Robot system

Abstract

The present disclosure relates to a robotic system comprising a surgical device and a first trolley, the surgical device comprising: a flexible tool comprising an arm body and at least one magnetic element disposed on the arm body; the surgical tool comprises a tool arm and a tail end instrument arranged at the tail end of the tool arm; the first trolley comprises a first trolley main body, a first moving arm and a mounting platform, the mounting platform comprises a first mounting seat, a second mounting seat, a first driving device and at least one second driving device, the first mounting seat is fixedly connected with the far end of the first moving arm, and the near end of the second mounting seat is connected with the far end of the first mounting seat around a first rotating axis; the first driving device is mounted on the first mounting seat, the axis of the first driving device coincides with the first rotation axis, the first driving device is configured to be connected with an arm body of the flexible tool, and the at least one second driving device is mounted on the second mounting seat and configured to be connected with a tool arm of at least one surgical tool.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and more particularly to a robotic system. Background Technology

[0002] Endoscopic minimally invasive surgery is performed without exposing the lesion through open surgery. The endoscopic device reaches the target location through incisions in blood vessels or skin, or through the body's existing cavities, and is guided by surgical navigation to diagnose or treat the lesion locally. It is characterized by minimal trauma and rapid recovery.

[0003] Endoscopic minimally invasive surgery is mainly divided into rigid endoscopy and flexible endoscopy. Compared with rigid endoscopy, which is either entirely inflexible or only partially flexible at the distal end, flexible endoscopy can adapt to complex and tortuous body cavities and is less likely to cause damage to human tissues during intervention. In recent years, it has been widely used for the diagnosis and treatment of cavities such as the respiratory tract, digestive tract, urinary tract, and spinal cavities. However, currently used flexible endoscopes generally have problems such as low motion control precision and the need for operators and patients to be exposed to radiation from imaging equipment for extended periods during surgery. In addition, because the arm of a flexible endoscope is flexible and bendable, when surgical instruments are extended from the distal end of the arm to perform surgical operations, the arm is difficult to support the surgical instruments and may even vibrate or shift with the movement of the surgical instruments, thereby affecting the surgical outcome and introducing surgical risks. Summary of the Invention

[0004] In some embodiments, this disclosure provides a robotic system comprising: a surgical apparatus, the surgical apparatus including: a flexible tool, the flexible tool including an arm and at least one magnetic element, the at least one magnetic element being disposed on the arm for constraining at least a portion of the arm to the inner wall of a cavity under the action of at least one external magnetic field; and at least one surgical instrument, the surgical instrument including a tool arm and an end effector, the tool arm being configured such that at least a distal portion rests within a surgical instrument channel penetrating the arm, the end effector being disposed at the end of the tool arm; and a first cart for carrying the surgical apparatus, the first cart including: a first cart body; a first motion arm, the proximal end of the first motion arm being connected to the first... A vehicle body is connected; a mounting platform is included, comprising a first mounting base, a second mounting base, a first drive device, and at least one second drive device. The first mounting base is fixedly connected to the distal end of a first moving arm, and the proximal end of the second mounting base is rotatably connected to the distal end of the first mounting base about a first rotation axis. The first drive device is mounted on the first mounting base and its axis coincides with the first rotation axis. The first drive device is configured to be connected to the arm of a flexible tool for driving the arm to move within a cavity. At least one second drive device is mounted on the second mounting base and configured to be connected to the tool arm of at least one surgical tool for driving the tool arm to move and / or driving the end-effector to perform surgical operations. Attached Figure Description

[0005] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0006] Figure 1A This diagram illustrates the structure of a robot system according to some embodiments of the present disclosure; Figure 1B A schematic diagram of the structure of a surgical apparatus according to some embodiments of the present disclosure in a surgical setting is shown; Figure 2 This diagram illustrates a flexible tool within a cavity according to some embodiments of the present disclosure; Figure 3 This diagram illustrates the structure of a flexible tool according to some embodiments of the present disclosure; Figure 4 This diagram illustrates the structure of a magnetic sleeve according to some embodiments of the present disclosure; Figure 5 This diagram illustrates the structure of an intermediate bending section according to some embodiments of the present disclosure; Figure 6 A partial structural schematic diagram of a flexible tool according to some embodiments of the present disclosure is shown; Figure 7 A schematic diagram of the distal structure of the arm body according to some embodiments of the present disclosure is shown; Figure 8 A schematic diagram of the proximal structure of the arm body according to some embodiments of the present disclosure is shown; Figure 9 This diagram illustrates the structure of a flexible tool according to some embodiments of the present disclosure; Figure 10 This diagram illustrates the structure of a surgical tool according to some embodiments of the present disclosure; Figure 11 Schematic diagrams of robot systems according to some embodiments of the present disclosure are shown; Figure 12 A schematic diagram of the structure of an installation platform according to some embodiments of the present disclosure is shown; Figure 13A A schematic diagram illustrating the ready state of an installation platform according to other embodiments of the present disclosure; Figure 13B A schematic diagram showing the folded state of the mounting platform according to other embodiments of the present disclosure; Figure 14 A schematic diagram of the structure of a first driving device according to some embodiments of the present disclosure is shown; Figure 15 A schematic diagram of a second vehicle according to some embodiments of the present disclosure is shown; Figure 16 A schematic diagram of a third vehicle according to some embodiments of the present disclosure is shown. Detailed Implementation

[0007] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0008] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional mapping relationships based on the orientation or positional mapping relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0009] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0010] In the description of this disclosure, the term "position" refers to the location of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom can be described using variations in Cartesian X, Y, and Z coordinates, such as three translational degrees of freedom along the Cartesian X, Y, and Z axes, respectively). In the description of this disclosure, the term "attitude" refers to the rotational setting of an object or part of an object (e.g., three rotational degrees of freedom, which can be described using roll, pitch, and yaw). In the description of this disclosure, the term "pose" refers to a combination of the position and attitude of an object or part of an object, which can be described, for example, using six parameters from the six degrees of freedom mentioned above.

[0011] In this disclosure, the end closer to the operator (e.g., a surgeon) is defined as the proximal end, proximal or rear end, or posterior end, and the end opposite to the proximal end, proximal or rear end, or posterior end is defined as the distal end, distal or anterior end, or anterior end. Alternatively, the end closer to the person being operated on (e.g., a surgical patient) is defined as the distal end, distal or anterior end, or anterior end, and the end opposite to the distal end, distal or anterior end, or anterior end is defined as the proximal end, proximal or rear end, or posterior end. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0012] In this disclosure, the pose of the flexible tool's arm body refers to the pose of the end-effector coordinate system relative to a reference coordinate system (e.g., the arm body base coordinate system or the world coordinate system). In this disclosure, the pose of the arm body can include the pose of the end-effector. In this disclosure, the position of the end-effector can be the three-dimensional coordinates of the end-effector in the arm body base coordinate system, cavity coordinate system, or world coordinate system, and the orientation of the end-effector can be its orientation or direction of movement. In this disclosure, the motion trajectory of the arm body refers to the trajectory traversed by the end-effector of the arm body as it moves from one pose or configuration to another. In this disclosure, the configuration of the arm body can be represented by a set of joint parameters or joint values ​​(e.g., a matrix composed of these joint parameters or joint values) of multiple segments or multiple segments included in the arm body when the arm body is in that configuration. In this disclosure, the joint parameters or joint values ​​indicate the angle of rotation of the corresponding segment or joint relative to the corresponding segment axis or joint axis, or the distance moved relative to the initial position.

[0013] Figure 1A This diagram shows a schematic representation of the structure of a robot system 1 according to some embodiments of the present disclosure. Figure 1B The accompanying drawings illustrate the structure of a surgical device 10 according to some embodiments of the present disclosure in a surgical setting. In this disclosure, at least a portion (e.g., a distal portion) of the surgical device mounted on a robotic system can enter a body cavity (e.g., the spinal canal, trachea, esophagus, intestine, vagina, etc.) through an opening (e.g., an incision or a natural opening) to perform endoscopic diagnosis and treatment. It should be noted that, although the accompanying drawings illustrate the robotic system and its mounted surgical device using spinal endoscopic surgery (e.g., epidural endoscopic surgery or percutaneous endoscopic discectomy) as examples, the robotic system and its mounted surgical device are not limited to spinal endoscopic surgery and can also be used for other endoscopic surgeries, such as various transoral endoscopic surgeries.

[0014] In some embodiments, such as Figure 1A As shown, the robotic system 1 may include surgical devices (e.g., Figure 1A and Figure 1B The surgical device 10 shown or Figure 11The surgical apparatus 2100 shown) and the first vehicle for mounting the surgical apparatus (e.g., Figure 1A The first car shown is 20 or Figure 11 The first vehicle shown is 2200). Surgical device 10 may include flexible tools (e.g., Figure 1A and Figure 1B The flexible tool shown is 11. Figure 2 The flexible tool 210 shown Figure 3 The flexible tool 310 shown Figure 6 The flexible tool 600 shown Figure 9 The flexible tool 900 shown Figure 11 The flexible tool 2110 shown) and at least one surgical tool (e.g., Figure 1A and Figure 1B Surgical tool 14 shown Figure 10 The surgical instrument shown is 1000 or Figure 11 The surgical instrument 2120 shown). The first vehicle 20 may include the main body of the first vehicle (e.g., Figure 1A The first vehicle body 21 shown Figure 11 The first vehicle body 2210 shown), the first moving arm (for example, Figure 1A The first moving arm 22 shown is or Figure 11 The first motion arm 2220 shown) and the mounting platform (e.g., Figure 1A and Figure 1B Installation platform 23 Figure 11 Installation platform 2230 shown Figure 12 The installation platform shown is 3000 or Figure 13A and Figure 13B The installation platform shown is 3000'.

[0015] In some embodiments, such as Figure 1A and Figure 1B As shown, the flexible tool 11 may include an arm (e.g., Figure 1A and Figure 1B Arm 12 as shown Figure 2 Arm 211 shown Figure 3 Arm 311 shown Figure 6 Arm 610 shown Figure 7 The arm shown is 700. Figure 9 The arm body shown is 910 or Figure 11 The arm body 2111 shown) and at least one magnetic element (e.g., Figure 1A and Figure 1B Magnetic component 13 shown Figure 2 The magnetic sleeve 215 shown Figure 3 The magnetic sleeve 315 shown Figure 4 The magnetic sleeve shown is 400 or Figure 11The magnetic element 2112 is shown. At least one magnetic element 13 may be disposed on the arm body 12 and configured to be in at least one external magnetic field (e.g., Figure 1B The external magnetic field shown is 180°. Figure 2 The external magnetic field shown is 280 or Figure 3 Under the action of the external magnetic field 380 shown, at least a portion of the arm body 12 is constrained within the cavity (e.g., Figure 1B Cavity 175 shown Figure 2 Cavity 275 shown Figure 3 On the inner wall of the cavity 375 shown. In this disclosure, constraining at least a portion of the arm body to the inner wall of the cavity means that the upper part of the arm body corresponding to the magnetic element is adsorbed onto the inner wall of the cavity, for example, resting or adhering to the inner wall of the cavity.

[0016] Surgical tool 14 may include a tool arm (e.g., Figure 1A and Figure 1B Tool arm 15 shown Figure 10 The tool arm 1010 shown or Figure 11 The tool arm 2121 shown) and the end effector (e.g., Figure 10 The end-effector 1020 is shown. The tool arm 15 can be configured such that at least its distal portion rests in the surgical tool channel that runs through the arm body 11 (e.g., ...). Figure 6 or Figure 8 The surgical tool channel 630 shown is located within the surgical tool channel. An end effector may be disposed at the end of the tool arm. In some embodiments, the end effector may include at least one of a clamp, puncture needle, cutting device, grinding device, capture device, laser device, and radio frequency device.

[0017] In some embodiments, the first vehicle body 21 may be a base structure of the first vehicle 20 for mounting the first motion arm 22. The first vehicle body 21 may be a movable base capable of moving in the environment, or it may be a fixed base fixed in the environment. In this disclosure, the first motion arm may be a multi-degree-of-freedom robotic arm composed of multiple joints. In some embodiments, such as Figure 1A As shown, the proximal end of the first moving arm 22 is connected to the first vehicle body 21, for example, by a rotatable connection.

[0018] In some embodiments, the mounting platform 23 may be disposed at the distal end of the first motion arm 22 for mounting the surgical device 10. In some embodiments, the mounting platform 23 may include a first mounting base (e.g., Figure 1A The first mounting base 24 shown Figure 11 The first mounting bracket 2231 shown or Figure 12 , Figure 13A and Figure 13B The first mounting base 3100 and the second mounting base (e.g., shown) are shown. Figure 1AThe second mounting base 25 shown Figure 11 The second mounting bracket 2232 shown or Figure 12 , Figure 13A and Figure 13B The second mounting base 3200 shown), and the first drive device (e.g., Figure 1A and Figure 1B The first driving device 27 shown Figure 11 The first drive device 2233 shown or Figure 12 , Figure 13A , Figure 13B and Figure 14 The first drive device 3300 shown) and at least one second drive device (e.g., Figure 1A and Figure 1B The second drive device 28 shown Figure 11 The second drive device 2234 shown or Figure 12 , Figure 13A or Figure 13B The second drive device 3400, second drive device 3400a, and second drive device 3400b are shown. In some embodiments, such as Figure 1A As shown, the first mounting base 24 is fixedly connected to the distal end of the first moving arm 22, and the proximal end of the second mounting base 25 is connected to the distal end of the first mounting base 24 around a first rotation axis (e.g., Figure 1A or Figure 11 (As shown by the dashed line in the diagram) Rotate connection.

[0019] In some embodiments, the first drive device 27 is mounted on the first mounting base 24 and its axis coincides with the first rotation axis. In this disclosure, the axis of the first drive device may be a first rotary joint located at the distal end of the first mounting base (e.g., located at...). Figure 11 First mounting base 24 Figure 11 First mounting bracket 2231 Figure 12 , Figure 13A or Figure 13B The rotation axis of the first rotary joint at the distal end of the first mounting base 3100 or the rotation axis of the first drive device mounted on the first mounting base, such as the first rotary module in the first drive device (e.g., Figure 12 , Figure 13A , Figure 13B and Figure 14 The rotation axis of the first rotating module 3321 shown. Furthermore, the first driving device 27 can be configured to connect to the arm 12 of the flexible tool 11 for driving the arm 12 within the cavity (e.g., Figure 1B Cavity 175 shown Figure 2 Cavity 275 shown Figure 3 Movement within the cavity 375 shown. In some embodiments, such as Figure 1AAs shown, at least one second drive device 28 is mounted on the second mounting base 25 and connected to the tool arm 15 of at least one surgical tool 14 for driving the tool arm 15 to move and / or driving the end-effector to perform surgical operations.

[0020] In some embodiments, such as Figure 1B As shown, the patient 170 can lie on their side or prone on the operating table 190. The flexible tool 11 is configured to be inserted through an opening formed in the patient 170's body (e.g., opening 179 shown in Figure 1 or...). Figure 2 The auxiliary connection device (e.g., the auxiliary connection device 150 shown in FIG1) is an opening 279. Figure 2 The auxiliary connection device 250 shown is inserted into the cavity 175 to perform endoscopic diagnosis and treatment.

[0021] In some embodiments, the flexible tool 11 can be used to create a cavity for the passage of surgical instruments (e.g., Figure 1A and Figure 1B Surgical tool 14 shown Figure 10 The surgical instrument shown is 1000 or Figure 11 The surgical tool 2120 and / or imaging tool have working channels to allow the surgical tool and / or imaging tool to extend into the cavity for diagnostic and surgical procedures. Furthermore, the flexible tool 11 can obtain support from the cavity wall by constraining at least a portion (e.g., the distal end) to the cavity wall, thereby enhancing the stability and safety of the flexible tool 11 and preventing vibration or displacement of the flexible tool 11 during movement or surgical procedures, which could damage the cavity wall or other tissues within the cavity.

[0022] In this disclosure, the arm body can be a deformable arm body that is bendable in at least one degree of freedom. The cross-section of the arm body can be, for example, circular, elliptical, polygonal, etc. In some embodiments, such as... Figure 1B As shown, the arm 12 can be configured with its proximal end connected to the first drive device 27 to receive the drive output by the first drive device 27 and move within the cavity 175. In some embodiments, the movement of the arm within the cavity may include the arm advancing or retracting along the extension direction of the cavity, the arm rolling about its own axis, the distal end of the arm bending in multiple directions, and combinations of the above movements.

