its longitudinal deformation length cannot be controlled, it cannot be used in a surgical robot system that requires precise control. The thin-walled laser-cut serpentine structure has low material and processing costs, but its clamping position must meet both relative rotation and clamping requirements. The shape design of the clamping position is relatively complex, and some positions are subject to greater force, and its connection strength is guaranteed by the adjacent cutting surfaces of the parts, resulting in low connection strength and can only be used in disposable devices. In addition, since there is a gap between the clamping surfaces formed by the cutting of the serpentine structure, the gap causes the longitudinal length of the serpentine to change during movement, resulting in poor consistency in the serpentine movement curve. Another problem with the sea wave tube snake bone structure and the thin-walled laser-cut snake bone structure is that the wire groove of the control element 207 needs to be pressed out on the thin wall or installed separately. The thickness of the wire groove on one side includes the outer wall, the wire groove, and the inner wall from the outside to the inside. The overall thickness is relatively large, and the outer wall of the snake bone itself needs to ensure a certain thickness to meet its stiffness and strength requirements. It needs to have a certain thickness, so the outer diameter of the snake bone structure cannot be made smaller.

[0153] Figure 9C-1 This is a front view of a riveted snake-bone structure in the prior art. Figure 9C-2 This is a cross-sectional view of the rivet of a riveted snake-bone structure in the prior art. The processing cost of the riveted snake-bone structure is relatively high compared to the thin-walled laser-cut snake-bone structure, but its connection strength is high and it is usually used in reusable instruments. Due to the existence of the rivet rotation gap, the riveted snake-bone structure also has the problem of large overall longitudinal length tolerance and poor consistency of the product motion curve. In addition, the riveted part of the riveted snake-bone structure is relatively thick. The overall thickness includes the riveted end 1, riveted ear 1, riveted ear 2, and riveted end 2. A gap must be left between the riveted ear 1 and the riveted end 1 and riveted ear 2 to ensure smooth rotation of the riveted part. The structure of the riveted snake-bone structure means that the outer diameter of the riveted snake-bone structure cannot be made smaller under the same clamp tube size.

[0154] The superelastic nickel-titanium alloy tube is integrally cut into a serpentine structure, which has a controllable overall longitudinal tolerance and good movement consistency. The elastic nickel-titanium alloy serpentine structure is divided into thin-walled serpentine structure and thick-walled serpentine structure. The thin-walled serpentine structure requires the extrusion or separate installation of the threading groove of the control component, resulting in its outer diameter being unable to be made smaller, just like the laser-cut stainless steel serpentine structure. The slots of the thick-walled nickel-titanium alloy serpentine structure are directly milled or cut out on the serpentine structure wall, but because the slots run through the entire serpentine structure, they need to be cut out in one piece, and the slot size is small, and the ratio of the slot depth to the slot aperture is large, resulting in very high processing difficulty and extremely high processing cost. Another key problem with the nickel-titanium alloy serpentine structure is the high material cost, which costs several hundred yuan for a single serpentine structure. Figure 9D It is a thick-walled nickel-titanium alloy snake-bone structure in the prior art. The snake-bone structure is formed by integrally machining and cutting a pipe. The wire groove of the control element 207 is milled or cut out on the entire snake-bone structure. Since the length of the snake-bone structure is tens of millimeters, the wall thickness of the snake-bone structure is relatively thin, the aperture of the slot on the snake is sub-millimeter, and the depth of the slot reaches tens of millimeters. The ratio of the slot depth to the slot aperture exceeds 100, resulting in great processing difficulty and extremely high processing cost. In addition, due to the high cost of nickel-titanium alloy materials, the material cost of this type of snake-bone structure is extremely high. In addition to the high material cost, the thin-walled nickel-titanium alloy cut snake-bone structure in the prior art also has the same problem as the thin-walled stainless steel cut snake-bone structure, that is, the size of the wire groove is large, resulting in the inability to reduce the radial size of the snake-bone structure and the outer diameter of the snake-bone structure.

[0155] Compared with the related art, the connection between the elastic member 2023 of the present invention and the joint only needs a simple clamping or clamping plus welding or bonding and other fixing methods to fix it. The clamping position structure is simple, and its radial dimension can be made very small. Compared with riveting, laser cutting of serpentine bone structures, etc., the size of the connection is smaller, the overall thickness can be made smaller, and the control element slot 211 and the wire slot can be directly cut out on the serpentine bone structure wall, so the structure can not only meet the material connection strength, but also make the outer diameter of the serpentine bone structure smaller under the same inner diameter size. At the same time, because it has no connection gap, it can eliminate the change in the longitudinal length of the serpentine bone during movement caused by the connection gap, and meet the consistency of the serpentine bone structure movement curve. Because the serpentine bone structure joint can be made by machining, casting, injection molding, metal injection molding, etc., compared with the thick-walled serpentine bone structure directly cut from nickel-titanium alloy, the processing cost of the serpentine bone structure joint is lower and the processing difficulty is less. The main material of the serpentine bone structure is ordinary materials such as stainless steel, and the material cost is relatively low. The elastic member 2023 of the snake-bone structure is made of elastic or superelastic material. However, since the elastic member 2023 accounts for a relatively small proportion of the material of the entire snake-bone structure, the material cost of the entire snake-bone structure is very low.

[0156] The connection form between the serpentine structure joint and the elastic part 2023 can be diversified. The radial projection of the end face of the elastic part 2023 can be various shapes such as square, elliptical, triangular, involute, serrated, etc., and a boss or groove structure can be added to its structure for the purpose of clamping. The two ends of the elastic part 2023 can also use a bending structure; in addition to clamping, the connection can also be strengthened or radially limited by welding, bonding, riveting, etc. Figures 10A-10F Schematic diagram of different snap-in forms of the embodiment provided by the present invention, wherein: Figure 10A This is a schematic diagram of a connection joint in which the elastic member 2023 with square structures at both ends and the slot 2025 with square holes according to an embodiment provided by the present invention; Figure 10BThis is a schematic diagram of a connection joint in which the elastic member 2023 with triangular structures at both ends and the clamping slot 2025 with triangular holes according to an embodiment of the present invention; Figure 10C This is a schematic diagram of a connection joint in which the elastic member 2023 with elliptical structures at both ends and the slot 2025 with elliptical holes according to an embodiment provided by the present invention; Figure 10D This is a schematic diagram of a connection joint in which the elastic member 2023 with sawtooth shapes at both ends and the slot 2025 with sawtooth holes according to an embodiment of the present invention; Figure 10E Schematic diagram of the connection between the elastic member 2023 with boss structures at both ends and the joint with grooves in the slot 2025 according to an embodiment of the present invention; the elastic member 2023 may also be modified to have groove structures at both ends and the joint with boss structures in the slot 2025, which is not shown here; Figure 10F The elastic member 2023 with bending structures at both ends and the slot 2025 of the embodiment provided according to the present invention are schematic diagrams of the connection of the bending-shaped hole joint; the elastic member 2023 with involute-shaped structures at both ends is not shown in the figure here, and this shape and other connection shapes and other bending structures that workers in this field can associate with according to the present invention are all included in the scope of protection of the present invention.

[0157] The connection between the elastic member 2023 and the joint can be directly connected by bonding, welding or other fixing methods instead of clamping. Figure 11A This is a schematic diagram of the connection between the long elastic member 2023 without clamping at both ends and the joint according to an embodiment provided by the present invention. Figure 11A The elastic member 2023 is designed to be connected to the joint in a long strip-shaped manner or a docking manner; at this time, the elastic member 2023 slot may not be designed on the joint, and the width and shape of the elastic member 2023 may be adjusted as needed, including all shapes that can be thought of by the staff in this field based on the inspiration of this patent. Figure 11B This is a schematic diagram of the connection between a square elastic member 2023 with two ends butted against each other and a joint according to an embodiment of the present invention; Figure 11C This is a schematic diagram of the connection between an elastic member 2023 of another shape with two ends butted together and a joint according to an embodiment provided by the present invention;

[0158] The connection between the elastic member 2023 and the joint can also be directly connected by butt joint, and the connection method includes bonding, welding or other fixing methods. Figure 11B The square elastic member 2023 and the joint are connected; the width and shape of the elastic member 2023 can be adjusted as needed, such as Figure 11CThe elastic member 2023 structure shown is wide on both sides and narrow in the middle. The connection width at its end is larger than that of the square elastic member 2023, and the area of ​​the connection surface is also larger, so the stability of the connection can be increased; the connection method of the elastic member 2023 and the joint is not as firm as the snap-on connection method; the shape of the elastic member 2023 can include all shapes that can be thought of by the staff in this field based on the inspiration of the technical solution of the present invention.

[0159] The connection surface between the elastic member 2023 and the joint can also be made into an oblique cutting mode, such as centripetal cutting, which is the best connection method; FIG12A is a schematic diagram of the centripetal cutting elastic member 2023 according to an embodiment provided by the present invention; the elastic member 2023 is cut from a nickel-titanium alloy material with the same outer diameter and thickness as the snake bone structure, and the elastic member 2023 is cut centripetally, and its connection surface with the joint is an oblique surface; the joint is made of ordinary materials such as stainless steel, and the slot 2025 on the joint corresponding to the elastic member 2023 is also cut centripetally. Figure 12B Schematic diagram of the snake-bone structure joint of the centripetally cut slot 2025 according to an embodiment of the present invention; Figure 12C Schematic diagram of the connection between the joint of the centripetally cut elastic member 2023 and the centripetally cut slot 2025 according to an embodiment provided by the present invention. Cutting is divided into vertical cutting and centripetal cutting; centripetal cutting is a method of processing parts for tubular materials. During cutting, the extension line of the tool always points to the central axis of the tube. Centripetal cutting makes the two non-cut surfaces of the part inconsistent in size. The side surface on the outside of the tube is larger, and the side surface on the inside of the tube is relatively smaller. When viewed from the radius of the center of the part, the cutting surface is inclined, which prevents the elastic member installed on the joint from moving toward the central axis of the tube. Laser cutting is commonly used.