[0023] In some embodiments, such as Figure 1BAs shown, at least one magnetic element 13 may be disposed on the arm body 12, for example, disposed along the axial direction of the arm body 12. The at least one magnetic element 13 is used to respond to an external magnetic field 180 to constrain at least a portion of the arm body 12 to the inner wall of the cavity 175 under the action of the external magnetic field 180. In this disclosure, at least a portion of the arm body 12 may include a portion of the arm body 12 corresponding to the at least one magnetic element 13, for example, a portion of the arm body for disposing of the at least one magnetic element or overlapping axially with the at least one magnetic element. In some embodiments, at least a portion of the arm body 12 may be a sleeve-mounted portion (e.g., Figure 2 The sleeve mounting section 217 shown is... Figure 3 The sleeve mounting section 317 shown is... Figure 6 The sleeve mounting section 617 shown is or Figure 7 At least a portion of the sleeve mounting portion 770 shown. Furthermore, at least one magnetic element can release at least a portion of the arm body from the inner wall of the cavity when at least one external magnetic field is removed, allowing the arm body to regain its restricted degrees of freedom of movement. In some embodiments, the magnetic element 13 may include, for example, an active magnetic element, such as a permanent magnet, an electromagnet, etc., or a passive magnetic element, such as an iron element, a cobalt element, a nickel element, an alloy element, etc. In some embodiments, the magnetic element may also include, for example, magnetic particles dispersed on at least a portion of the arm body.

[0024] In some embodiments, at least one magnetic element 13 may be fixedly disposed on the arm body 12 for anchoring at least a portion of the arm body 12 against the inner wall of the cavity 175 under the action of an external magnetic field 180. For example, the magnetic element 13 may be disposed on the distal portion 123 of the arm body 12, anchoring the distal end of the arm body 12 against the inner wall of the cavity 175 under the action of an external magnetic field 180. Alternatively, the magnetic element 13 may be disposed adjacent to the distal portion 123 of the arm body 12, thereby allowing the distal portion 123 of the arm body 12 to bend within the cavity 175 while the arm body 12 is anchored against the inner wall of the cavity 175. By anchoring at least a portion of the arm body 12 against the inner wall of the cavity 175, it is possible to prevent the flexible tool 11 from being used with surgical instruments (e.g., surgical instruments). Figure 1A and Figure 1B Surgical tool 14 shown Figure 10 The surgical instrument shown is 1000 or Figure 11 The surgical tool 2120 shown vibrates or even shifts during surgical operations such as cutting and grinding, thereby increasing the stability and safety of the arm body 12.

[0025] In some embodiments, at least one magnetic element may include multiple magnetic elements. The multiple magnetic elements may be spaced apart along the axial direction of the arm 12, configured to constrain the arm 12 along its length (axial direction) to the inner wall of the cavity 175 under the action of an external magnetic field 180, thereby further increasing the stability and safety of the arm 12. In some embodiments, the multiple magnetic elements may be controlled by an external magnetic field (e.g., Figure 1B The external magnetic field shown is 180°. Figure 2 The external magnetic field shown is 280 or Figure 3 The external magnetic field 380 shown can be operated uniformly, or it can be operated separately by multiple external magnetic fields (not shown in the figure) corresponding to multiple magnetic elements, so as to enhance the operational flexibility of the arm.

[0026] Figure 2 A schematic diagram of a flexible tool 210 according to some embodiments of the present disclosure within a cavity is shown. Figure 2 As shown, the flexible tool 210 may include an arm body 211 and at least one magnetic element 215 disposed on the arm body 211. In some embodiments, the at least one magnetic element 215 may include at least one magnetic sleeve 215 configured to be sleeved on the outside of the arm body 211. In some embodiments, the flexible tool 210 may also include a cover (e.g., Figure 7 (See cover 790). The cover may be elastic and configured to conformally wrap around the outside of the arm body 211 to isolate the arm body 211 from external physiological tissues. In some embodiments, at least one magnetic sleeve 215 may be fitted over the outside of the cover, as detailed later.

[0027] In some embodiments, at least one magnetic sleeve 215 may be cylindrical, with an internal channel, and its cross-section may be circular, elliptical, polygonal, etc. For example, the magnetic sleeve 215 may be a rigid sleeve fitted over the outside of the arm body 211. In some embodiments, at least one magnetic sleeve 215 may be configured to be axially slidable and / or circumferentially rotatable over the outside of the arm body 211 relative to at least a portion of the arm body 211. For example, the arm body 211 may be formed with a circular cross-section, and the magnetic sleeve 215 may be axially slidable and / or circumferentially rotatable over the outside of the arm body 211 relative to the arm body 211. Alternatively, the arm body 211 may be polygonal, elliptical, etc., or include at least one axially extending guide groove or guide rib to allow the magnetic sleeve 215 to slide axially relative to the arm body 211 and to restrict the magnetic sleeve 215 from circumferentially rotating relative to the arm body 211. Alternatively, the arm body 211 may be formed in a circular cross-section and include at least one guide groove or guide rib around the circumference to allow the magnetic sleeve 215 to rotate circumferentially relative to the arm body 211 and to restrict the magnetic sleeve 215 from sliding axially relative to the arm body 211.

[0028] In some embodiments, such as Figure 2 As shown, the arm body 211 may include at least one sleeve mounting portion 217. The at least one sleeve mounting portion 217 may extend axially along the arm body 211 and has a cross-sectional shape that matches at least one magnetic sleeve 215. The at least one magnetic sleeve 215 may be fixedly or movably mounted on the outside of the at least one sleeve mounting portion 217. In some embodiments, the diameter of the at least one sleeve mounting portion 217 may be smaller than the diameter of other portions of the arm body 211. For example, the at least one magnetic sleeve 215 may be formed with an outer diameter substantially the same as the outer diameter of the arm body 211, and the outer diameter of the at least one sleeve mounting portion 217 may match the inner diameter of the at least one magnetic sleeve 215. In this way, the arm body 211 can maintain a substantially unchanged outer diameter while the magnetic sleeve 215 is mounted on its outer side, thereby avoiding damage to the inner wall of the cavity during movement within the cavity.

[0029] In some embodiments, the sleeve mounting portion 217 may be configured to allow the magnetic sleeve 215 to slide axially and rotate circumferentially relative to the arm body 211. For example, as Figure 2 As shown, the sleeve mounting portion 217 can be formed with a circular cross-section and a length greater than that of the magnetic sleeve 215. When the magnetic sleeve 215 is fitted onto the outside of the sleeve mounting portion 217, it can rotate around the axis of the arm body 211 and slide linearly along the axis of the arm body 211 within a predetermined stroke of the sleeve mounting portion 217. Thus, when the magnetic sleeve 215 constrains the arm body 211 against the inner wall of the cavity 275 under the action of an external magnetic field 280, the arm body 211 can receive external drive, such as a first drive device mounted on the first vehicle (e.g., ...). Figure 1A and Figure 1B The first driving device 27 shown Figure 11 The first drive device 2233 shown or Figure 12 , Figure 13A , Figure 13B and Figure 14 The first drive device 3300 shown is driven to roll and / or bend within the cavity 275, and to feed or retract within the stroke specified by the sleeve setting 217.

[0030] In some embodiments, the sleeve mounting portion 217 may also be configured to allow only axial sliding or circumferential rotation of the magnetic sleeve 215 relative to the arm 211. For example, the sleeve mounting portion 217 may be circular in cross-section and have a length approximately the same as that of the magnetic sleeve 215. When the magnetic sleeve 215 is fitted over the sleeve mounting portion 217, it can rotate about the axis of the arm 211 but cannot slide along the axis of the arm 211. Thus, when the magnetic sleeve 215 constrains the arm 211 to the inner wall of the cavity 275 under the action of an external magnetic field 280, the arm 211 can receive the drive of the first driving device to roll and / or bend within the cavity 275. Alternatively, the sleeve mounting portion 217 may be configured with a length greater than that of the magnetic sleeve 215 and a cross-section in the shape of a polygon, ellipse, or similar shape, or include at least one guide groove or guide rib. When the magnetic sleeve 215 is fitted over the outside of the sleeve mounting portion 217, it can slide linearly relative to the arm body 211 within a predetermined stroke of the sleeve mounting portion 217, but it cannot rotate around the axis of the arm body 211. Thus, when the magnetic sleeve 215 constrains the arm body 211 to the inner wall of the cavity 275 under the action of the external magnetic field 280, the arm body 211 can receive the drive of the first drive device to feed or retract within the predetermined stroke of the sleeve mounting portion 217.

[0031] In some embodiments, at least one magnetic sleeve may be configured to be detachably fitted onto at least one sleeve mounting portion (e.g., Figure 2 The sleeve mounting section 217 shown is... Figure 3 The sleeve mounting section 317 shown is... Figure 6 The sleeve mounting section 617 shown is or Figure 7 The magnetic sleeve is shown on the sleeve mounting portion 770. In some embodiments, the magnetic sleeve may include a detachable structure for mounting or removing the magnetic sleeve from the sleeve mounting portion. The detachable structure may include, for example, a snap-fit ​​structure or a plug-in structure, the details of which will be described later.

[0032] In some embodiments, at least one magnetic element may further include at least one cladding element (e.g., Figure 3 The shown cover 316 or Figure 4 The covering element 490 shown. At least one covering element may be elastic and configured to conformally wrap around the outside of at least one magnetic sleeve to form a buffer between the magnetic sleeve and the inner wall of the cavity, preventing damage to the inner wall of the cavity by the magnetic sleeve. The covering element may be made of elastic materials such as silicone, rubber, resin, thermoplastic elastomer, etc. In some embodiments, the covering element may be wrapped around the outside of the magnetic sleeve by means of bonding, welding, pressing, heat shrinking, etc., as described later.

[0033] Figure 3A schematic diagram of the structure of a flexible tool 310 according to some embodiments of the present disclosure is shown. Figure 3 As shown, the flexible tool 310 may include an arm body 311 and at least one magnetic sleeve 315 disposed on the arm body 311. In some embodiments, the arm body 311 may include at least one axially extending sleeve mounting portion 317 for mounting at least one magnetic sleeve 315. The at least one magnetic sleeve 315 may be configured to be slidably mounted axially and / or rotatably mounted circumferentially on the outside of the at least one sleeve mounting portion 317 relative to the arm body 311. In some embodiments, with Figure 2 Similarly, the exterior of the arm body 311 can also be covered with a cover (e.g., ...). Figure 7 As shown in the cover 790, at least one magnetic sleeve 315 can be slidably fitted onto the outside of the cover.

[0034] In some embodiments, at least one magnetic sleeve may be a flexible, bendable sleeve configured to deform according to the shape of the arm body, or to conform to the inner wall of the cavity under the influence of an external magnetic field, thereby constraining at least a portion of the arm body. In some instances, such as Figure 3 As shown, the magnetic sleeve 315 may include a plurality of magnetic bending segments connected in series, configured to adhere to the inner wall of the cavity 375 under the action of an external magnetic field 380, forming a channel for at least a portion of the arm 311 to pass through. The plurality of magnetic bending segments are configured to be arranged along the shape of the inner wall of the cavity 375 under the action of the external magnetic field 380, thereby bending the magnetic sleeve 315 and adhering to the inner wall of the cavity 375. When the magnetic sleeve 315 adheres to the inner wall of the cavity 375 under the action of the external magnetic field 380, the channel inside the magnetic sleeve 315 is also formed into a shape adapted to the inner wall of the cavity 375, thereby constraining the shape of at least a portion of the arm 311 passing through the channel. In this disclosure, the structural parameters of the magnetic sleeve 315 (e.g., length and minimum bending radius) can be designed based on the structural parameters of the cavity (e.g., the diameter of the cavity and the curvature of the inner wall) or the structural parameters of the arm (e.g., the diameter of the arm and the minimum bending radius). It should be understood that at least one magnetic sleeve is not limited to a flexible sleeve; for example, it can also be formed as a rigid sleeve, such as... Figure 2 The magnetic sleeve 215 is shown.

[0035] Figure 4 A schematic diagram of the structure of a magnetic sleeve 400 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 4As shown, the plurality of magnetic bending segments may include a proximal bending segment 410, a distal bending segment 450, and at least one intermediate bending segment 430, such as two intermediate bending segments 430. In some embodiments, the proximal bending segment 410, at least one intermediate bending segment 430, and the distal bending segment 450 are sequentially and movably connected to form a flexible and bendable magnetic sleeve 400. The movable connection between two adjacent magnetic bending segments can be in various ways, such as hinge, rotational engagement, etc.

[0036] It should be understood that the magnetic sleeve 400 may also include one, three or more intermediate bending sections 430. Alternatively, the intermediate bending sections 430 may be omitted, and the magnetic sleeve 400 may be formed solely by the sequential connection of the proximal bending section 410 and the distal bending section 450. The dimensions (e.g., diameter and length) and number (e.g., the number of intermediate bending sections 430) of each magnetic bending section can be designed based on the structural parameters of the cavity (e.g., the diameter of the cavity and the curvature of the inner wall) or the structural parameters of the arm (e.g., the diameter of the arm and the minimum bending radius).

[0037] In some embodiments, the magnetic bending segment may include: at least one connecting protrusion and at least one locking protrusion disposed at a first end; and / or at least one connecting groove and at least one locking groove disposed at a second end opposite to the first end. Alternatively, the magnetic bending segment may include: at least one connecting protrusion and at least one locking groove disposed at a first end; and / or at least one connecting groove and at least one locking protrusion disposed at a second end opposite to the first end.

[0038] In some embodiments, at least one connecting protrusion on two adjacent magnetic bending sections engages with at least one connecting groove, and at least one locking protrusion on two adjacent magnetic bending sections cooperates with at least one locking groove.

[0039] Figure 5 A schematic diagram of the structure of an intermediate bending section 430 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 4 and Figure 5 As shown, the intermediate bend joint 430 may have at least one connecting protrusion 434 at a first end (e.g., the proximal end near the end of the proximal bend joint 410) and at least one connecting groove 435 at a second end opposite to the first end (e.g., the distal end near the end of the distal bend joint 450). For example, the intermediate bend joint 430 may include a pair of connecting protrusions 434 opposite each other at the first end and a pair of connecting grooves 435 opposite each other at the second end.

[0040] In some embodiments, such as Figure 4 and Figure 5As shown, the intermediate bending section 430 may include at least one locking protrusion 436 at a first end and at least one locking groove 437 at a second end. For example, the intermediate bending section 430 may include a pair of locking protrusions 436 opposite to each other at the first end and a pair of locking grooves 437 opposite to each other at the second end (not shown in the figure). At the first end of the intermediate bending section 430, the connecting protrusion 434 and the locking protrusion 436 may be circumferentially spaced apart. At the second end of the intermediate bending section 430, the connecting groove 435 and the locking groove 437 may be circumferentially spaced apart. In other embodiments, the connecting groove 435 and the locking protrusion 436 may be circumferentially spaced apart at the first end, and the connecting protrusion 434 and the locking groove 437 may be circumferentially spaced apart at the second end.

[0041] In some embodiments, such as Figure 4 and Figure 5 As shown, the planar shapes of the connecting protrusion 434 and the connecting groove 435 are Ω-shaped with an arc length greater than a semicircle, and they fit together. This structure enhances the fit between the connecting protrusion 434 and the connecting groove 435, enabling the connection of the joint at different intermediate bends (e.g., Figure 4 The connecting protrusion of the front intermediate bending section 430 and the rear intermediate bending section 430 shown engages with the connecting groove for free bending. In some embodiments, such as Figure 4 and Figure 5 As shown, a pair of connecting protrusions 434 at the first end of the intermediate bending section 430 are positioned opposite each other, and a pair of locking protrusions 436 at the first end are positioned opposite each other. The line connecting the center points of the pair of connecting protrusions 434 at the first end is perpendicular to the line connecting the center points of the pair of locking protrusions 436. The line connecting the center points of the pair of connecting grooves 435 at the second end of the intermediate bending section 430 is perpendicular to the line connecting the center points of the pair of locking grooves 437, so as to achieve a better anti-detachment effect.

[0042] In some embodiments, the line connecting the center points of a pair of connecting protrusions 434 at the first end of a single intermediate bending segment 430 and the line connecting the center points of a pair of connecting grooves 435 at the second end are perpendicular to each other. When the proximal bending segment 410, the intermediate bending segment 430, and the distal bending segment 450 are connected in sequence, or when multiple intermediate bending segments 430 are connected in sequence to form a flexible segment, the relative positional relationship between the connecting grooves 435 and the connecting protrusions 434 can achieve a better bending motion effect.

[0043] In some embodiments, such as Figure 4 and Figure 5As shown, the unfolded planar shapes of the locking groove 437 and the locking protrusion 436 can be rectangular and they fit together. In some embodiments, the sides of the locking groove 437 and the locking protrusion 436 can be perpendicular to the inner and outer surfaces. The locking groove 437 and the locking protrusion 436 can effectively prevent disengagement when the connecting protrusion 434 and the connecting groove 435 are in different connection states. The locking groove can achieve the function of bending the joint in the middle (e.g., Figure 4 When different bending angles are formed between the first intermediate bending section 430 and the second intermediate bending section 430, the side of the locking protrusion 436 can abut against the side of the locking groove 437 to prevent the connecting protrusion 434 and the connecting groove 435 of the intermediate bending section 430 from being disengaged by force.

[0044] In some embodiments, the end faces of the locking groove 437 and the locking protrusion 436 can be flat to achieve a good blocking effect at different bending angles of the bending segment. In some embodiments, the end faces of the connecting protrusion 434 and the connecting groove 435 are arc surfaces or slopes, and the connecting protrusion 434 and the connecting groove 435 are engaged by the arc surfaces or slopes at their ends to form adjacent bending segments.

[0045] In some embodiments, when both the outer end face of the connecting protrusion 434 and the inner end face of the connecting groove 435 are arc surfaces, the tangents of the arc surfaces at the ends of the connecting protrusion 434 and the connecting groove 435 intersect perpendicularly with the longitudinal axis of the intermediate bending segment 430, and the connecting protrusion 434 and the connecting groove 435 engage with each other through the arc surfaces at the ends to form a bending segment.

[0046] In some embodiments, when both the outer end face of the connecting protrusion 434 and the inner end face of the connecting groove 435 are inclined surfaces, the inclined surface of the outer end face of the connecting protrusion 434 and the inclined surface of the inner end face of the connecting groove 435 cooperate to form a bending joint. Thus, the connecting protrusion 434 and the connecting groove 435, through the inclined surface contact of their end faces, enable the intermediate bending joints 430 to transmit forces along their longitudinal axis and torques about their longitudinal axis to each other, allowing the intermediate bending joint 430 formed by the mating and fitting of the connecting protrusion 434 and the connecting groove 435 to bend smoothly. Multiple intermediate bending joints (e.g., Figure 4 The movable joint formed by the first intermediate bending joint 430 and the second intermediate bending joint 430 shown can be bent in any direction.

[0047] In some embodiments, a plurality of intermediate bending joints 430 are sequentially engaged to form a movable connecting joint with an internal channel. In some embodiments, such as Figure 4 As shown, the latter intermediate bending section 430 (for example, Figure 4At least one connecting protrusion 434 at the first end of the intermediate bending section 430 (the intermediate bending section near the distal bending section 450 shown) is connected to the preceding intermediate bending section 430 (e.g., Figure 4 The intermediate bending sections 430 shown are connected by at least one connecting groove 435 of the second segment of the intermediate bending section (close to the proximal bending section 410), and at least one locking protrusion 436 of the first end of the subsequent intermediate bending section 430 is connected by at least one locking groove 437 of the second segment of the preceding intermediate bending section 430.

[0048] In some embodiments, such as Figure 4 As shown, the top of the connecting protrusion 434 at the first end of the subsequent intermediate bending segment 430 and the bottom of the connecting groove 435 at the second end of the preceding intermediate bending segment 430 are designed with a gap, so that the bending segment formed by them can bend freely within a certain range. When a specific limit bending angle is reached, the gap closes and the bending can no longer continue.

[0049] In some embodiments, such as Figure 4 As shown, the proximal bending segment 410 may have a connection structure similar to the intermediate bending segment 430 at its distal end, and is movably connected to the intermediate bending segment 430 at its distal end via the connection structure to form a movable connection joint. Furthermore, the distal bending segment 450 may have a connection structure similar to the intermediate bending segment 430 at its proximal end, and is movably connected to the intermediate bending segment 430 at its proximal end via the connection structure to form a movable connection joint. With the proximal bending segment 410, at least one intermediate bending segment 430, and the distal bending segment 450 sequentially connected, the cavities inside the proximal bending segment 410, at least one intermediate bending segment 430, and the distal bending segment 450 communicate to form a channel 401 for passage through the arm body (e.g., Figure 1A and Figure 1B Arm 12 as shown Figure 2 Arm 211 shown Figure 3 Arm 311 shown Figure 6 Arm 610 shown Figure 7 The arm shown is 700. Figure 9 The arm body shown is 910 or Figure 11 At least a portion of the arm body 2111 shown, such as the sleeve mounting portion on the arm body (e.g., Figure 2 The sleeve mounting section 217 shown is... Figure 3 The sleeve mounting section 317 shown is... Figure 6 The sleeve mounting section 617 shown is or Figure 7 The sleeve mounting section 770 is shown.

[0050] In some embodiments, such as Figure 4As shown, the proximal bend joint 410 may include at least one connecting groove 415 at its second end (e.g., as the distal end near one end of the intermediate bend joint 430), such as a pair of opposing connecting grooves 415 (not shown in the figure). At least one connecting groove 415 of the proximal bend joint 410 may engage with at least one connecting protrusion 434 of the foremost intermediate bend joint 430 among a plurality of intermediate bend joints 430. For example, the connecting groove 415 may mate with a connecting protrusion 434 formed on the first end of the intermediate bend joint 430 to form a movable joint. In some embodiments, such as Figure 4 As shown, the proximal bend segment 410 may also include at least one locking groove 417 at its second end, such as a pair of oppositely disposed locking grooves 417 (not shown in the figure). At least one locking groove 417 of the proximal bend segment 410 may engage with at least one locking protrusion 436 of the foremost of the plurality of intermediate bend segments 430. For example, the locking groove 417 may engage with a locking protrusion 436 formed on the first end of the intermediate bend segment 430. In other embodiments, the proximal bend segment 410 may also include at least one connecting protrusion and / or at least one locking protrusion instead of at least one connecting groove 415 and / or at least one locking groove 417. In some embodiments, such as Figure 4 As shown, the proximal bending section 410 can be formed into a flat-head structure at the proximal end (e.g., the end away from the intermediate bending section 430) for mating with the proximal end of the sleeve installation section, as will be described later.

[0051] In some embodiments, such as Figure 4 As shown, the distal bend joint 450 may include at least one connecting protrusion 454 at its first end (e.g., as the proximal end near the end of the intermediate bend joint 430), such as a pair of opposing connecting protrusions 454 (not shown in the figure). At least one connecting protrusion 454 of the distal bend joint 450 may engage with at least one connecting groove 435 of the most rearmost intermediate bend joint 430 among a plurality of intermediate bend joints 430. For example, the connecting protrusion 454 may mate with a connecting groove 435 formed on the second end of the intermediate bend joint 430 to form a movable joint. In some embodiments, such as Figure 4As shown, the distal bending segment 450 may also include at least one locking protrusion 456 at its first end, such as a pair of opposing locking protrusions 456 (not shown in the figure). At least one locking protrusion 456 of the distal bending segment 450 may engage with at least one locking groove 437 of the most rearmost intermediate bending segment 430 among a plurality of intermediate bending segments 430. For example, the locking protrusion 456 may engage with a locking groove 437 formed on the second end of the intermediate bending segment 430. In other embodiments, the proximal bending segment 410 may also include at least one connecting groove and / or at least one locking groove in place of at least one connecting protrusion 454 and / or at least one locking protrusion 456. In some embodiments, such as Figure 4 As shown, the distal bending section 450 can be formed as a flat-head structure at the distal end (e.g., the end away from the intermediate bending section 430) for mating with the distal end of the sleeve installation section, as will be described later.

[0052] It should be understood that the magnetic sleeve 400 is not limited to the structure described above. Any magnetic sleeve structure that is radially rigid and axially bendable is within the scope of this disclosure. For example, the magnetic bending segment of the magnetic sleeve 400 may also include other types of serpentine structures. Alternatively, the magnetic sleeve 400 may also include multiple bending segments formed by multiple narrow slits.

[0053] In some embodiments, the magnetic sleeve 400 may be configured to be detachably fitted onto at least one sleeve mounting portion. In some embodiments, the plurality of magnetic bending sections of the magnetic sleeve 400 may each include a detachable structure. The plurality of magnetic bending sections can be independently removed from the sleeve mounting portion or spliced ​​onto the sleeve mounting portion to form the magnetic sleeve 400 through their respective detachable structures. The following description uses the intermediate bending section 430 as an example.

[0054] In some embodiments, such as Figure 5 As shown, the intermediate bending section 430 may include a detachable structure 439. The detachable structure 439 may include, for example, a snap-fit ​​structure or a plug-in structure. By disassembling the detachable structure 439, the intermediate bending section 430 can form an open loop, thereby allowing the intermediate bending section 430 to be disassembled or assembled onto the arm body. By closing the detachable structure 439, the intermediate bending section 430 can form a closed loop, thereby enclosing the arm body within the cavity 431. In some embodiments, the detachable structure 439 is formed along the generatrix of the intermediate bending section 430, for example, along the line connecting at least one connecting protrusion 434 and at least one locking groove 437.

[0055] In some embodiments, the intermediate bending segment 430 may further include a bendable structure 438 for cooperating with the detachable structure 439 to form an open loop. The bendable structure 438 includes, for example, a hinge structure, a flexible structure, etc. In some embodiments, the detachable structure 439 and the bendable structure 438 may be disposed on opposite sides of the intermediate bending segment 430.

[0056] It should be understood that the intermediate bending segment 430 is not limited to the structure described above; any detachable bending segment is within the scope of this disclosure. In some embodiments, the detachable structure 439 may also be formed along other generatrices of the intermediate bending segment 430, for example, along the line connecting at least one locking protrusion 436 and at least one connecting groove 435. Alternatively, the detachable structure 439 may not be formed along the generatrices of the intermediate bending segment 430. In some embodiments, the intermediate bending segment 430 may also include multiple detachable structures 439, such as a pair of detachable structures 439. The pair of detachable structures 439 may be distributed circumferentially along the intermediate bending segment 430, for example, disposed on opposite sides of the intermediate bending segment 430. When the pair of detachable structures 439 are disassembled, the intermediate bending segment 430 can be separated into two parts that can be spliced ​​together.

[0057] In some embodiments, such as Figure 4 As shown, the proximal bending segment 410 and the distal bending segment 450 may each include a detachable structure 419 and a detachable structure 459 as detachable structures. The detachable structures 419 and 459 may have a structure similar to the detachable structure 439 of the intermediate bending segment 430. By providing detachable structures on each magnetic bending segment, the magnetic sleeve 400 can be fitted onto or removed from the arm body, thereby facilitating the sterilization of the flexible tool. In some embodiments, with the magnetic sleeve 400 fitted onto the arm body, the detachable structures of each magnetic bending segment are arranged in a staggered manner along the circumference of the magnetic sleeve 400, such as... Figure 4 As shown. In this way, the magnetic sleeve 400 can have complete walls in all circumferential directions, thereby preventing the magnetic sleeve 400 from falling off the arm body under force within the cavity.

[0058] In some embodiments, such as Figure 4As shown, the magnetic sleeve 400 may further include a covering 490. The covering 490 is configured to conformally wrap around the outside of the plurality of magnetic bending segments to form a buffer between the plurality of magnetic bending segments and the inner wall of the cavity, preventing damage to the inner wall of the cavity. The covering 490 may be, for example, a silicone sleeve or a heat shrink tube. In some embodiments, the covering 490 may extend through the distal end of the arm body in an expanded state, contract and wrap around the outside of the plurality of magnetic bending segments, separating the plurality of magnetic bending segments from the inner wall of the cavity and preventing the plurality of magnetic bending segments from falling off the arm body. In some embodiments, the proximal bending segment 410, the intermediate bending segment 430 or the distal bending segment 450 may further include a circumferential groove (not shown) to restrict axial movement of the covering 490 relative to the plurality of magnetic bending segments.

[0059] In some embodiments, the flexible tool may also include a surgical tool channel that extends axially through the arm body. Figure 6 A partial structural schematic diagram of a flexible tool 600 according to some embodiments of the present disclosure is shown. Figure 6 As shown, the flexible tool 600 may include a surgical tool channel 630 for passing through at least one surgical tool (e.g., Figure 1A and Figure 1B Surgical tool 14 shown Figure 10 The surgical instrument shown is 1000 or Figure 11 Surgical instrument 2120 shown).

[0060] In some embodiments, the surgical tool channel 630 may extend from the proximal end to the distal end of the flexible tool 600 and open at the distal end of the arm body 610. The distal end of the surgical tool may be inserted into and held within the surgical tool channel 630 through the proximal opening and may extend from the distal opening of the surgical tool channel 630 when needed to perform surgical procedures. In some embodiments, such as Figure 6 As shown, the surgical tool channel 630 may include a distal channel segment 631, a transition channel segment 632, and at least one proximal channel segment 633 connected in sequence.

[0061] The distal segment 631 of the channel may be located inside the arm body 610 and has an opening at the distal end of the arm body 610. In some embodiments, such as Figure 6 As shown, the distal segment 631 of the channel may extend parallel to the axis of the arm body 610 and open at the distal end face of the arm body 610 to allow surgical instruments to extend axially along the arm body 610. It should be understood that the distal segment 631 may also open laterally at the distal end of the arm body 610 (e.g., on the sidewall of the arm body 610) to allow surgical instruments to extend laterally from the arm body 610. In some embodiments, the distal segment 631 may be made of a flexible material to conformally follow the bending of the arm body 610. Flexible materials include, for example, silicone, rubber, thermoplastic elastomers, etc.

[0062] The channel transition section 632 may include a distal port 6321 and at least one proximal port 6322, configured such that the distal port 6321 is connected to the proximal end of the channel distal section 631, and the at least one proximal port 6322 extends from the proximal end of the arm body 610 and is located away from the axis of the arm body 610. Figure 6 As shown, the channel transition section 632 can be arc-shaped, formed to extend proximally away from the axis of the arm body 610. This allows surgical instruments to be inserted into the arm body 610 from the side, thereby avoiding interference with the arm body 610. In some embodiments, at least a portion of the channel transition section 632, such as the proximal portion, can be located outside the arm body 610.

[0063] At least one channel proximal segment 633 is configured to connect distally to a proximal port 6322 of the channel transition segment 632, with the proximal end extending outwards from the arm body 610. In some embodiments, such as Figure 6 As shown, the proximal segment 633 of the channel can be formed at an angle to the axis of the arm body 610 to allow surgical instruments to be inserted into the arm body 610 from the side. The distal end of the surgical instrument can be inserted into and rest in the proximal segment 633 from at least one proximal opening of the channel, and extend from the distal end of the arm body 610 as needed, passing sequentially through the channel transition segment 632 and the distal segment 631 to perform surgical procedures. In some embodiments, at least a portion of the proximal segment 633 can be made of a flexible material, allowing the proximal segment 633 to deform axially and / or radially, thereby increasing the flexibility and redundancy of the surgical instrument channel 630.