[0160] Because of the beveled cutting surface, centripetal cutting prevents the elastic part from moving toward the center axis of the snake when only snapping together without gluing or welding. Furthermore, using the same outer diameter tubing to cut the joint and elastic part ensures that their outer surfaces are aligned and smoother after connection, despite the different materials.

[0161] The centripetal cutting can ensure the smooth consistency of the inner and outer surfaces of the serpentine structure, and can also increase the connection surface between the elastic member 2023 and the joint, thereby increasing the connection strength. At the same time, it can limit the position of the elastic member 2023 in the axial direction and the inward radial direction of the serpentine structure. FIG12A is a schematic diagram of the centripetal cutting of the elastic member 2023 according to an embodiment of the present invention. Figure 12B Schematic diagram of the snake-bone structure joint of the centripetally cut slot 2025 according to an embodiment of the present invention; Figure 12CA schematic diagram of the connection between the joint of the centripetally cut elastic member 2023 and the centripetally cut slot 2025 according to the embodiment provided by the present invention; similarly, the planar elastic member 2023 can also maintain the centripetal connection with the joint of the serpentine structure through an oblique cutting similar to the centripetal cutting, and a schematic diagram is not given here; the elastic member of the present invention is not limited to centripetal cutting, and a vertical cutting method can also be used.

[0162] The elastic part 2023 can also be replaced by a superelastic nickel-titanium alloy wire. When a direct connection is adopted, the two ends of the nickel-titanium alloy wire are directly connected to the snake-bone structure joint by bonding, welding or other fixing methods. The two ends of the nickel-titanium alloy wire can also be made into a snap-fit ​​shape like the elastic part 2023 mentioned above by cold heading or winding or other processing methods, and then fixedly connected by snap-fitting at both ends, or snap-fitting plus bonding, welding or other methods. Or the nickel-titanium alloy wire can be directly wound into the shape of the elastic part 2023 listed above. The elastic part 2023 can also be made of a spring with a core shaft, the core shaft ensures the longitudinal position of the snake-bone structure, and the spring realizes the elastic deformation of the elastic part 2023, etc. The core shaft is a flexible metal wire. The elastic part 2023 of the present invention is connected to the snake-bone structure of the joint. The elastic part 2023 is an elastic material or elastic structure. It can bend when deformed by force and can return to its original state after the force is released.

[0163] Figure 13 This is a schematic diagram of the connection between a nickel-titanium alloy wire elastic member 2023 and a serpentine joint according to an embodiment of the present invention. The control element slot 211 in the serpentine joint can be positioned near the joint's outer wall, near the joint's inner wall, or passing between the outer and inner walls, as needed. The guide wire slot can also be positioned near the joint's outer wall, near the joint's inner wall, or passing between the outer and inner walls. The distribution of the guide wire slots can also differ from the arrangement of the control element 207 slots. The number of slots of the control element 207 is arranged as needed, usually 2 or 4, but not limited to the above values. The position arrangement of the control element 207 can be asymmetrical, but the optimal state is symmetrical, which can facilitate the control of the drive component 300. When it is set to be asymmetrical, the control system 120 can calculate the movement of the drive components 300 at different positions, and control the drive components 300 separately to achieve precise control of the bending; in Figure 10, there are 4 control element slots 211, and they are evenly arranged along the circumference; the number of wire slots is arranged according to the number of wires of the video element and the sensor element, and the position arrangement of the wires can be adjusted as needed; the shape of the slots can be arc, square or other shapes, as long as it can ensure the smooth sliding of the control element 207 and the wires; not all cases are listed here.

[0164] Figure 12C Schematic diagram of the connection between the centripetal elastic member 2023 and the centripetal slot 2025 according to an embodiment of the present invention;

[0165] Similarly, the planar elastic member 2023 can also be maintained in centripetal engagement with the serpentine structure joint by an oblique cut similar to the centripetal cut, a schematic diagram of which is not shown here;