[0064] In some embodiments, the flexible tool may also include a frame (e.g., Figure 6 The frame shown is 620. Figure 8 The frame shown is 800 or Figure 9 The frame 920 shown is used to accommodate at least a portion of the arm body, such as the proximal end of the arm body (e.g., Figure 8 (As shown in proximal continuum segment 740 or proximal continuum segment 750). In some embodiments, the frame may include at least one opening at the proximal end for passage through at least one channel (e.g., Figure 6 The surgical channel opening 623 shown is... Figure 8 The surgical channel opening 803 and imaging channel opening 804 are shown. Figure 6As shown, the flexible tool 600 may include a frame 620 connected to the proximal end of the arm body 610. The frame 620 may include at least one surgical channel opening 623 for passage through the proximal end of the surgical tool channel 630. The at least one surgical channel opening 623 is located, for example, on the proximal sidewall of the frame 620. In some embodiments, at least one proximal portion of the channel transition section 632 may extend rearwardly into the frame 620 from the proximal end of the arm body 610 and protrude from the at least one surgical channel opening 623 to connect to at least one proximal channel segment 633. Alternatively, a distal portion of at least one proximal channel segment 633 of the surgical tool channel 630 may extend into the frame 620 from the at least one surgical channel opening 623 to connect to at least one proximal port 6322 of the channel transition section 632. In some embodiments, the channel transition section 632 may be made of a non-flexible material and connected to the distal channel segment 631 by, for example, adhesive, thermoplastic, or connectors. Thus, the channel transition section 632 can be formed as a rigid channel, thereby facilitating the guidance of the surgical tool. Non-flexible materials include, for example, plastics, metals, etc. It should be understood that the channel transition section 632 may also be made of flexible material. For example, the interior of the frame 620 may include multiple partitions distributed along the axial direction to support the flexible channel transition section 632.

[0065] In some embodiments, such as Figure 6 As shown, at least one proximal channel segment 633 may include multiple proximal channel segments, such as two or more, for the passage or docking of multiple surgical instruments. The channel transition segment 632 may be configured as a proximal bifurcation and distal convergence branch structure, including a distal port 6321 and multiple proximal ports 6322, such as two or more proximal ports. Multiple proximal channel segments 633 may be connected to multiple proximal ports 6322 of the channel transition segment 632 respectively, converging through the channel transition segment 632 to form the channel distal segment 631. Furthermore, multiple surgical channel openings 623 may be formed on the frame 620 for the passage of multiple proximal channel segments 633 of the surgical instrument channel 630 or multiple proximal portions of the channel transition segment 632. In this way, multiple surgical instruments can be simultaneously inserted into and docked at the proximal end of the surgical instrument channel 630, and can be extended from the distal end of the arm body 610 as needed to perform different surgical tasks. The flexible tool 600 with this structure does not require multiple surgical tool channels to be arranged in the arm body 619 in order to pass through multiple surgical tools, which can save the cross-sectional area occupied by the surgical tool channel 630, thereby increasing the effective diameter of the surgical tool.

[0066] In some embodiments, such as Figure 6As shown, the surgical tool channel 630 may further include a protrusion 634. The protrusion 634 may be disposed on at least one proximal segment 633 of the channel, and formed with a diameter larger than the diameter of other portions of the proximal segment 633. In some embodiments, the protrusion 634 may include an inner cavity, within which a seal (not shown) may be provided, with an incision for the passage of a surgical tool. When a surgical tool is inserted through the seal into the proximal segment 633 of the channel and moves relative to the surgical tool channel 630, the protrusion 634 may remain sealed, isolating the interior of the surgical tool channel 630 from the outside.

[0067] In some embodiments, the surgical apparatus may further include at least one imaging tool for imaging cavities. The at least one imaging tool includes, for example, at least one of an optical imaging tool or an ultrasound imaging tool. In some embodiments, the imaging tool may include an imaging head (e.g., a lens or ultrasound probe) and a signal cable distally connected to the imaging head. In some embodiments, the imaging tool may further include an imaging arm, with the imaging head disposed distally at the imaging arm, and the proximal end of the signal cable extending axially along and extending from the proximal end of the imaging arm. The imaging arm may be a flexible hose or have a... Figure 10 The tool arm 1010 shown has a similar flexible arm structure to allow the imaging tool to extend conformally within the imaging tool channel of the flexible tool.

[0068] In some embodiments, at least one imaging tool may be configured to pass through or be positioned within an imaging tool channel that extends through the arm body. For example... Figure 6 As shown, the flexible tool 600 may further include an imaging tool channel 640 for passing through or positioning at least one imaging tool. In some embodiments, the imaging tool channel 640 may have a structure similar to that of the surgical tool channel 630, for example, including a channel distal segment, a channel transition segment, and at least one channel proximal segment connected in sequence. In some embodiments, such as Figure 6 As shown, the distal end of the imaging tool channel 640 can extend along the axial direction of the arm body 610 and open at the distal end of the arm body 610. The proximal end of the imaging tool channel 640 can be formed into an arc-shaped structure, extending outward from the proximal end of the arm body 610.

[0069] In some embodiments, the surgical apparatus may include multiple imaging tools, such as optical imaging tools and ultrasound imaging tools. The imaging tool channel 640 may include multiple proximal channel segments, such as two proximal channel segments. A channel transition section of the imaging tool channel 640 may include multiple proximal ports, such as two proximal ports, respectively connected to the multiple proximal channel segments. Thus, multiple imaging tools can be simultaneously inserted and docked at the proximal end of the imaging tool channel 640, and can extend from the distal end of the arm body 610 as needed to perform different types of imaging tasks.

[0070] In some embodiments, the frame 620 may also include at least one imaging channel opening (e.g. Figure 8 The imaging channel opening 804 shown is for passage through the proximal end of the imaging tool channel 640. At least one imaging channel opening is for passage, for example, through at least one proximal segment of the imaging tool channel 640 or at least one proximal portion of a channel transition segment of the imaging tool channel 640. In some embodiments, at least one surgical channel opening and at least one imaging channel opening may be configured to be axially and / or circumferentially offset from the frame to prevent interference between the surgical tool and the imaging tool. For example, at least one imaging channel opening may be closer to the proximal end of the frame than at least one surgical channel opening, such that the proximal segment of the imaging tool channel extends obliquely rearward from the frame at a position closer to the proximal end of the frame than the proximal segment of the surgical tool channel, as shown. Figure 6 and Figure 8 As shown.

[0071] In some embodiments, the flexible tool 600 may further include at least one illumination channel 650 for transmitting at least one illumination optical fiber. The at least one illumination channel 650 may include multiple illumination channels, such as two, three, or more illumination channels. In some embodiments, such as Figure 6 As shown, multiple illumination channels 650 can be configured to surround the imaging tool channel 640 to provide illumination to the imaging tool extending from the imaging tool channel 640 via multiple illumination optical fibers. In some embodiments, the illumination optical fibers may be made of a flexible material such as plastic and embedded inside the illumination channel 650 to follow the bending of the arm body 610.

[0072] In some embodiments, the flexible tool 600 may further include at least one auxiliary channel 660. The auxiliary channel 660 may be, for example, a fluid channel for directing fluid into a cavity (e.g., Figure 1B Cavity 175 shown Figure 2 Cavity 275 shown Figure 3 Fluid is injected into or aspirated from the cavity (shown as 375). In some embodiments, such as Figure 6 As shown, at least one auxiliary channel 660 may include multiple auxiliary channels, such as two or more, to correspond to different surgical procedures. For example, at least one auxiliary channel 660 may include two auxiliary channels arranged around the imaging tool channel 640. One auxiliary channel may be used to inject saline solution into the cavity to flush the cavity interior and / or the lens of the imaging tool, or it may be used to inject drugs into the cavity. The other auxiliary channel may be used to aspirate fluid from the cavity, such as blood, tissue fluid, or fumes.

[0073] Those skilled in the art will understand that the flexible tool is not limited to the structure described above. The size and layout of each channel can be adjusted according to actual needs. The number of channels, such as the number of lighting channels and auxiliary channels, can also be set as needed. In some embodiments, the distal segment 631 of the surgical tool channel 630 may also include multiple distal outlets. The multiple distal outlets may include a first distal outlet formed on the distal surface of the arm body 610 and a second distal outlet formed on the sidewall of the arm body 610. In some embodiments, the surgical tool may include an operable distal end, such as a distal end with a wrist joint or a magnetic distal end that can be operated by a magnetic field, to selectively extend from the first distal outlet or the second distal port to perform surgical operations at different locations of the cavity.

[0074] In this disclosure, for surgical navigation and intraoperative control of flexible instruments, it is necessary to track and position the arm of the flexible instrument within the cavity to monitor its working status in real time. In some embodiments, such as Figure 6 As shown, the flexible tool 600 may further include a sensor assembly 690 for outputting data associated with the shape and / or pose of the arm body (e.g., the pose of the arm's end effector). In some embodiments, the sensor assembly 690 may include at least one shape sensor 691 and / or at least one pose sensor 692. In some embodiments, the flexible tool may be connected to an external control device, which may determine the shape and / or pose of the arm body based on the data output by the sensor assembly.

[0075] In some embodiments, such as Figure 6 As shown, at least one shape sensor 691 can extend along the axial direction of the arm body 610 to generate shape data associated with the shape of the arm body 610. In some embodiments, the shape sensor 691 may include, but is not limited to, fiber optic sensors, capacitive sensors, resistive sensors, etc. The shape sensor 691 can extend continuously or distributed along the axial direction of the arm body to generate optical or electrical signals associated with the strain (e.g., displacement, curvature, or deflection) at various points along the axial direction of the arm body, such as changes in light wavelength, changes in light intensity, changes in capacitance, changes in resistance, etc. The control device can determine the strain at various points on the arm body 610 based on the signals output by the shape sensor 691, and then calculate the three-dimensional coordinates of each point on the arm body 610 through a shape reconstruction algorithm to reconstruct the three-dimensional shape of the arm body 610.

[0076] In some embodiments, the shape sensor 691 may be an optical fiber shape sensor. Depending on the operating principle, the optical fiber shape sensor may be an interferometric optical fiber shape sensor or an intensity modulation optical fiber shape sensor. In some embodiments, the optical fiber shape sensor may achieve different measurement ranges, for example, it may be a point optical fiber sensor, an integrating optical fiber sensor, or a distributed optical fiber sensor. Depending on the application environment, those skilled in the art can select different optical fiber shape sensors as shape sensors.

[0077] In some embodiments, the fiber shape sensor may be a fiber grating sensor, such as an FBG sensor. An FBG sensor may include at least one Bragg grating with periodic refractive index modulation, for example, an array of Bragg gratings composed of multiple Bragg gratings distributed along the axial direction of the fiber core. When the arm 610 bends, causing the FBG sensor to deform, the Bragg gratings on the fiber core undergo periodic changes, thereby altering the wavelength of light reflected by the Bragg gratings. The control device can determine the strain at the corresponding positions of the individual Bragg gratings on the arm 610 based on the reflection spectrum output by the FBG sensor, and then calculate the three-dimensional coordinates of each point on the arm 610 using a shape reconstruction algorithm to reconstruct the three-dimensional shape of the arm 610. In some embodiments, at least one shape sensor 691 may include one or more FBG sensors. For example, multiple FBG sensors extending parallel to the axial direction of the arm 610 may be included to form a linear multi-core sensor array. Alternatively, multiple FBG sensors can be spirally distributed radially in the arm body 610, forming a spiral multi-core sensor array comprising a central core extending along the central axis of the arm body 610 and multiple lateral cores spirally distributed around the central core.

[0078] In some embodiments, at least one pose sensor 692 is disposed on the arm body 610 for generating pose data associated with the pose of at least a portion of the arm body 610. For example, the pose sensor 692 may be disposed at the proximal or distal end of the arm body 610 to generate data associated with the pose of the proximal or distal end of the arm body 610. In some embodiments, the pose sensor may be an EM sensor (Electromagnetic Sensor), comprising one or more conductive coils to generate an induced electrical signal associated with the pose of the conductive coils under the action of an external electromagnetic field.

[0079] In some embodiments, pose data generated by at least one pose sensor 692 can be used to calibrate shape data generated by at least one shape sensor 691. The pose sensor 692 can be disposed in the arm body 610 at a position associated with at least a portion of the shape sensor 691, for example, at a position in the arm body 610 corresponding to the proximal or distal end of the shape sensor 691. The control device can determine the pose of at least a portion of the shape sensor 691 based on the pose data output by the pose sensor 692, and further determine the three-dimensional shape of the arm body 610 within the cavity based on the shape data output by the shape sensor 691 and the pose of at least a portion of the shape sensor 691.

[0080] It should be understood that the flexible tool 600 is not limited to the structure described above. In some embodiments, at least one shape sensor 691 may also be disposed only on the distal portion of the arm body 610 for detecting the shape of the distal portion of the arm body 610. In some embodiments, the pose sensor 691 may also be disposed on the sleeve setting portion of the arm body (e.g., Figure 2 The sleeve mounting section 217 shown is... Figure 3 The sleeve mounting section 317 shown is... Figure 6 The sleeve mounting section 617 shown is or Figure 7 The sleeve mounting portion 770 shown extends axially from the proximal end of the sleeve mounting portion to the end of the arm body. At least one pose sensor 692 may be disposed at the proximal or distal end of the shape sensor 691 to determine the pose of the shape sensor 691. Alternatively, the sensor assembly 690 may not include at least one pose sensor. In some embodiments, the flexible tool 600 may be disposed on the robotic arm, such as the first motion arm (e.g., Figure 1A The first moving arm 22 shown is or Figure 11 At the distal end of the first motion arm 2220 shown, the control device can determine the pose of the base coordinate system of the arm body 610 relative to the world coordinate system based on the pose of the robotic arm, and then determine the three-dimensional shape of the arm body 610 in the cavity based on the shape data output by at least one shape sensor 691 and the pose of the base coordinate system of the arm body 610 relative to the world coordinate system.

[0081] In some embodiments, the flexible tool 600 may also exclude the sensor assembly 690. For example, the arm 619 may be connected to a first drive unit mounted on a first vehicle (e.g., Figure 1A and Figure 1B The first driving device 27 shown Figure 11 The first drive device 2233 shown or Figure 12 , Figure 13A , Figure 13B and Figure 14The first driving device 3300 shown is connected, so that the pose and shape of the arm 610 can be determined based on the driving signals of the driving device and the kinematic model of the arm. Alternatively, it can be based on an image acquisition device (e.g., Figure 16 The image (e.g., X-ray fluoroscopic image) acquired by the scanning device 5030 shown is used to determine the pose and shape of the arm body 610 within the cavity.

[0082] In some embodiments, the arm body (e.g., Figure 1A and Figure 1B Arm 12 as shown Figure 2 Arm 211 shown Figure 3 Arm 311 shown Figure 6 Arm 610 shown Figure 7 The arm shown is 700. Figure 9 The arm body shown is 910 or Figure 11 The arm body 2111 shown may include a deformable arm body, such as a continuous arm body. The deformable arm body may include at least one flexible segment and / or at least one rigid segment. At least one magnetic sleeve may be fitted over the outside of at least one flexible segment or at least one rigid segment.

[0083] In some embodiments, the flexible segment can be an actively bendable segment, such as a continuum segment. Figure 7 A schematic diagram of the distal structure of an arm 700 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 7As shown, the arm body 700 may include at least one distal continuum segment as a flexible component, such as a distal continuum segment 710. The distal continuum segment 710 includes a distal base plate 711, a distal stop plate 712, a plurality of distal spacer plates 714, and a plurality of distal structural bones 713. The distal base plate 711 and the distal stop plate 712 are arranged at intervals, and a plurality of distal spacer plates 714 may be disposed between them. The plurality of distal structural bones 713 pass sequentially through the distal base plate 711 and the plurality of distal spacer plates 714, with their distal ends fixedly connected to the distal stop plate 712. In some embodiments, the distal ends of the plurality of distal structural bones 713 are circumferentially spaced and fixedly disposed on the distal stop plate 712. For example, the plurality of distal structural bones 713 may be evenly spaced or regularly symmetrically arranged. The plurality of distal structural bones 713 may be nickel-titanium alloy wire, stainless steel wire, etc. In some embodiments, the number of distal structural bones 713 can be four. Two structural bones, working in tandem to push and pull, enable the distal continuum segment 710 to bend in the first degree of freedom direction. The other two structural bones, also working in tandem to push and pull, enable the distal continuum segment 710 to bend in the second degree of freedom direction, thereby giving the arm body 700 at least one degree of freedom in at least one direction. In some embodiments, the number of distal structural bones 713 can also be six, eight, etc. The number of distal structural bones 713 can include, but is not limited to, the number in the above embodiments.

[0084] In some embodiments, such as Figure 7 As shown, at least one distal continuum segment may include multiple distal continuum segments, such as distal continuum segments 710 and 720 connected in series. The distal base plate 711 of the distal continuum segment 710 located at the distal end can serve as the distal stop plate 722 of the distal continuum segment 720 located at the proximal end. Providing two or more distal continuum segments can increase the bending flexibility of the arm 700. Similarly, in some embodiments, the distal continuum segment 710 may include multiple distal spacer plates 714 disposed between the distal base plate 711 and the distal stop plate 712, and the distal continuum segment 720 may include multiple distal spacer plates 724 disposed between the distal base plate 721 and the distal stop plate 722. Multiple distal structural bones 713 sequentially pass through a distal base plate 721, multiple distal spacer plates 724, and a distal stop plate 722, or a distal base plate 711 and multiple distal spacer plates 714. Multiple distal structural bones 723 sequentially pass through a distal base plate 721 and multiple distal spacer plates 724. By setting multiple distal spacer plates 714 and 724, the stability of the multiple distal structural bones 713 and 723 during the push-pull process can be enhanced.

[0085] In some embodiments, the arm body 700 may further include at least one rigid segment. The at least one rigid segment may include a rigid segment (not shown) located between the distal continuum segment 710 and the distal continuum segment 720, and / or a rigid segment connected to the proximal end of the distal continuum segment 720, for example... Figure 7 The rigid segment 730 is shown. Those skilled in the art will understand that, in this document, a rigid segment refers to a segment that cannot be actively bent relative to a continuous segment. In order to adapt to the shape of a natural cavity, a rigid segment can be passively bent or rigid.

[0086] In some embodiments, such as Figure 7 As shown, the arm body 700 may also include a cover 790. The cover 790 wraps around the outside of the arm body 700 to isolate the distal base discs 711, 721, distal stop discs 712, 722, distal spacer discs 714, 724, and distal structural bones 713, 723 from external physiological tissues. The cover 790 may be made of a medically usable material, such as a low-friction material like polytetrafluoroethylene, to allow at least one magnetic sleeve (e.g., Figure 2 The magnetic sleeve 215 shown Figure 3 The magnetic sleeve 315 shown Figure 4 The magnetic sleeve 400 shown slides freely on the surface of the cover 790, for example, sliding axially and / or rotating circumferentially relative to the arm 700.

[0087] In some embodiments, the arm body 700 may include at least one sleeve mounting portion 770. At least one magnetic sleeve may be fitted onto at least one sleeve mounting portion 770. In some embodiments, the sleeve mounting portion 770 may include at least a portion of a flexible segment (e.g., distal continuum segment 710, distal continuum segment 720, etc.) or a rigid segment (e.g., rigid segment 730). For example, as Figure 7 As shown, the sleeve mounting portion 770 may include a portion located between the distal stop plate 712 and the distal base plate 711. Alternatively, the sleeve mounting portion 770 may be disposed between two spacers of the flexible segment, or span multiple flexible segments, such as including a portion between the distal stop plate 712 and the distal base plate 721, or the sleeve mounting portion 770 may span between the flexible segment and the rigid segment.

[0088] In some embodiments, the plurality of distal spacer disks may be formed with a diameter smaller than that of the distal stop disk and the distal base disk, and at least one magnetic sleeve is disposed between the distal stop disk and the distal base disk. In some embodiments, such as Figure 7As shown, a plurality of distal spacer discs 714 may be formed with a diameter smaller than that of the distal base discs 711 and distal stop discs 712 located on both sides, thereby forming a sleeve mounting portion 770 with a diameter smaller than that of the other parts of the arm body 700 between the distal base discs 711 and the distal stop discs 712. At least one magnetic sleeve may be configured to be slidably and / or rotatably fitted onto the outside of the cover 790 wrapped around the sleeve mounting portion 770 relative to the arm body 700.

[0089] In some embodiments, the distal stop disc and / or distal base disc are formed as magnetic chucks for locking at least one magnetic sleeve in the axial direction of the arm body. For example, as Figure 7 As shown, the distal stop plate 712 and / or the distal base plate 711 can be formed as magnetic chucks. The flexible tool can be inserted into the cavity with the magnetic sleeve adsorbed distally on the distal stop plate 712 or proximally on the distal base plate 711. Furthermore, the magnetic sleeve can stop or adhere to the inner wall of the cavity under the action of an external magnetic field, and the arm 700 can separate the distal stop plate 712 or the distal base plate 711 from the magnetic sleeve by feeding, retracting, or rolling, thereby realizing the movement of the arm 700 within the channel formed by the magnetic sleeve.

[0090] In some embodiments, the distal stop plate 712 and / or the distal base plate 711 may be formed as electromagnetic chucks for locking or releasing at least one magnetic sleeve in the axial direction of the arm body 700. The distal stop plate 712 and / or the distal base plate 711 may each include a magnetic core, a coil wound on the magnetic core, and a wire connected to the coil. The distal stop plate 712 and the distal base plate 711 may lock the magnetic sleeve at the distal or proximal end of the sleeve mounting portion 770 in the energized state to prevent the magnetic sleeve from sliding relative to the arm body 700, or release the magnetic sleeve in the de-energized state to allow the magnetic sleeve to slide freely on the sleeve mounting portion 770.

[0091] In other embodiments, at least two of the plurality of distal spacers 714 may be formed as electromagnetic chucks for locking or releasing at least one magnetic sleeve in the axial direction of the arm body 700. The at least two distal spacers may each include a magnetic core, a coil wound around the magnetic core, and a wire connected to the coil. In some embodiments, the two distal spacers may be configured with a distance between them greater than or equal to the length of the magnetic sleeve, forming a magnetic trap structure in the energized state to lock the magnetic sleeve between the two distal spacers, preventing the magnetic sleeve from sliding relative to the arm body 700, or releasing the magnetic sleeve in the de-energized state, allowing the magnetic sleeve to slide freely on the sleeve mounting portion 770.

[0092] It should be understood that at least one sleeve placement portion 770 is not limited to being formed on the distal continuum segment 710. In some embodiments, at least one sleeve placement portion 770 may also be formed on the distal continuum segment 720. Alternatively, at least one sleeve placement portion 770 may include a plurality of sleeve placement portions, such as two sleeve placement portions, respectively disposed on the distal continuum segment 710 and the distal continuum segment 720. In some embodiments, the sleeve placement portion 770 may also be formed on a rigid segment 730 for providing a rigid magnetic sleeve, such as... Figure 2 The magnetic sleeve 215 is shown.

[0093] In some embodiments, multiple through holes (not shown in the figures) may be formed on the distal base plates 711, 721, distal stop plates 712, 722, and distal spacer plates 714, 724, respectively. These through holes may be aligned axially along the arm body 700 to form multiple passages penetrating the arm body 700. In some embodiments, the flexible tool further includes at least one channel axially penetrating the arm body 700 (e.g., Figure 6 The surgical tool channel 630, imaging tool channel 640, illumination channel 650, auxiliary channel 660, etc. shown can be accessed through a passage composed of multiple through holes and open at the distal end of the arm body 700.

[0094] In some embodiments, the boom 700 can be connected to a first drive unit mounted on the first vehicle (e.g., Figure 1A and Figure 1B The first driving device 27 shown Figure 11 The first drive device 2233 shown or Figure 12 , Figure 13A , Figure 13B and Figure 14 The first driving device 3300 shown. The driving device can be connected to multiple distal structural bones 713, 723, and by pushing or pulling the distal structural bones 713, 723, it can drive the distal continuum segments 710, 720 to bend in different directions in the cavity.

[0095] The distal continuum structure in the arm body can be represented by a kinematic model. In some embodiments, the actuation amount of multiple distal bone structures has a known mapping relationship with the joint parameters of the distal continuum segment. The joint parameters of the distal continuum segment may include the bending angle and torsional angle of the distal continuum segment. Based on the target joint parameters of the distal continuum segment and the mapping relationship, the actuation amount of multiple distal bone structures can be determined. The actuation amount of multiple distal bone structures can be understood as the length of the distal bone structure subjected to push or pull when bending a single distal continuum segment from an initial state (e.g., bending angle of 0) to a target bending angle. The control device can determine the drive signal of the first drive device based on the actuation amount of each distal bone structure.

[0096] In some embodiments, the entire arm body can be described by a kinematic model. The arm body can be customized based on its length into the workspace, for example, from an auxiliary connection device (e.g., auxiliary connection device 150 shown in Figure 1 or...). Figure 2 The auxiliary connecting device 250 shown extends into the cavity to various lengths, and the arm body has different joint parameters in different working states. For example, Figure 7 The arm 700 shown includes at least three working states. The first working state can be a state where only the distal continuum segment 710 enters the working space; the second working state can be a state where all distal continuum segments 710 and partially distal continuum segments 720 enter the working space; and the third working state can be a state where all distal continuum segments 710, all distal continuum segments 720, and partially rigid segments 730 enter the working space. In some embodiments, when the magnetic sleeve on the arm constrains the arm to the inner wall of the cavity under the action of an external magnetic field, the length of the arm entering the working space changes, thereby changing the working state of the arm. For example, as... Figure 2 As shown, when the magnetic sleeve 215 constrains the distal portion of the arm body 211 to the inner wall of the cavity 275 under the action of the external magnetic field 280, the arm body 211 will change from the second working state to the first working state. The control device can respond to the change in the working state of the arm body and generate a drive signal corresponding to the changed working state.

[0097] In some embodiments, the arm body 700 may further include at least one proximal continuum segment. In some embodiments, at least one proximal continuum segment may be accommodated within a frame (e.g., Figure 6 The frame shown is 620. Figure 8 The frame shown is 800 or Figure 9 Inside the frame shown (920). Figure 8 A schematic diagram of the proximal structure of an arm 700 according to some embodiments of the present disclosure is shown. Figure 8 As shown, the arm body 700 may include at least one proximal continuum segment disposed within the frame 800, such as a proximal continuum segment 740. The proximal continuum segment 740 may include a proximal base plate 741, a proximal stop plate 742, and multiple proximal structural bones 743. The proximal stop plate 742 and the proximal base plate 741 are arranged at intervals, and the proximal base plate 741 is positioned relative to the distal base plate (e.g., Figure 7 The distal base plate 721 is adjacent to the distal base plate 741. The proximal ends of multiple proximal structural bones 743 are fixedly connected to the proximal stop plate 742. The multiple proximal structural bones 743 can pass through the proximal base plate 741, and their distal ends are respectively connected to multiple distal structural bones (e.g., Figure 7The distal structural bone 743 shown is either proximally fixedly connected or integrally formed. In some embodiments, the multiple proximal structural bones 743 can be nickel-titanium alloy wires, stainless steel wires, etc. In some embodiments, the frame 800 may further include at least one support plate, and the proximal base plate 741 may be fixedly mounted on at least one support plate. In some embodiments, such as Figure 8 As shown, the proximal continuum segment 740 may further include multiple proximal spacer discs 744 disposed between the proximal base disc 741 and the proximal stop disc 742, and multiple proximal structural bones 743 sequentially pass through the multiple proximal spacer discs 744 and the proximal base disc 741. The provision of proximal spacer discs 744 can enhance the stability of the multiple proximal structural bones 743 during the pushing and pulling process.

[0098] In some embodiments, such as Figure 8 As shown, at least one proximal continuum segment may include multiple proximal continuum segments, such as nested or sequentially connected proximal continuum segments 740 and 750. Proximal continuum segments 740 and 750 can be coupled to distal continuum segments 710 and 720 respectively to form a dual continuum, driving the distal continuum segments 710 and 720 to bend during bending. Figure 8 As shown, the proximal continuum segment 740 may include a proximal base plate 741, a proximal stop plate 742, multiple proximal structural bones 743, and multiple proximal spacer plates 744 disposed between the proximal base plate 741 and the proximal stop plate 742. The proximal continuum segment 750 may include a proximal base plate 751, a proximal stop plate 752, multiple proximal structural bones 753, and multiple proximal spacer plates 754 disposed between the proximal base plate 751 and the proximal stop plate 752. In some embodiments, the proximal base plate 741 of the outer proximal continuum segment 740 may serve as the proximal base plate 751 of the inner proximal continuum segment 750. Alternatively, the proximal base plate 751 of the proximal continuum segment 750 may also be fixedly connected to the proximal base plate 741 of the proximal continuum segment 740. Multiple proximal bone structures 743 can be fixedly connected proximally to a proximal stop disc 742, and the multiple proximal bone structures 743 can pass through a proximal base disc 741, with their distal ends connected to multiple distal bone structures (e.g., Figure 7 The distal structural bone 713 shown is either proximally fixedly connected or integrally formed. Multiple proximal structural bones 753 can be proximally fixedly connected to a proximal stop disc 752, and the multiple proximal structural bones 753 can pass through the proximal base disc 751, with their distal ends respectively connected to multiple distal structural bones (e.g., Figure 7 The distal structural bone 723 shown is either fixedly connected to the proximal end or integrally formed. By setting multiple proximal spacer discs 744 and 754, the stability of multiple proximal structural bones 743 and 753 during the push-pull process can be enhanced.

[0099] like Figure 8As shown, the proximal continuum segment 740 may further include multiple drive structure bones 745. The proximal end of the drive structure bone 745 is fixedly connected to the proximal stop plate 742, and the distal end passes through the proximal base plate 741 and is connected to the rotation drive device (e.g., Figure 14 The first drive mechanism 3312 shown is connected. The proximal continuum segment 750 may also include multiple drive structural bones 755. The proximal end of the drive structural bone 755 is fixedly connected to the proximal stop plate 752, and the distal end passes through the proximal base plate 751 and is connected to the rotation drive device (e.g., Figure 14 The first drive mechanism 3312 shown is connected. In some embodiments, the distal continuum segments 710, 720 and the proximal continuum segments 740, 750 can be connected by a connector (e.g., a first drive mechanism 3312). Figure 9 The connecting body 960 shown is connected. The driving device drives the proximal continuum segments 740 and 750 to bend by pushing or pulling multiple driving structural bones 745 and 755 in a coordinated manner, thereby causing the distal continuum segments 710 and 720 to bend in different directions in space.

[0100] In some embodiments, such as Figure 8 As shown, internal pathways are also formed in both the proximal continuum segment 740 and the proximal continuum segment 750. The proximal continuum segment 750 can be nested within the internal pathway of the proximal continuum segment 740. The flexible tool may also include at least one channel extending axially through the arm body, such as a surgical tool channel 630, an imaging tool channel 640, etc. Figure 8 It is shown schematically.

[0101] At least one channel can be configured to be distal at the distal end of the arm body 700 (e.g. Figure 7 The distal stop disc 712 shown has an opening, and its proximal end passes through the internal passages of the distal continuum segments 710, 720, and the proximal continuum segment 750, extending to the proximal end of the frame 800. The frame 800 may include at least one surgical channel opening 803 and at least one imaging channel opening 804, offset axially and / or circumferentially, for passage through the proximal ends of the surgical tool channel 630 and the imaging tool channel 640, respectively. It should be understood that... Figure 8 For the sake of simplicity, only the proximal segment of each of the surgical tool channel 630 and imaging tool channel 640 is shown.

[0102] Figure 9 A schematic diagram of the structure of a flexible tool 900 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 9 As shown, the flexible tool 900 may include an arm body 910 and a frame 920. It should be understood that, for clarity, Figure 9 Only a portion of frame 920 is shown. Arm body 910 may include a continuous arm body, which includes at least one distal continuous segment (e.g., Figure 7 The distal continuum segments 710 and 720 shown) and at least one proximal continuum segment (e.g., Figure 8 The distal continuum segments 740, 750, or shown Figure 9 (See proximal continuum segment 940). At least one distal continuum segment may extend from the distal end of the frame 920, and at least one proximal continuum segment 940 is located at the proximal end of the frame 920. The distal continuum segment and the proximal continuum segment may be connected by a connector 960.

[0103] In some embodiments, such as Figure 9 As shown, the flexible tool 900 may further include at least one connection interface 970 and at least one transmission structure 990. A first end of the at least one transmission structure 990 is connected to the arm body 910, and a second end of the at least one transmission structure 990 is connected to the at least one connection interface 970. The at least one connection interface is used to connect to a first drive unit mounted on the first vehicle (e.g., ...). Figure 1A and Figure 1B The first driving device 27 shown Figure 11 The first drive device 2233 shown or Figure 12 , Figure 13A , Figure 13B and Figure 14 The first drive device 3300 shown is coupled to and receives drive from the first drive device.