[0166] The position of the control element slot 211 on the serpentine structure joint can be set as needed at a position close to the outer wall of the joint, close to the inner wall of the joint, or passing through the middle of the outer wall and the inner wall. The position of the slot of the wire can also be set at the outer wall of the joint, close to the inner wall of the joint, or passing through the middle of the outer wall and the inner wall; the distribution position of the slot of the wire can also be inconsistent with the arrangement of the slot of the control element 207. The number of slots of the control element 207 is arranged as needed, usually 2 or 4. The position arrangement of the control element 207 can be asymmetrical, but the optimal state is symmetrical, which can facilitate the control of the drive component 300; in Figure 10, there are 4 control element slots 211, and they are evenly arranged along the circumference; the number of wire slots is arranged according to the number of wires of the video element and the sensor element, and the position arrangement of the wires can be adjusted as needed; the shape of the slot can be arc, square or other shapes, as long as it can ensure the smooth sliding of the control element 207 and the wire; the present invention is not limited to the above settings. Figure 14A This is an arrangement of the control element slot 211 and the wire slot according to an embodiment of the present invention; in this arrangement, the control element slot 211 is opened on the outer wall and does not pass through the inner wall. Figure 14B This is another arrangement of the control element slot 211 and the wire slot according to an embodiment of the present invention; the control element slot 211 is opened between the inner and outer walls. Figure 14C This is a third arrangement of the control element slot 211 and the wire slot according to the embodiment provided by the present invention; the control element slot 211 is opened on one side of the inner wall and does not pass through the outer wall. Figure 14D The shape of the slot of the control element 207 according to the embodiment provided by the present invention; Figure 14E This is another slot shape of the control element 207 according to an embodiment of the present invention. The above shape is only an example and is not intended to limit the present invention. The shape of the control element slot 211 can be designed as needed, as long as it meets the requirements of workability and strength.

[0167] The axial projection shapes of the outer and inner surfaces of the snake-bone joint can be designed to be non-circular. Figure 15 and Figure 16 The snake-bone structure joints are respectively non-circular in outer surface and non-circular in axial (length direction) projection of inner surface according to the embodiments provided by the present invention; the snake-bone structure joints can also be designed into other shapes, that is, other shapes that can be inspired by the imagination of the staff in this field through this patent. Figure 15 According to an embodiment of the present invention, the outer surface of the snake bone structure joint is non-circular; Figure 16 According to an embodiment of the present invention, the inner surface of the snake bone structure joint is non-circular;

[0168] The upper and lower surfaces of the serpentine joint can be designed as flat surfaces, inclined surfaces, stepped surfaces, or other non-flat surfaces. The upper and lower surfaces are viewed from the front view (radial direction). The terms "upper" and "lower" are used for ease of description. It is understood that for a single joint, "upper" and "lower" can be interchanged, and are not intended to limit the present invention.

[0169] Figure 17 A schematic diagram of a snake bone structure according to an embodiment of the present invention wherein the upper and lower surfaces of the snake bone structure joint are inclined surfaces;

[0170] The joints of the snake-bone structure can be designed with inclined surfaces to ensure the fit between two adjacent joints during bending. The angle of the inclined surface can be adjusted according to the specific needs of bending. The angles of the upper and lower surfaces can be inconsistent, or one surface can be inclined and the other flat. The inclined surfaces at different positions can be designed with different angles to meet the bending curvature requirements of different positions of the snake-bone structure. Figure 18B A snake-bone structure joint with inclined upper and lower surfaces according to an embodiment of the present invention; Figure 19A FIG19B is a schematic diagram of a serpentine bone structure according to an embodiment of the present invention, wherein the upper and lower surfaces of the serpentine bone structure joint are stepped surfaces; FIG19A is a schematic diagram of a serpentine bone structure according to an embodiment of the present invention, wherein the upper and lower surfaces of the serpentine bone structure joint are stepped surfaces; Figure 20 This is a cross-sectional view of a flexible, slender structure according to some embodiments. The clamp channel is hidden to allow for a clearer view of the serpentine structure. The upper and lower surfaces of the serpentine joint are inclined, the ends of the elastic member 2023 are rounded, and the control element slot 211 is located on the outer wall of the serpentine joint. The serpentine structure is wrapped with a woven mesh 214, which provides enhanced axial support and facilitates recovery after bending and release. The outer layer of the mesh 214 is a flexible material coating, which can be attached to the outer layer of the mesh 214 through heat shrinkage, expansion release, or rheological methods. This coating enhances recovery after bending and release and provides a seal for the serpentine structure. The proximal serpentine joint 2024 is located in the transition section 206 of the flexible, slender structure. The control element sheath 208 is fixedly connected to the proximal serpentine joint 2024, providing a passage for the control element 207. Figure 21 is an enlarged cross-sectional view of a snake-bone structure segment of a flexible elongated structure according to some embodiments. Figure 21 Schematic diagram of a snake-bone joint structure according to an embodiment of the present invention, wherein the upper and lower surfaces of the snake-bone joint are inclined surfaces. The upper and lower surface structures of the present invention are not limited to the above forms and can be configured as needed.