[0104] In some embodiments, at least one transmission structure 990 may be, for example, at least one drive wire, the first end of which may be connected to at least one drive structure bone of the arm body 910 (e.g., Figure 8 The drive structure bones 745, 755 shown are fixedly connected (e.g., by welding, integral molding, etc.), and the second end of the drive wire can be fixedly connected to at least one connection interface 970. At least one connection interface 970 can be connected to the first drive device (e.g., Figure 1A and Figure 1B The first driving device 27 shown Figure 11 The first drive device 2233 shown or Figure 12 , Figure 13A , Figure 13B and Figure 14 The first drive device 3300 shown is coupled to and receives drive from the first drive device, thereby driving at least one proximal continuous segment 940 to bend by pushing and / or pulling the drive wire, thereby driving at least one distal continuous segment located at the distal end of the arm body 910 to bend.

[0105] In some embodiments, the first drive unit mounted on the first vehicle (e.g., Figure 1A and Figure 1B The first driving device 27 shown Figure 11The first drive device 2233 shown or Figure 12 , Figure 13A , Figure 13B and Figure 14 The first driving device 3300 shown may include at least one driving interface (e.g., Figure 14 The first drive interface 3314 shown is used for outputting drives, the details of which will be described later. At least one connection interface 970 can be directly or indirectly coupled to the drive interface of the first drive device to receive drives from the first drive device. In some embodiments, the frame may include at least one connection window (e.g., Figure 6 As shown in connection window 627, at least one connection interface may be located within at least one connection window. In some embodiments, at least one connection interface may be configured to slide linearly relative to the frame within at least one connection window, for example, linearly along the axial direction of the frame. When the flexible tool 900 is connected to the first drive device, at least one connection window 970 may be coupled to the drive interface of the first drive device through at least one connection window on the frame to receive linear drive from the first drive device.

[0106] It should be understood that the arm of the flexible tool is not limited to the structure described above; any arm capable of receiving drive to move within the cavity is within the scope of this disclosure. For example, the arm may consist of only one distal continuum segment, which may be coupled with a proximal continuum segment to form a dual continuum structure. Alternatively, the distal continuum segment may be directly connected to the first drive device mounted on the first vehicle via multiple distal structural bones to directly receive drive. Furthermore, the structure in the flexible tool for receiving drive is not limited to the structures described above; any structure capable of receiving drive to push or pull at least one drive structural bone is within the scope of this disclosure.

[0107] In some embodiments, such as Figure 1A and Figure 1B As shown, the surgical apparatus 10 also includes at least one surgical tool 14. The at least one surgical tool 14 is configured to pass through a surgical tool channel on the flexible tool 11 (e.g., Figure 6 or Figure 8 The surgical tool channel 630 shown extends distally from the end of the arm 12 of the flexible tool 11 to perform surgical operations under the drive of at least one second drive unit 28 mounted on the first vehicle 20.

[0108] Figure 10 A schematic diagram of the structure of a surgical tool 1000 according to some embodiments of the present disclosure is shown. For example... Figure 10 As shown, the surgical tool 1000 may include a tool arm 1010 and an end effector 1020. In some embodiments, such as Figure 10As shown, the tool arm 1010 may include multiple bending joints 1011. The multiple bending joints 1011 can be sequentially connected to form a flexible, bendable, movable joint. The bending joints 1011 can be connected to magnetic bending joints (e.g., magnetic bending joints). Figure 4 The intermediate bending segment 430 shown has a similar structure. It should be understood that the tool arm 1010 is not limited to the structure described above; any flexible and bendable arm body is within the scope of this disclosure. The tool arm 1010 can also be a flexible arm body with other structures, such as a hose or bellows. An end effector 1020 can be disposed at the end of the tool arm 1010. In some embodiments, the end effector 1020 can be connected to the foremost bending segment among the plurality of bending segments 1011 of the tool arm 1010 to follow the movement of the tool arm 1010.

[0109] In some embodiments, such as Figure 10 As shown, the tool arm 1010 may also include a joint mechanism 1012. The joint mechanism 1012 may be located at the distal end of the tool arm 1010 and fixedly connected to the end effector 1020. Figure 10 As shown, the joint mechanism 1012 can be connected to the foremost bending segment among the multiple bending segments 1011 of the tool arm 1010. The end effector 1020 can be fixedly disposed at the distal end of the joint mechanism 1012 so as to bend relative to the tool arm 1010 under the drive of the joint mechanism 1012.

[0110] In some embodiments, with Figure 9 Similarly, as shown in the flexible tool 900, the surgical tool 1000 may also include at least one transmission structure. For example... Figure 10 As shown, at least one transmission structure may include at least one drive wire, such as instrument drive wire 1030 and / or joint drive wire 1040. In some embodiments, instrument drive wire 1030 may be connected to an opening and closing joint on the end effector 1020 to receive a drive to drive the end effector 1020 to open and close. Instrument drive wire 1040 may be connected to a joint mechanism 1012 to receive a drive to drive the joint mechanism 1012 to bend.

[0111] In some embodiments, with Figure 9 Similarly, as shown in the flexible tool 900, the surgical tool 1000 may also include at least one connection interface 1050 and a tool frame 1060. The at least one connection interface 1050 can connect to the connection interface of the flexible tool (e.g., Figure 9 The connection interface 970 shown has a similar structure and is configured to be compatible with a second drive unit mounted on the first vehicle (e.g., Figure 1A and Figure 1B The second drive device 28 shown Figure 11 The second drive device 2234 shown or Figure 12 , Figure 13A or Figure 13B The second drive device 3400, second drive device 3400a, and second drive device 3400b shown are coupled to and receive drive from the second drive device to slide relative to the tool frame 1060. The proximal end of at least one drive wire, such as instrument drive wire 1030 and / or joint drive wire 1040, may be fixedly connected to at least one connection interface 1050 to drive the end instrument 1020 to open and / or drive the joint mechanism 1012 to bend under the drive of at least one connection interface 1050.

[0112] Figure 11 A schematic diagram of a robot system 2000 according to some embodiments of the present disclosure is shown. For example... Figure 11 As shown, the robotic system 2000 may include a surgical device 2100 and a first vehicle 2200 for mounting the surgical device 2100. The first vehicle 2200 may include a first vehicle body 2210, a first motion arm 2220, and a mounting platform 2230. The proximal end of the first motion arm 2220 is rotatably connected to the first vehicle body 2210, and the mounting platform 2230 may be mounted on the distal end of the first motion arm 2220 for mounting the surgical device 2100.

[0113] In some embodiments, such as Figure 11 As shown, the first vehicle body 2210 may include a base 2211, a column 2212 extending vertically from the base 2211, and a crossbeam 2213 mounted on the top of the column 2212. The crossbeam 2213 may extend horizontally from the top of the column 2212 perpendicular to the height direction of the base 2211, and a first moving arm 2220 for mounting the mounting platform 2230 may be rotatably provided at the end of the crossbeam 2213.

[0114] In some embodiments, the proximal end of the first motion arm 2220 is rotatably connected to the first vehicle body 2210, and the distal end is used to mount the mounting platform 2230. The first motion arm 2220 includes a multi-degree-of-freedom motion arm composed of multiple joints. In some embodiments, such as Figure 11 As shown, the first moving arm 2220 may include a horizontal linkage mechanism 2222. The horizontal linkage mechanism 2222 includes, for example, a plurality of horizontal links and a rotary joint connected in sequence. Each joint of the horizontal linkage mechanism 2222 may include a motor that drives the corresponding joint to rotate under the control of a control device (not shown in the figure), so that the horizontal linkage mechanism 2222 moves in space to form a desired configuration.

[0115] In some embodiments, the first moving arm 2220 may further include an arcuate linkage mechanism 2223. The arcuate linkage mechanism 2223 may be configured such that its proximal end is rotatable relative to the distal end of the horizontal linkage mechanism 2222. For example, the arcuate linkage mechanism 2223 may be configured such that its proximal end is rotatably connected to the distal end of the horizontal linkage mechanism 2222, or its proximal end is rotatably connected to the distal end of a vertical arm lifting mechanism 2224 disposed at the distal end of the horizontal linkage mechanism 2222, as will be described later. In some embodiments, the arcuate linkage mechanism 2223 may include multiple arcuate arms, such as three arcuate arms. The proximal and distal ends of the multiple arcuate arms are rotatably connected sequentially. In some embodiments, each joint of the arcuate linkage mechanism 2223 may include a motor that drives the corresponding joint to rotate under the control of a control device (not shown in the figure), enabling the multiple arcuate arms to move collaboratively or independently.

[0116] In some embodiments, the first moving arm 2220 may further include a vertical arm lifting mechanism 2224, configured such that its proximal end is connected to the distal end of the horizontal linkage mechanism 2222, and its distal end is connected to the proximal end of the arcuate linkage mechanism 2223. The vertical arm lifting mechanism 2224 may include a vertical arm and a vertical arm lifting joint as a linear motion joint. By driving the vertical arm lifting joint, the vertical arm can be raised or lowered relative to the horizontal linkage mechanism 2222, thereby causing the arcuate linkage mechanism 2223 and the mounting platform 2230 disposed at the distal end of the vertical arm to be raised or lowered as a whole relative to the horizontal linkage mechanism 2222. In some embodiments, the vertical arm lifting mechanism 2224 may further include a rotary motion joint to allow the arcuate linkage mechanism 2223 and the mounting platform 2230 as a whole to rotate about a longitudinal axis relative to the distal end of the horizontal linkage mechanism 2222. It should be understood that the first moving arm 2220 may also omit the vertical arm lifting mechanism 2224, and instead adjust the overall height of the first vehicle 2200 by raising or lowering the column 2212 in the first vehicle body 2210.

[0117] In some embodiments, the mounting platform 2230 may be fixedly disposed at the distal end of the first moving arm 2220, for example, fixedly disposed at the distal end of the arcuate linkage mechanism 2223. In some embodiments, such as Figure 11 As shown, the mounting platform 2230 may include a first mounting base (e.g., Figure 1A The first mounting base 24 shown Figure 11 The first mounting bracket 2231 shown or Figure 12 , Figure 13A and Figure 13B The first mounting base 3100 and the second mounting base (e.g., shown) are shown. Figure 1A The second mounting base 25 shown Figure 11 The second mounting bracket 2232 shown or Figure 12 , Figure 13A and Figure 13BThe second mounting base 3200 shown), and the first drive device (e.g., Figure 1A and Figure 1B The first driving device 27 shown Figure 11 The first drive device 2233 shown or Figure 12 , Figure 13A , Figure 13B and Figure 14 The first drive device 3300 shown) and at least one second drive device (e.g., Figure 1A and Figure 1B The second drive device 28 shown Figure 11 The second drive device 2234 shown or Figure 12 , Figure 13A or Figure 13B The second drive device 3400, the second drive device 3400a, and the second drive device 3400b are shown.

[0118] In some embodiments, such as Figure 11 As shown, the first mounting base 2231 (e.g., the proximal end) is fixedly connected to the distal end of the first moving arm 2220, for example, to the distal end of the arcuate linkage 2223. The proximal end of the second mounting base 2232 can be connected to the distal end of the first mounting base 2231 about a first axis of rotation (e.g., ...). Figure 1A , Figure 11 , Figure 12 , Figure 13A or Figure 13B (As shown by the dashed line in the diagram) Rotational connection. For example, the mounting platform 2230 may include at least one rotary joint, such as a first rotary joint. The first rotary joint may be located at the distal end of the first mounting base 2231 or the proximal end of the second mounting base 2232, and the proximal end of the second mounting base 2232 is rotatably connected to the distal end of the first mounting base 2231 about the rotation axis of the first rotary joint, such as the first rotation axis.

[0119] In some embodiments, the first drive device 2233 may include a first main body component (e.g., Figure 12 , Figure 13A , Figure 13B and Figure 14 The first main body component 3310 and the first motion module (e.g., shown) are shown. Figure 12 , Figure 13A , Figure 13B and Figure 14 The first motion module 3320 shown. The first main body component may include at least one first drive unit (e.g., Figure 14 As shown in the first drive unit 3311), at least one first drive unit can be connected to the arm of the flexible tool (e.g., Figure 1A and Figure 1B Arm 12 as shown Figure 2Arm 211 shown Figure 3 Arm 311 shown Figure 6 Arm 610 shown Figure 7 The arm shown is 700. Figure 9 The arm body shown is 910 or Figure 11 The arm body 2111 shown is connected to drive the arm body in the cavity (e.g., Figure 1B Cavity 175 shown Figure 2 Cavity 275 shown Figure 3 The cavity 375 shown is bent within the cavity. A first motion module is configured to connect to the first main body assembly for driving movement of the first main body assembly. In some embodiments, the first motion module may include a first rotation module (e.g., Figure 12 , Figure 13A , Figure 13B and Figure 14 The first rotating module 3321 and the first linear module (e.g., shown) are shown. Figure 12 , Figure 13A , Figure 13B and Figure 14 The first linear module 3325 is shown. In some embodiments, the first rotary module is connected to the first main body assembly and is used to drive the first main body assembly to rotate, thereby causing the arm to roll. The first linear module may be mounted on a first mounting base (e.g., Figure 1A The second mounting base 25 shown Figure 11 The second mounting bracket 2232 shown or Figure 12 , Figure 13A and Figure 13B As shown in the second mounting base 3200, the first rotating module is mounted on the first linear module and its axis coincides with the first rotating axis. The first linear module is used to drive the first rotating module to move linearly to drive the arm body to feed or retract.

[0120] In some embodiments, at least one second drive device 2234 may include a second main body component (e.g., Figure 12 , Figure 13A and Figure 13B The second main body component 3410 shown) and the second motion module (e.g., Figure 12 , Figure 13A and Figure 13B The second motion module 3420 shown. The second main body component includes at least one second drive unit (not shown in the figure), and the at least one second drive unit may include an instrument drive unit. The instrument drive unit is connected to the end effector of the surgical tool (e.g., Figure 10 The distal end instrument 1020 shown is connected to the distal end instrument for driving it to perform surgical operations. In some embodiments, at least one second driving unit may further include a joint driving unit, which is connected to the joint mechanism of the surgical tool (e.g., Figure 10The joint mechanism 1012 shown is connected to drive the joint mechanism to bend, thereby causing the end effector disposed on the joint mechanism to deflect. A second motion module is configured to connect to the second main body assembly for driving the movement of the second main body assembly. In some embodiments, the second motion module may include a second rotation module (e.g., Figure 12 , Figure 13A and Figure 13B The second rotating module 3421 shown) and the second linear module (e.g., Figure 12 , Figure 13A and Figure 13B The second linear module 3425 is shown. In some embodiments, the second rotary module is connected to the second body assembly and is used to drive the second body assembly to rotate to move the tool arm of the surgical tool (e.g., Figure 1A and Figure 1B Tool arm 15 shown Figure 10 The tool arm 1010 shown or Figure 11 The tool arm 2121 shown is in the surgical tool channel (e.g., Figure 6 or Figure 8 The surgical tool channel 630 shown is rotated within the second linear module. The second linear module is mounted on the second mounting base (e.g., ...). Figure 1A The second mounting base 25 shown Figure 11 The second mounting bracket 2232 shown or Figure 12 , Figure 13A and Figure 13B As shown in the second mounting base 3200, the second rotary module is mounted on the second linear module. The second linear module is used to drive the linear motion of the second rotary module to drive the tool arm to feed or retract.

[0121] In some embodiments, the robot system may further include a control device (not shown in the figures). It is understood that the control device may be a single controller centrally configured, or may include multiple controllers distributed across the system. In some embodiments, the control device may be communicatively connected to a first drive device 2233 to drive the flexible tool 2110 to move by controlling the first drive device 2233. For example, the control device may send drive signals to the first drive device via a CAN bus, drive the arm of the flexible tool to bend within the cavity by controlling at least one first drive unit in the first main body assembly, and / or drive the arm of the flexible tool to roll within the cavity by controlling a first rotation module in the first motion module, and / or drive the arm of the flexible tool to move forward and backward within the cavity by controlling a first linear module in the first motion module. In some embodiments, the control device may also be configured to collaboratively control at least one first drive unit and a first rotation module, enabling the arm of the flexible tool to roll while maintaining its configuration, thereby achieving roll of the arm about its own axis.

[0122] In some embodiments, the control device may also be communicatively connected to at least one second drive device 2234 to drive at least one surgical tool 2120 by controlling at least one second drive device 2234. For example, the control device may send drive signals to at least one second drive device via a CAN bus, drive the end effector of the surgical tool to perform surgical operations and / or drive the joint mechanism of the surgical tool to bend by controlling at least one second drive unit in the second body assembly, and / or drive the tool arm of the surgical tool to roll by controlling the second rotation module in the second motion module, and / or drive the tool arm of the surgical tool to move forward and backward by controlling the second linear module in the second motion module.

[0123] In some embodiments, the control device may also be communicatively connected to the first mounting base 2231 and / or the second mounting base 2232, and drive at least one second drive device 2234 to rotate around the first rotation axis by controlling the second mounting base 2232 to rotate around the first rotation axis, thereby causing at least one surgical tool mounted on at least one second drive device 2234 to rotate around the first rotation axis. For example, the control device may send drive signals to the rotary joint (e.g., the first rotary joint) on the first mounting base 2231 and / or the second mounting base 2232 via a CAN bus, and drive the second mounting base 2232 to rotate around the first rotation axis by controlling the rotation of the rotary joint, thereby driving at least one surgical tool to rotate around the first rotation axis.

[0124] In some embodiments, the control device may also be configured to coordinately control the first linear module of the first drive device 2233 and the second linear module of at least one second drive device 2234 to move linearly in sync, such that the tool arm of at least one surgical tool can follow the arm body of the flexible tool to feed or retract. Furthermore, the control device may also be configured to coordinately control the rotational joint and the first rotational module of the first drive device 2233 to rotate synchronously, such that the tool arm of at least one surgical tool can roll along the arm body of the flexible tool. In this way, at least a portion (e.g., at least the distal portion) of the surgical tool can be kept within the surgical tool channel of the flexible tool throughout the movement of the flexible tool.

[0125] In some embodiments, the mounting platform 2230 may further include at least one retaining mechanism (not shown) for slidably retaining the arm 2111 of the flexible tool 2110. In some embodiments, the at least one retaining mechanism may be disposed at the proximal end of the first mounting base 2231, for example, it may include a through hole allowing the arm 2111 of the flexible tool 2110 to pass through.

[0126] In some embodiments, the robot system 2000 may further include an auxiliary connection device (e.g., the auxiliary connection device 150 shown in FIG1 or...). Figure 2The auxiliary connection device 250 is shown. The auxiliary connection device may include a channel for passage of the flexible tool 2110. In some embodiments, the auxiliary connection device may be detachably disposed at the proximal end of the mounting platform 2230. Before surgery, the robotic system 2000 can be positioned via the first motion arm 2220 so that the distal end of the auxiliary connection device can be inserted into a cavity through an opening in the patient's body, thereby allowing the arm 2111 of the flexible tool 2110 to enter the patient's cavity through the channel of the auxiliary connection device. In some embodiments, the auxiliary connection device is, for example, a pre-bendable rigid sheath. By bending the auxiliary connection device before surgery, an arcuate channel can be formed in the auxiliary connection device to facilitate the entry of the arm of the flexible tool into the patient's cavity, as shown in Figure 1 and... Figure 2 As shown.

[0127] It should be understood that the first vehicle is not limited to the structure described above; any first vehicle capable of carrying surgical instruments and positioning them is within the scope of this disclosure. For example, the first moving arm of the first vehicle can also be configured as a multi-degree-of-freedom moving arm composed of multiple links connected in series or parallel. In some embodiments, the robotic system may also include multiple first vehicles, such as a first vehicle for carrying surgical tools and / or a first vehicle for carrying imaging tools. The surgical tools and / or imaging tools can be mounted on their respective first vehicles to move along with the flexible tools under the control of the control device.

[0128] Figure 12 This diagram shows a structural schematic of an installation platform 3000 according to some embodiments of the present disclosure. Figure 13A A schematic diagram showing the ready state of the installation platform 3000' according to other embodiments of the present disclosure is provided. Figure 13B A schematic diagram showing the folded state of the mounting platform 3000' according to other embodiments of the present disclosure is provided. Figure 12 , Figure 13A and Figure 13B As shown, the mounting platform 3000 may include a first mounting base 3100, a second mounting base 3200, a first drive device 3300, and at least one second drive device 3400. In some embodiments, the first mounting base 3100 (e.g., the proximal end) and the first motion arm (e.g., Figure 1A The first moving arm 22 shown is or Figure 11 The distal end of the first moving arm 2220 shown is fixedly connected, for example, to an arc-shaped linkage mechanism (e.g., Figure 11 The distal end of the arc-shaped linkage mechanism 2233 shown is fixedly connected. The proximal end of the second mounting base 3200 is connected to the distal end of the first mounting base 3100 around the first rotation axis (e.g., Figure 1A , Figure 11 , Figure 12 , Figure 13A or Figure 13B (As shown by the dashed line in the diagram) Rotate connection.

[0129] In some embodiments, such as Figure 12 , Figure 13A and Figure 13B As shown, the first mounting base 3100 can be formed in a generally L-shaped configuration. The first mounting base 3100 may include a long arm 3101 and a short arm 3102, with the proximal end of the short arm 3102 fixedly connected to the distal end of the long arm 3101 (e.g., integrally formed). The proximal end of the first mounting base 3100 may be the proximal end of the long arm 3101, and the distal end of the first mounting base 3100 may be the distal end of the short arm 3102. In some embodiments, the first mounting base 3100 may include a first mounting position 3101 for mounting the first drive device 3300. In some embodiments, such as... Figure 13B As shown, the first mounting position 3101 may extend along the length of the long arm 3101 and open downwards towards the long arm 3101. In some embodiments, the first driving device 3300 may include a device for driving a flexible tool (e.g., Figure 1A and Figure 1B The flexible tool shown is 11. Figure 2 The flexible tool 210 shown Figure 3 The flexible tool 310 shown Figure 6 The flexible tool 600 shown Figure 9 The flexible tool 900 shown Figure 11 The first linear module 3325 of the flexible tool 2110 shown can be installed in the first mounting position 3101.

[0130] In some embodiments, the second mounting base 3200 may include at least one second mounting position for mounting at least one second driving device 3400. In some embodiments, the second driving device 3400 may include a device for driving surgical instruments (e.g., Figure 1A and Figure 1B Surgical tool 14 shown Figure 10 The surgical instrument shown is 1000 or Figure 11 The surgical tool 2120 shown has a second linear module 3425 for linear motion, which can be mounted in at least one second mounting position. In some embodiments, at least one second mounting position may be located at the distal end of the second mounting base 3200 (e.g., as shown in the figure). Figure 12 (As shown at the lower end).

[0131] In some embodiments, the mounting platform may further include at least one rotary joint, such as a first rotary joint. The first rotary joint may be located at the distal end of the first mounting base 3100 (e.g., the distal end of the short arm 3102) or the proximal end of the second mounting base 3200. The proximal end of the second mounting base 3200 is rotatably connected to the distal end of the first mounting base 3100 about a rotation axis of the first rotary joint, such as a first rotation axis, via the first rotary joint. In some embodiments, the distance between the first mounting position 3101 of the first mounting base 3100 and the rotation axis of the first rotary joint may be set to be equal to the distance between the rotation axes of the first linear module 3325 and the first rotary module 3321 in the first drive device 3300. Thus, when the first drive device 3300 is mounted at the first mounting position 3101, the rotation axis of the first rotary module 3321 may coincide with the first rotation axis. Furthermore, with at least one second drive device 3400 mounted in at least one second mounting position, the second mounting base 3200 can rotate around the distal end of the first mounting base 3100 via the first rotary joint, thereby driving at least one second drive device 3400 to rotate relative to the first drive device 3300 around the first rotation axis.

[0132] In some embodiments, at least one surgical tool may include multiple surgical tools, such as two surgical tools. The two surgical tools can be docked in a ready state at their respective corresponding proximal segments of the channel (e.g., Figure 6 Within the proximal segment 633 of the channel shown, the flexible tool can extend alternately from the distal end of its arm as needed to perform different surgical tasks. Multiple surgical tools can be configured according to surgical requirements, for example, they can be any combination of mechanical end-effectors (such as clamps, puncture needles, cutting devices, grinding devices, capture devices, etc.) and energy-based end-effectors (such as laser devices, radiofrequency devices, etc.).

[0133] In some embodiments, at least one surgical tool may include a first surgical tool and a second surgical tool. At least one second drive device 3400 may include a second drive device 3400a for driving the first surgical tool and a second drive device 3400b for driving the second surgical tool. In some embodiments, such as Figure 12 , Figure 13A and Figure 13B As shown, the second drive unit 3400a and the second drive unit 3400b can be configured to be mounted on opposite sides of the second mount 3200, separated by the first mount 3100. For example, the second linear module 3425 of the second drive unit 3400a and the second linear module 3425 of the second drive unit 3400b can be mounted on opposite sides of the second mount 3200, separated by the first mount 3100.

[0134] In some embodiments, such as Figure 13A and Figure 13B As shown, the second mounting base 3200 includes a first mounting arm 3210 and a second mounting arm 3220. In some embodiments, the proximal end of the first mounting arm 3210 is rotatably connected to the distal end of the first mounting base 3100 about a first rotation axis, and the proximal end of the second mounting arm 3220 is rotatably connected to the proximal end of the first mounting arm 3210 about the first rotation axis. For example, at least one rotary joint of the mounting platform 3000' may further include a second rotary joint coaxially disposed with the first rotary joint, and the second rotary joint may be disposed at the proximal end of the first mounting arm 3210 or the proximal end of the second mounting arm 3220. The proximal end of the first mounting arm 3210 can be rotatably connected to the distal end of the short arm 3102 about the first rotation axis via the first rotary joint, and the proximal end of the second mounting arm 3220 can be rotatably connected to the proximal end of the first mounting arm 3210 about the first rotation axis via the second rotary joint.

[0135] In some implementations, the second drive unit 3400a may be mounted on the first mounting arm 3210, and the second drive unit 3400b may be mounted on the second mounting arm 3220. In some embodiments, such as Figure 13A and Figure 13B As shown, the second linear module 3425 of the second drive device 3400a can be mounted on the first side wall of the first mounting arm 3210, and the second linear module 3425 of the second drive device 3400b can be mounted on the second side wall of the second mounting arm 3220. The first side wall of the first mounting arm 3210 and the second side wall of the second mounting arm 3220 are opposite each other across the first mounting base 3100. Figure 13A As shown, by extending the first mounting arm 3210 and the second mounting arm 3220 of the second mounting base 3200 to both sides, the second drive device 3400a and the second drive device 3400b can drive the first surgical tool and the second surgical tool into a ready state to perform surgical operations. Figure 13B As shown, by retracting the first mounting arm 3210 and the second mounting arm 3220 of the second mounting base 3200, the second drive device 3400a and the second drive device 3400b can be retracted to both sides of the first mounting base 3100, thereby entering the storage state.

[0136] It should be understood that the mounting platform is not limited to the structure described above. Any mounting platform capable of carrying the surgical device and driving the surgical instruments to move with the flexible tool is within the scope of this disclosure. Furthermore, the first mounting base is not limited to the structure described above; the first mounting base can be formed in any structure capable of connecting to the first moving arm.

[0137] In some embodiments, at least one second drive unit for driving at least one surgical tool may have a structure similar to that of a first drive unit for driving a flexible tool. The structure of the drive unit is described below using the first drive unit as an example.

[0138] Figure 14 A schematic diagram of the structure of a first drive device 3300 according to some embodiments of the present disclosure is shown. It should be understood that, for clarity, Figure 14 Only the proximal portion of the first linear module 3325 is shown. (See image.) Figure 12 , Figure 13A , Figure 13B and Figure 14 As shown, the first driving device 3300 may include a first main body assembly 3310. The first main body assembly 3310 includes at least one first driving unit 3311, the first driving unit 3311 being connected to a flexible tool (e.g., Figure 1A and Figure 1B The flexible tool shown is 11. Figure 2 The flexible tool 210 shown Figure 3 The flexible tool 310 shown Figure 6 The flexible tool 600 shown Figure 9 The flexible tool 900 shown Figure 11 The flexible tool 2110 shown is connected to the arm body (e.g., the flexible tool arm) for driving the flexible tool. Figure 1A and Figure 1B Arm 12 as shown Figure 2 Arm 211 shown Figure 3 Arm 311 shown Figure 6 Arm 610 shown Figure 7 The arm shown is 700. Figure 9 The arm body shown is 910 or Figure 11 The arm shown (2111) bends.

[0139] In some embodiments, such as Figure 14 As shown, the first drive unit 3311 includes a first drive mechanism 3312 (e.g., a motor), a first transmission mechanism 3313, and a first drive interface 3314. The first transmission mechanism 3313 is coupled to the first drive mechanism 3312 and is used to convert the rotational motion of the first drive mechanism 3312 into linear motion. The first drive interface 3314 can be connected to the first transmission mechanism 3313 to move linearly under the drive of the first transmission mechanism 3313, and can also be connected to the connection interface of a flexible tool (e.g., with…). Figure 9 The connection interface 970 shown is coupled to provide drive to the arm body through the connection interface.

[0140] In some embodiments, such as Figure 14As shown, the first transmission mechanism 3313 may include a screw 33131 and at least one nut 33132 threadedly connected to the screw 33131. In some embodiments, the nut 33132 may be connected to the first drive interface 3314 via a connecting rod 33135. The screw 33131 is coupled to the first drive mechanism 3312 and rotates under the drive of the first drive mechanism 3312 to drive the nut 33132 to move linearly, thereby driving the first drive interface 3314 to move linearly and providing drive to the arm body. In some embodiments, the first main body assembly 3310 may include multiple sets of first drive units 3311, and the multiple sets of first drive interfaces 3314 may be connected to multiple connection interfaces on the flexible tool (e.g., with...). Figure 9 The connection interfaces 970 shown are coupled separately, and multiple connection interfaces are driven to push and pull multiple pairs of drive structural bones (e.g., Figure 8 The drive structure 745 or drive structure 755 shown is used to achieve bending of the arm body. It should be understood that the first transmission mechanism is not limited to the above structure. Any first transmission mechanism that can achieve linear motion of the first drive interface is within the scope of this disclosure. For example, the screw 33131 can be a double-ended screw with reverse threads. At least one nut includes a pair of nuts 33132 and 33133, which can be connected to a pair of first drive interfaces 3314 respectively. The first drive mechanism 3312 can be configured to be connected to the screw 33131 to drive the screw 33131 to rotate, thereby driving the pair of nuts 33132 and 33133 to move linearly in opposite directions synchronously, thereby driving a pair of connection interfaces on the flexible tool (e.g., with) through the pair of first drive interfaces 3314. Figure 9 The connection interface 970 shown moves to achieve the bending of the arm body.

[0141] In some embodiments, such as Figure 14 As shown, the first main body component 3310 may also include a first main body 3315. The first main body 3315 includes a first receiving groove 3316 disposed at a distal end and at least one first driving window 3317 disposed on the inner wall of the first receiving groove 3316, wherein at least one first driving interface 3314 may be located within at least one first driving window 3317. It should be understood that the first main body 3315 may include a shell or frame of the first main body component 3310, and the shape of the first main body 3315 may be configured according to the layout of the first main body component 3310 to cover or mount the internal structure of the first main body component 3310. For example, as... Figure 14As shown, the first body 3315 may include a proximal portion and a distal portion, wherein the distal portion is smaller than the proximal portion and can be connected to the proximal portion via a frustum-like structure. A first drive mechanism 3312 and a first transmission mechanism 3313 may be disposed within the proximal portion of the first body 3315, and a first receiving groove 3316 may be disposed on the distal portion of the first body 3315. The first receiving groove 3316 is used to receive the proximal end of a flexible tool, such as a frame for receiving a flexible tool (e.g., Figure 6 The frame shown is 620. Figure 8 The frame shown is 800 or Figure 9 (Frame 920 shown). The first drive interface 3314 may be located within and protrude from the first drive window 3317, including a connection interface for at least one on the flexible tool (e.g., Figure 9 The coupling structure of the connection interface 970 shown is such as a coupling groove, a coupling protrusion, a side cut, etc.

[0142] In some embodiments, the first body component 3310 may be connected to the flexible tool via an adapter (not shown) to deliver actuation to the flexible tool. The adapter may be detachably disposed within the first receiving slot 3316 to separate the frame of the flexible tool from the first receiving slot 3316, forming a sterile barrier between the flexible tool and the first actuation device 3300.