[0171] like Figure 22As shown, another embodiment of the present invention is to use a thinner material to make the elastic part 2023 and the joint, and the wall thickness is equivalent to the thickness of the thin-walled nickel-titanium alloy snake-bone structure or the cut sea wave tube, or the cut stainless steel tube snake-bone structure. At this time, the control element slot 211 can be directly pressed out on the joint wall. The advantage of this is that the snake-bone structure relies on the elastic deformation of the elastic material or the elastic part 2023 to achieve the bending of the snake-bone structure to the target position, and the snake-bone structure joint is still made of ordinary stainless steel. On the one hand, the longitudinal consistency of the nickel-titanium alloy as a whole cut thin-walled snake-bone structure can be achieved. At the same time, because the joint uses ordinary stainless steel material, the material cost is saved. Moreover, the control element slot 211 can also be directly pressed out on the joint wall. The nickel-titanium alloy snake-bone structure is difficult to press out the control element slot 211 on the snake-bone structure wall due to its rebound resilience during processing. The stainless steel joint solves this problem well. The method of stamping the control element slot 211 is to first punch out two parallel incisions, and press out a groove from the middle position of the joint between the parallel incisions to form the control element slot 211, as shown in FIG. Figure 22 The extruded groove and the outer portion of the rectangle enclosed by the two flat cuts together form the control element slot 211. The direction of the extruded groove can be from the outer wall side of the joint to the inside or from the inner wall side to the outside, preferably from the outer wall side to the inside, so that a joint with a smaller outer diameter can be manufactured, such as Figure 22 .

[0172] In order to further understand the present invention, the present invention will be further described in detail below with reference to the relevant drawings and in combination with the best embodiments.

[0173] Example 1

[0174] A snake-bone structure comprising: a joint, an elastic member 2023 and a control element 207;

[0175] An elastic member 2023 is provided between two adjacent joints; the elastic member 2023 is fixedly connected to the joint; the elastic member 2023 is elastic and can be elastically deformed when subjected to external force, and can return to its original shape after the external force is released;

[0176] A control element passage is provided on the joint, and the control element passage is used to pass the control element 207;

[0177] Under the traction of the control element 207 , the bending of the serpentine structure is achieved through the bending of the elastic member 2023 .

[0178] Furthermore: the elastic member 2023 has superelasticity; the elastic member 2023 is made of superelastic nickel-titanium alloy.

[0179] Superelasticity refers to the phenomenon that a strain far greater than the elastic limit strain is generated under the action of an external force, and the strain can automatically recover when unloading.

[0180] Furthermore: one end of the control element 207 is connected to the distal end of the snake-bone structure, or the distal end of the snake-bone structure is fixedly connected to the head end 203 of the external device, and one end of the control element 207 is connected to the head end 203;

[0181] The other end of the control element 207 passes through the control element passage of the snake-bone structure and is connected to the external drive component 300.

[0182] The control element 207 moves along the control element path under the drive of the drive assembly 300: the control element 207 on the curved outer circle side moves toward the distal end of the serpentine structure, and the control element 207 on the curved inner circle side moves toward the proximal end of the serpentine structure, thereby realizing the bending of the serpentine structure.

[0183] Furthermore: the number of the control elements 207 is greater than or equal to 1; for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, etc., but the present invention is not limited to the above specific examples, and also includes other values ​​not shown within the above numerical range.

[0184] Furthermore, the multiple control elements 207 are arranged to be geometrically symmetrical, or the multiple control elements 207 are arranged to be spaced at the same central angle.

[0185] Furthermore: the control element passage is a control element slot 211 opened on the joint along the length direction of the snake bone structure, and the control element 207 is inserted into the control element slot 211;

[0186] The control element slot 211 is configured to be: opened from one side of the joint outer wall without penetrating the joint inner wall, opened from one side of the joint inner wall without penetrating the joint outer wall, or opened between the joint outer wall and the inner wall. Methods for forming the control element slot 211 include but are not limited to milling, laser cutting, grinding, etc.

[0187] Furthermore, a control element slot 211 is formed by punching the joint as the control element passage. The method of punching the control element slot 211 is to first punch out two parallel cuts, and then press out a groove from the middle position of the joint between the parallel cuts, thereby forming the control element slot 211. Figure 22 The extruded groove and the outer portion of the rectangle enclosed by the two flat cutouts together form the control element slot 211. The extruded groove can be oriented inward from the joint's outer wall or outward from the inner wall, preferably inward from the outer wall, allowing for the manufacture of joints with smaller outer diameters. Alternatively, the control element passage can be formed by gluing or welding a prefabricated part to the inner or outer wall of the joint.

[0188] Furthermore, the connection between the elastic member 2023 and the joint is by snap connection, snap connection plus bonding, or snap connection plus welding; a snap groove 2025 is provided on the joint to connect with both ends of the elastic member 2023, and the shape of the snap groove 2025 matches that of the two ends of the elastic member 2023;

[0189] And / or, bosses or grooves are provided at both ends of the elastic member 2023, and a structure with a matching shape is provided on the slot 2025;

[0190] And / or, the elastic member 2023 and the locking slot 2025 are formed by centripetal cutting.

[0191] Furthermore: the two ends of the elastic member 2023 are configured as follows:

[0192] The cross-sectional shapes of both ends of the elastic member 2023 are circular, arc-shaped, square, triangular, elliptical, involute, serrated, polygonal, or polygonal with arc chamfers, or both ends of the elastic member 2023 are bent to form a bent shape.

[0193] Furthermore: the connection between the elastic member 2023 and the joint is by bonding or welding;

[0194] A connection surface is provided on the elastic member 2023 , and the connection surface is used to connect the joint by bonding or welding.

[0195] Furthermore, the axial projection of the inner wall of the joint is a circle, a square, a rectangle, a polygon, a square with circular chamfers, or a polygon with circular chamfers; the axial projection of the outer wall of the joint is a circle, a square, a rectangle, a polygon, a square with circular chamfers, or a polygon with circular chamfers;

[0196] And / or, the upper surface of the joint is a plane, an inclined surface, a stepped surface or a curved surface; the lower surface of the joint is a plane, an inclined surface, a stepped surface or a curved surface;

[0197] When the upper surface or the lower surface of the joint is an inclined surface, the inclination angle of the inclined surface is set according to the curvature required by the axial position of the joint.

[0198] When the upper surface and the lower surface of the joint are inclined surfaces, the inclination angles of the inclined surfaces are set according to the curvature required for the axial position of the joint.

[0199] Furthermore: the elastic member 2023 is made of superelastic nickel-titanium alloy by casting, cutting, stamping, or 3D printing;

[0200] Alternatively, the elastic member 2023 is made by cold heading or winding both ends of a superelastic nickel-titanium alloy wire;

[0201] Alternatively, the elastic member 2023 is made of a spring with a core shaft.

[0202] Example 2

[0203] Based on Example 1, the present application further provides a flexible elongated structure, comprising: a head end portion 203, a curved section;

[0204] The curved section includes the snake-bone structure;

[0205] The head end portion 203 is fixedly connected to the distal end of the serpentine structure; one end of the control element 207 is connected to the head end portion 203 or to the distal end of the serpentine structure, and the other end of the control element 207 passes through the control element passage of the serpentine structure and is connected to the external drive component 300.

[0206] Furthermore: the curved section further comprises: a woven mesh 214 and / or an outer flexible material layer 213;

[0207] The bending section is configured as follows: the woven mesh 214 is arranged on the outside of the snake-bone structure, and the external flexible material layer 213 is arranged on the outside of the woven mesh 214;

[0208] Alternatively, the braided mesh 214 is only provided on the outside of the snake-bone structure, without the external flexible material layer 213;

[0209] Alternatively, only the outer flexible material layer 213 is provided on the outer side of the snake-bone structure, without the woven mesh 214 .

[0210] As needed, only the snake-bone structure may be used without providing the outer flexible material layer 213 and the woven mesh 214 .

[0211] Furthermore: the flexible elongated structure further comprises: an insertion section; the curved section is connected to the insertion section, and the insertion section is located at the proximal end of the flexible elongated structure 2 relative to the curved section;

[0212] A control element sheath tube 208 is provided in the insertion section, and the control element 207 is inserted into the control element sheath tube 208;

[0213] On the control element sheath tube 208 , a movement margin is left at the distal end of the fixed position where the control element sheath tube 208 is connected to the drive assembly 300 .

[0214] Furthermore: the insertion section includes from the inside to the outside: a clamp channel tube, and / or a braided tube 216;

[0215] The control element sheath tube 208 is disposed between the clamp channel tube and the braided tube 216 ; a gap between the clamp channel tube and the braided tube 216 is larger than an outer diameter of the control element sheath tube 208 .

[0216] The braided tube 216 comprises, from outside to inside: a flexible material layer and a metal braided mesh;

[0217] Alternatively, the braided tube 216 comprises, from outside to inside: a flexible material layer, a metal braided mesh, and a flexible material layer;

[0218] Alternatively, the braided tube 216 includes, from outside to inside: a flexible material layer, a metal braided mesh, and a metal spring.

[0219] The flexible material of the outer layer is Pebax, TPU or other flexible materials, and the flexible material of the inner layer is PTFE, TPU, Pebax, PA or other flexible materials.

[0220] Furthermore, the inner cavity of the clamp channel tube forms an instrument channel 209, and the clamp channel tube extends to the curved section and passes through the joint of the serpentine structure.

[0221] Furthermore, in the insertion section 201 , the distal end of the control element sheath tube 208 is fixed to the proximal end of the bending section 202 , and the proximal end of the control element sheath tube 208 is fixed to a fixed position of the drive assembly 300 .