[0143] In some embodiments, such as Figure 12 , Figure 13A , Figure 13B and Figure 14 As shown, the first driving device 3300 further includes a first motion module 3320. The first motion module 3320 is configured to connect to the first main body assembly 3310 and is used to drive the first main body assembly 3310 to move. In some embodiments, such as Figure 14 As shown, the first motion module 3320 may include a first rotary module 3321 and a first linear module 3325. In some embodiments, the first rotary module 3321 may be connected to the first main body assembly 3310 to drive the first main body assembly 3310 to rotate, thereby causing the arm of the flexible tool to roll. The first linear module 3325 may be mounted on a first mounting base (e.g., Figure 1A The first mounting base 24 shown Figure 11 The first mounting bracket 2231 shown or Figure 12 , Figure 13A and Figure 13B The first mounting bracket 3100 shown is used to follow the mounting platform (e.g., Figure 1A and Figure 1B Installation platform 23 shown Figure 11 Installation platform 2230 shown Figure 12 The installation platform shown is 3000 or Figure 13A and Figure 13B The mounting platform 3000' shown moves. The first rotary module 3321 can be mounted on the first linear module 3325, and configured such that the distance between its axis and the first linear module 3325 is equal to the distance between the first mounting position on the first mounting base and the rotation axis of the first rotary joint, thereby making the axis coincide with the first rotation axis. The first linear module 3325 can drive the first rotary module 3321 to move linearly to drive the arm body to feed or retract.

[0144] In some embodiments, such as Figure 14 As shown, the first rotating module 3321 may include a rotation transmission mechanism 3322 and a rotation drive mechanism 3323 (e.g., a motor). The rotation transmission mechanism 3322 is coupled to the rotation drive mechanism 3323 and is used to transmit the rotational motion of the rotation drive mechanism 3323 to the first main body assembly 3310 to drive the first main body assembly 3310 to rotate the flexible tool as a whole. In some embodiments, the rotation transmission mechanism 3322 may include a driving wheel (not shown), a driven wheel 33222, and a timing belt 33223 linked to the driving wheel and the driven wheel 33222. The driving wheel is fixedly connected to the output end of the rotation drive mechanism 3323, and the driven wheel 33222 is fixedly connected to the first body 3315 of the first main body assembly 3310. The timing belt 33223 is wound around the driving wheel and the driven wheel 33222 and configured to transmit the rotation of the driving wheel to the driven wheel 33222, thereby driving the first main body assembly 3310 to rotate. It should be understood that the first rotating module 3321 is not limited to the above structure. For example, the first rotating module 3321 may include a first gear and a second gear that mesh with each other. The first gear may be coupled to the output end of the rotation drive mechanism 3323, and the second gear may be coupled to the proximal end of the first body 3315 of the first body assembly 3310, thereby transmitting the rotation output by the rotation drive mechanism 3323 to the first body assembly 3310 to drive the arm of the flexible tool to roll.

[0145] In some embodiments, such as Figure 14 As shown, the first linear module 3325 may include a linear drive mechanism (e.g., a motor, not shown) and a linear transmission mechanism 3327. The linear transmission mechanism 3327 may include a lead screw 33271, a slider 33272, and a slide rail 33273. The slider 33272 is slidably connected to the lead screw 33271 and slidably disposed on the slide rail 33273. The first body 3315 of the first main body assembly 3310 or the first rotating module 3321 may be fixedly disposed on the slider 33272. The lead screw 33271 is coupled to the output end of the linear drive mechanism and, driven by the linear drive mechanism, drives the slider 33272 to slide linearly, thereby driving the first rotating module 3321 to move linearly to feed or retract the arm.

[0146] In some embodiments, the robotic system may further include a second vehicle for generating at least one external magnetic field (e.g., Figure 1B The external magnetic field shown is 180°. Figure 2 The external magnetic field shown is 280 or Figure 3 The external magnetic field 380 shown is used to operate at least one magnetic element (e.g., Figure 1A and Figure 1B Magnetic component 13 shown Figure 2 The magnetic sleeve 215 shown Figure 3 The magnetic sleeve 315 shown Figure 4 The magnetic sleeve shown is 400 or Figure 11 The magnetic element shown is 2112. Figure 15 A schematic diagram of a second vehicle 4000 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 15 As shown, the second vehicle 4000 may include a second vehicle body 4010, a second motion arm 4020 disposed on the second vehicle body 4010, and a magnetic field generating device 4030 mounted on the distal end of the second motion arm 4020. The second motion arm 4020 may include a multi-degree-of-freedom motion arm composed of multiple joints. In some embodiments, the second motion arm 4020 is connected to the second vehicle body 4010 at its proximal end via joints, and at its distal end is used to mount the magnetic field generating device 4030. The magnetic field generating device 4030 may be, for example, an electromagnet, including one or more coils, for generating an external magnetic field when an electric current passes through it.

[0147] In some embodiments, the second carriage 4000 is configured to track the movement of the flexible tool and generate or remove an external magnetic field for operating at least one magnetic element of the flexible tool via a magnetic field generator 4030. The second carriage 4000 may be communicatively connected to a control device. The control device may be configured to obtain the pose of at least one magnetic element in the flexible tool, and based on the pose of the at least one magnetic element, control the movement of the second motion arm 4020 to adjust the position and orientation of the magnetic field generator 4030 mounted at the distal end of the second motion arm 4020, so that the magnetic field generator 4030 follows the movement of the at least one magnetic element outside the patient's body. In some embodiments, the control device is also configured to control the magnetic field generator 4030 to generate an external magnetic field to attract at least one magnetic element to the inner wall of the cavity, and to control the magnetic field generator 4030 to remove the external magnetic field to release at least one magnetic element from the inner wall of the cavity.

[0148] In some embodiments, the flexible tool may include multiple magnetic elements, and the robot system 2000 may operate the multiple magnetic elements on the flexible tool through a magnetic field generator 4030. Alternatively, the robot system 2000 may also include multiple second vehicles 4000, each operating the multiple magnetic elements of the flexible tool separately through a magnetic field generator 4030 on each vehicle.

[0149] In some embodiments, the robotic system may also include a third vehicle for scanning and imaging the patient's cavities. Figure 16 A schematic diagram of a third vehicle 5000 according to some embodiments of the present disclosure is shown. Figure 16 As shown, the robot system may also include a third vehicle 5000. The third vehicle 5000 may be, for example, any one of an X-ray imaging device, a CR (Computed Radiography) imaging device, a DR (Digital Radiography) imaging device, a CT (Computed Tomography) imaging device, or an MRI (Magnetic Resonance Imaging) device.

[0150] In some embodiments, the third vehicle 5000 may be an X-ray imaging device equipped with a C-arm or an O-arm. The third vehicle 5000 may include a third vehicle body 5010, a third motion arm 5020 disposed on the third vehicle body 5010, and a scanning device 5030 mounted on the distal end of the third motion arm 5020. The third motion arm 5020 is formed as a C-arm or O-arm structure and configured to move vertically up and down, horizontally translate left and right, and rotate about a central axis to adjust the imaging position of the scanning device 5030. The scanning device 5030 is used to scan a patient to obtain cavity information. In some embodiments, the scanning device 5030 may include a radiation generating device 5031 and a radiation detector 5032 disposed opposite to each other on the third motion arm 5020. The radiation generating device 5031 may be, for example, an X-ray tube for generating X-rays. The radiation detector 5032 may be, for example, a flat panel detector or an image intensifier for receiving X-rays passing through the patient's body and converting them into digital image signals.

[0151] In some embodiments, the third carriage 5000 can be communicatively connected to a control device. The third motion arm 5020 can drive the scanning device 5030 to move, thereby acquiring cavity information of the patient from multiple angles. In some embodiments, the control device can generate a three-dimensional model of the cavity based on the cavity information obtained by the scanning device 5030 using an image processing algorithm. In some embodiments, the third carriage 5000 can also provide real-time cavity imaging during the operation to assist the operator in observing the condition within the cavity and performing surgical procedures.

[0152] In some embodiments, the robotic system may further include a fourth vehicle, which may be, for example, a device vehicle or an image vehicle. The fourth vehicle may include a main body and a display device mounted on the main body. The display device is configured to display cavity images and / or cavity models generated based on cavity information.

[0153] In some embodiments, the robotic system may further include a master manipulator for master-slave operation of the surgical apparatus. The master manipulator may be, for example, a handle, a joystick, a control ball, or a combination thereof.

[0154] In some embodiments, the robotic system may further include a main control carriage (not shown in the figures). The main control carriage includes a main manipulator, a main control carriage display, and pedals. A control device can be communicatively connected to the main manipulator, the main control carriage display, and the pedals, respectively, for signal interaction with these components and for generating corresponding control commands based on collected control information. The main control carriage display can be used to display surgical site images (e.g., 3D surgical site images) and system status prompts to the operator. In some embodiments, the images displayed on the main control carriage display may be based on cavity images acquired by imaging tools. In some embodiments, the pedals can be used to collect input from the operator's feet, and may include structures such as instrument pedals, clutch pedals, field of view pedals, and switching pedals.

[0155] The master manipulator may include a multi-degree-of-freedom manipulator arm and a handle disposed on the manipulator arm. The manipulator arm includes at least one posture joint and at least one position joint. The posture joint is used to control the posture of the handle of the master manipulator, controlling the handle to achieve a desired posture through one or more posture joints. The position joint is used to control the position of the handle of the master manipulator, controlling the handle to achieve a desired position through one or more position joints. For example, the master manipulator may include seven joints distributed sequentially from distal to proximal. The distal end of the master manipulator may be the end closer to the main control carriage (e.g., the end connected to the main control carriage), and the proximal end of the master manipulator may be the end farther from the main control carriage (e.g., the end where the handle is disposed). In some embodiments, the handle may also include a clamp, which may be used to control the end effector of at least one surgical instrument.

[0156] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A robot system, characterized in that, include: Surgical apparatus, the surgical apparatus comprising: A flexible tool, comprising an arm and at least one magnetic element disposed on the arm for constraining at least a portion of the arm to the inner wall of a cavity under the action of at least one external magnetic field; and At least one surgical tool, the surgical tool comprising a tool arm and an end-effector, the tool arm configured such that at least a distal portion rests within a surgical tool channel penetrating the arm body, the end-effector disposed at the end of the tool arm; and A first vehicle, used to carry the surgical apparatus, comprising: The main body of the first vehicle; The first moving arm, the proximal end of the first moving arm is connected to the main body of the first vehicle; The mounting platform includes a first mounting base, a second mounting base, a first driving device, and at least one second driving device. The first mounting base is fixedly connected to the distal end of the first moving arm. The proximal end of the second mounting base is rotatably connected to the distal end of the first mounting base about a first rotation axis. The first driving device is mounted on the first mounting base and its axis coincides with the first rotation axis. The first driving device is configured to be connected to the arm of the flexible tool for driving the arm to move within the cavity. The at least one second driving device is mounted on the second mounting base and configured to be connected to the tool arm of the at least one surgical tool for driving the tool arm to move and / or driving the end-effector to perform surgical operations.

2. The robot system according to claim 1, characterized in that, The first driving device includes: A first main body assembly, comprising at least one first drive unit connected to the arm body for driving the arm body to bend; and A first motion module, configured to be connected to the first main body component, for driving the first main body component to move, the first motion module comprising: A first rotating module, connected to the first main body assembly, is used to drive the first main body assembly to rotate, thereby causing the arm to roll; and A first linear module is mounted on the first mounting base, and a first rotary module is disposed on the first linear module with its axis coinciding with the first rotary axis. The first linear module is used to drive the first rotary module to move linearly to drive the arm body to feed or retract.

3. The robot system according to claim 1, characterized in that, The at least one surgical tool includes a first surgical tool and a second surgical tool. The at least one second driving device includes a second driving device for driving the first surgical tool and a second driving device for driving the second surgical tool, and the second driving device for driving the first surgical tool and the second driving device for driving the second surgical tool are mounted on opposite sides of the second mounting base across the first mounting base.

4. The robot system according to claim 3, characterized in that, The second mounting base includes a first mounting arm and a second mounting arm. The proximal end of the first mounting arm is rotatably connected to the distal end of the first mounting base about the first rotation axis. The proximal end of the second mounting arm is rotatably connected to the proximal end of the first mounting arm about the first rotation axis. The second driving device for driving the first surgical tool is mounted on the first mounting arm, and the second driving device for driving the second surgical tool is mounted on the second mounting arm.

5. The robot system according to any one of claims 1, 3, and 4, characterized in that, The second driving device includes: A second main component, comprising at least one second driving unit, the at least one second driving unit including an instrument driving unit connected to the end-effector for driving the end-effector to perform surgical operations; and A second motion module, configured to be connected to the second main body component, is used to drive the second main body component to move. The second motion module includes: A second rotating module, connected to the second main body assembly, is used to drive the second main body assembly to rotate, thereby causing the tool arm to roll; and The second linear module is mounted on the second mounting base, and the second rotary module is disposed on the second linear module. The second linear module is used to drive the second rotary module to move linearly to drive the tool arm to feed or retract.

6. The robot system according to claim 1, characterized in that, It also includes a second vehicle, which includes a second vehicle body, at least one second moving arm disposed on the second vehicle body, and at least one magnetic field generating device mounted on the distal end of the at least one second moving arm. The second vehicle is configured to drive the at least one magnetic field generating device to follow the arm body through the at least one second moving arm, and to generate or remove at least one external magnetic field for operating the at least one magnetic element through the magnetic field generating device.

7. The robot system according to claim 1, characterized in that, It also includes a third vehicle, which includes a third vehicle body, a third motion arm mounted on the third vehicle body, and a scanning device mounted on the distal end of the third motion arm. The scanning device is used to scan the patient to obtain cavity information.

8. The robot system according to claim 1, characterized in that, It also includes a fourth vehicle, which includes a fourth vehicle body and a display device mounted on the fourth vehicle body. The display device is configured to display cavity images and / or cavity models generated based on cavity information.

9. The robot system according to claim 1, characterized in that, It also includes at least one master operator for operating the surgical device.

10. The robot system according to claim 1, characterized in that, The at least one magnetic element includes at least one magnetic sleeve, which is configured to be sleeved on the outside of the arm body.

11. The robot system according to claim 10, characterized in that, The magnetic sleeve includes a plurality of magnetic bending sections connected in series, configured to adhere to the inner wall of the cavity under the action of the external magnetic field, forming a channel for at least a portion of the arm to pass through.

12. The robot system according to claim 10 or 11, characterized in that, The at least one magnetic sleeve is configured to slide axially and / or rotate circumferentially relative to at least a portion of the arm.

13. The robot system according to claim 10 or 11, characterized in that, The arm body includes a deformable arm body, which includes at least one flexible segment and / or at least one rigid segment, and the at least one magnetic sleeve is sleeved on the outside of the at least one flexible segment or the at least one rigid segment.

14. The robot system according to claim 13, characterized in that, The at least one flexible segment includes at least one distal continuum segment, the distal continuum segment including multiple distal structural bones, a distal base plate, a distal stop plate, and multiple distal spacer plates disposed between the distal base plate and the distal stop plate. The multiple distal structural bones pass through the distal base plate and the multiple distal spacer plates and are fixedly connected at their distal ends to the distal stop plate. The proximal ends of the multiple distal structural bones are used to receive push or pull drives to drive the distal continuum segment to bend.

15. The robot system according to claim 14, characterized in that, The diameter of the plurality of distal spacer discs is smaller than the diameter of the distal stop disc and / or the distal base disc, and the at least one magnetic sleeve is disposed between the distal stop disc and the distal base disc.

16. The robot system according to claim 1, characterized in that, The end effector includes at least one of clamps, puncture needles, cutting devices, grinding devices, capture devices, laser devices, and radio frequency devices.

17. The robot system according to claim 1, characterized in that, The surgical apparatus further includes at least one imaging tool for imaging the cavity, the at least one imaging tool being configured to pass through or be disposed in an imaging tool channel penetrating the arm body.

18. The robot system according to claim 1, characterized in that, The flexible tool also includes a sensor assembly, the sensor assembly comprising: At least one shape sensor, configured to extend along the axial direction of the arm body, for generating shape data associated with the shape of the arm body; and / or At least one pose sensor, disposed on the arm body, is used to generate pose data associated with the pose of at least a portion of the arm body.

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