[0222] Furthermore, a control element sheath tube 208 and component wires are passed through the gap between the braided tube 216 and the clamp channel tube; and the space between the braided tube 216 and the clamp channel tube outside the component sheath tube and component wires is filled with flexible material.

[0223] Furthermore, the control element sheath tube 208 is fixed on the proximal serpentine joint 2024 , or the control element sheath tube 208 is fixed on an adapter, and the adapter is installed on the proximal serpentine joint 2024 .

[0224] Example 3

[0225] Based on Example 2, the present application further provides a flexible surgical system, comprising: a trolley system 130, a control system 120, a positioning arm 160, an insertion arm 110, a guide bracket 205, a drive assembly 300, and the flexible elongated structure 2;

[0226] The control system 120 is arranged on the trolley system 130, the positioning arm 160 is installed on the trolley system 130, the insertion arm 110 is installed on the positioning arm 160, the drive assembly 300 is installed on the insertion arm 110, and the guide bracket 205 is fixedly connected to the drive assembly 300 to provide support for the flexible slender structure 2. The flexible slender structure 2 can move forward and backward along the guide bracket 205.

[0227] Furthermore: a sensor is installed on the flexible elongated structure 2, and the sensor includes: an EM sensor and an optical fiber shape sensor;

[0228] The sensor is connected to the control system 120 and is used to receive position information, orientation information, or shape information of the distal end of the flexible slender structure 2 , thereby enabling the control system 120 to position the flexible slender structure 2 , plan its motion path, or control its bending motion.

[0229] Furthermore: the driving assembly 300 includes: an instrument box 301 and a driving box 302;

[0230] The instrument box 301 and the drive box 302 are fixedly connected, and a motor and a coupling are provided in the drive box 302; a transmission shaft and a traction wheel are provided in the instrument box 301, and the motor in the drive box 302 drives the transmission shaft and the traction wheel in the instrument box 301 to rotate through the coupling; the proximal end of the flexible slender structure 2 is fixedly connected to the instrument box 301, and the control element 207 in the flexible slender structure 2 is connected to the traction wheel.

[0231] The flexible, slender structure 2 is connected to the instrument box 301, which is mounted above the drive box 302. The end of the control element 207 is connected to the traction wheel in the instrument box 301. The traction wheel is connected to the motor in the drive box 302 via the transmission shaft and the coupling. The rotation of the motor drives the coupling, the transmission shaft, and the traction wheel. The traction wheel drives the control element 207, thereby driving the bending section 202 to perform bending motion. Furthermore, the drive box 302 is mounted on the insertion arm 110, and the flexible, slender structure 2 is mounted on the instrument box 301. The instrument box 301 and the drive box 302 are engaged.

[0232] The movable portion on the insertion arm 110 drives the driving box 302 , the instrument box 301 and the flexible slender structure to move along its motion track, thereby enabling the flexible slender structure 2 to move forward and backward.

[0233] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A snake-bone structure, characterized in that: include: Joints, elastic members (2023) and control elements (207); An elastic member (2023) is provided between two adjacent joints; the elastic member (2023) is fixedly connected to the joint; the elastic member (2023) is elastic and can be elastically deformed when subjected to an external force, and can return to its original shape after the external force is released; A control element passage is provided on the joint, and the control element passage is used to pass the control element (207); Under the traction of the control element (207), the bending of the elastic member (2023) is achieved to realize the bending of the snake-bone structure.

2. The snake bone structure according to claim 1, characterized in that: One end of the control element (207) is connected to the distal end of the snake-bone structure, or the distal end of the snake-bone structure is fixedly connected to the head end (203) of the external device, and one end of the control element (207) is connected to the head end (203); The other end of the control element (207) passes through the control element passage of the snake-bone structure and is connected to the external drive assembly (300).

3. The snake bone structure according to claim 1, characterized in that: The elastic member (2023) is made of superelastic nickel-titanium alloy.

4. The snake bone structure according to claim 1, characterized in that: The control element passage is a control element slot (211) opened on the joint along the length direction of the snake bone structure, and the control element (207) is inserted into the control element slot (211); The control element slot (211) is configured to be: opened from one side of the joint outer wall without penetrating the joint inner wall, opened from one side of the joint inner wall without penetrating the joint outer wall, or opened between the joint outer wall and the inner wall.

5. The snake bone structure according to claim 1, characterized in that: The control element passage is formed by punching a control element slot (211) on the joint, or by bonding or welding a prefabricated part on the inner wall or outer wall of the joint.

6. The snake bone structure according to claim 1, characterized in that: The elastic member (2023) is connected to the joint by snap connection, snap connection plus bonding, or snap connection plus welding; a snap groove (2025) is provided on the joint and connected to both ends of the elastic member (2023); the snap groove (2025) matches the shape of both ends of the elastic member (2023); And / or, bosses or groove structures are provided at both ends of the elastic member (2023), and a structure with a shape matching the bosses or grooves is provided on the clamping slot (2025); And / or, the elastic member (2023) and the clamping slot (2025) are formed by centripetal cutting.

7. The snake bone structure according to claim 1, characterized in that: The elastic member (2023) is connected to the joint by bonding or welding; A connection surface is provided on the elastic member (2023), and the connection surface is used to connect the joint by bonding or welding.

8. The snake bone structure according to claim 1, characterized in that: The axial projection of the inner wall of the joint is a circle, a square, a rectangle, a polygon, a square with circular chamfers, or a polygon with circular chamfers; the axial projection of the outer wall of the joint is a circle, a square, a rectangle, a polygon, a square with circular chamfers, or a polygon with circular chamfers; And / or, the upper surface of the joint is a plane, an inclined surface, a stepped surface or a curved surface; the lower surface of the joint is a plane, an inclined surface, a stepped surface or a curved surface; When the upper surface or the lower surface of the joint is an inclined surface, the inclination angle of the inclined surface is set according to the curvature required by the axial position of the joint.

9. A flexible elongated structure, characterized in that: include: A head end portion (203), a curved section; The curved section comprises a snake-bone structure as described in any one of claims 1 to 8; The head end portion (203) is fixedly connected to the distal end of the serpentine structure; one end of the control element (207) is connected to the head end portion (203) or to the distal end of the serpentine structure, and the other end of the control element (207) passes through the control element passage of the serpentine structure and is connected to the external drive component (300).

10. The flexible elongated structure according to claim 9, characterized in that: The curved section further comprises: a woven mesh (214) and / or an outer flexible material layer (213); The bending section is configured as follows: The woven mesh (214) is arranged outside the snake-bone structure, and the external flexible material layer (213) is arranged outside the woven mesh (214); Alternatively, the braided mesh (214) is provided only on the outside of the snake-bone structure; Alternatively, the outer flexible material layer (213) is only provided on the outer side of the snake-bone structure.

11. The flexible elongated structure according to claim 9, wherein: The flexible elongated structure (2) further comprises: an insertion section (201); the curved section is connected to the insertion section (201), and the insertion section (201) is located at the proximal end of the flexible elongated structure (2) relative to the curved section; A control element sheath tube (208) is provided in the insertion section (201), and the control element (207) is inserted into the control element sheath tube (208); The control element sheath tube (208) has a movement margin between the fixed position where the control element sheath tube (208) is connected to the drive assembly (300) and the connection point where the flexible slender structure (2) is connected to the drive assembly (300).

12. The flexible elongated structure according to claim 11, characterized in that: The insertion section (201) comprises, from the inside to the outside: a clamp channel tube and a braided tube (216); The control element sheath tube (208) is arranged between the clamp channel tube and the braided tube (216); the gap between the clamp channel tube and the braided tube (216) is larger than the outer diameter of the control element sheath tube (208); The braided tube (216) comprises, from outside to inside: a flexible material layer and a metal braided mesh; Alternatively, the braided tube (216) comprises, from outside to inside: a flexible material layer, a metal braided mesh, and a flexible material layer; Alternatively, the braided tube (216) comprises, from outside to inside: a flexible material layer, a metal braided mesh, and a metal spring.

13. A flexible surgical system, characterized in that: include: A trolley system (130), a control system (120), a positioning arm (160), an insertion arm (110), a guide bracket (205), a drive assembly (300), and a flexible elongated structure (2) according to any one of claims 9 to 12; The control system (120) is arranged on the trolley system (130), the positioning arm (160) is installed on the trolley system (130), the insertion arm (110) is installed on the positioning arm (160), the driving assembly (300) is installed on the insertion arm (110), and the guide bracket (205) is fixedly connected to the driving assembly (300) to provide support for the flexible slender structure (2). The flexible slender structure (2) can move forward and backward along the guide bracket (205).

14. The flexible surgical system according to claim 13, wherein: The driving assembly (300) comprises an instrument box (301) and a driving box (302), wherein the instrument box (301) and the driving box (302) are fixedly connected, and a motor and a coupling are provided in the driving box (302); a transmission shaft and a traction wheel are provided in the instrument box (301), and the motor in the driving box (302) drives the transmission shaft and the traction wheel in the instrument box (301) to rotate through the coupling; the proximal end of the flexible slender structure (2) is fixedly connected to the instrument box (301), and the control element (207) in the flexible slender structure (2) is connected to the traction wheel.

15. The flexible surgical system according to claim 13, wherein: A sensor is installed on the flexible elongated structure (2), wherein the sensor comprises one or more of an EM sensor, an optical fiber shape sensor, and an imaging sensor; The sensor is connected to the control system (120) and is used to receive position information, orientation information, or shape information of the far end of the flexible slender structure (2), thereby enabling the control system (120) to perform positioning, motion path planning, or bending motion control on the flexible slender structure (2).

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