Position sensing and breakaway mechanism

Abstract

To provide an apparatus for position sensing using various combinations with other components.SOLUTION: An apparatus can include an actuator configured to move a wire along a longitudinal direction, a tractor that is connected to the wire and is configured to move the wire along the longitudinal direction, a driving unit, a first arm connected to the driving unit that drives the first arm to the longitudinal direction, a board connected to the first arm, a second arm connected to the wire, a plurality of sensors that can include at least a first sensor and a second sensor arranged at different positions from each other along a direction perpendicular to the longitudinal direction, at least one positional sensor configured to detect light from the board, a support member configured to support at least one positional sensor, and a breakaway mechanism that can include a breakaway connector configured to connect and disconnect the first arm and the second arm.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the benefit of priority from U.S. Provisional Patent Application No. 63 / 603,489, filed on November 28, 2023, which is hereby incorporated by reference in its entirety.

[0002] This disclosure generally relates to position detection and detachment mechanisms, and more particularly, to devices, methods, and media for position detection using various combinations of sensors, couplers, reflective boards, blocking boards, detachment mechanisms, and other components.

Background Art

[0003] Position detection is useful for enhancing the accuracy of detecting, measuring, and movement of devices and components in various applications, including medical and non - medical, industrial, automotive, logistics, agricultural, and other fields. Position sensors can be mechanical, acoustic, optical, electromagnetic, magnetic, or a combination thereof, and generally track the position and movement of devices passing through an object using various detection techniques, including reflection, retro - reflection, Hall - effect principles, resistance detection, electrical circuit configurations, mechanical switches, and other detection procedures. In reflective or retro - reflective position sensors, a target is used to reflect light to determine position, location, orientation, and other parameters.

[0004] To observe the inside of an object, flexible or elongated tools, instruments, and other devices such as catheters, endoscopes, colonoscopes, bronchoscopes, ablation devices, and other instruments may be used, and instruments for inspecting or treating areas within the object such as a patient are passed through the tool.

[0005] Continuum robots, snake robots, robot assemblies, snake endoscope assemblies, snake catheter assemblies, and other types of assemblies are exemplary arrangements or configurations capable of implementing flexible devices for performing medical procedures including imaging, diagnosis, endoscopy, biopsy, treatment, surgery, image-guided therapy, and other procedures. Endoscopic procedures include colonoscopy (intestine), gastroscopy (stomach), cystoscopy (bladder), bronchoscopy (lung airway), laparoscopy (abdominal cavity), and other types of procedures.

[0006] These configurations may have a bendable structure with an operating wire and a rotary drive assembly, and can impart translational, rotational, and other types of movement to the operating wires of steerable catheters, endoscopes, and other flexible devices. The drive assembly can be releasably connected to the catheter, and a release mechanism may be used such that the drive assembly is disconnected from the catheter in response to a release force.

[0007] A snake catheter assembly may include, for example, a steerable catheter actuated by a push-pull wire, an electric actuator that drives the movement of the catheter tip via the push-pull wire, a control device that converts user / software commands into the movement of the actuator, and other elements.

[0008] Actuating the wire in both the push and pull directions can cause problems such as crushing of the wire anchor (the wire anchor is a coupling mechanism between the wire and the catheter tip) due to the tensile and compressive forces on the wire, deviation and protrusion of the wire, and excessive lateral bending forces on internal tissues such as lung tissue. When the wire is released, there is a risk of the wire breaking at an unexpected location.

[0009] The release mechanism can prevent excessive force from being transmitted from the actuator motor to the drive wire. However, when release occurs, the tractor needs to be in its home position.

[0010] Similarly, there is no mechanism to ensure that the detachment is recombined when the configured power supply is turned on during the detachment state.

[0011] To prevent the tractor from experiencing a failure situation where the tractor becomes jammed and maintenance is required, it is necessary to ensure that the detachment is re-engaged and to integrate the home sensor and the movement limit sensor.

Summary of the Invention

[0012] An advantage of the present disclosure is to provide a solution for ensuring that the detachment is re-engaged and for integrating the home sensor and the movement limit sensor in order to prevent the tractor from experiencing a failure situation where the tractor becomes jammed.

[0013] According to some embodiments, the apparatus can include: an actuator configured to move a wire along a longitudinal direction; a tractor connected to the wire and configured to move the wire along the longitudinal direction; a drive unit; a first arm connected to the drive unit, wherein the drive unit drives the first arm in the longitudinal direction; a board connected to the first arm; a second arm connected to the wire; a plurality of sensors that may include at least a first sensor and a second sensor arranged at different positions along a direction perpendicular to the longitudinal direction; at least one position sensor configured to detect light from the board; a support member configured to support the at least one position sensor; and a detachment mechanism that may include a detachment connector configured to connect and separate the first arm and the second arm.

[0014] The disengagement mechanism may be configured to separate the actuator and the tractor when the applied force is greater than a predetermined value. The disengagement mechanism may include a disengagement sensor configured to detect the occurrence of disengagement. When disengagement is detected by the disengagement sensor, a return and homing routine may be initiated and / or an error state that can prompt the diagnosis of the device for a service technician or the like may be initiated. The disengagement mechanism may be configured to return the tractor to the home position when disengagement occurs. The first arm and the second arm are connected by a disengagement connector, and when the first arm is driven by a drive unit, the second arm can be moved in the longitudinal direction.

[0015] The board may include a first channel and a second channel. The first channel and the second channel of the board may each have a length, and the length of the first channel is shorter than the length of the second channel. The first channel and the second channel of the board may be configured to move with the movement of the tractor.

[0016] The at least one positioning sensor may include at least a first sensor and a second sensor arranged at different positions along a direction perpendicular to the longitudinal direction. The wire may include a plurality of wires. The device may include one or more force sensors configured to measure the pushing and pulling forces applied to the wire, one or more wire gripping mechanisms, and one or more linear slide mechanisms, and may also include other components.

[0017] The device may further include a drive unit. The first arm is connected to a drive unit that drives the first arm in the longitudinal direction, and the disengagement mechanism may include a disengagement connector configured to connect and separate the first arm and the second arm. When the first arm and the second arm are connected by the disengagement connector and the first arm is driven by the drive unit, the second arm is moved in the longitudinal direction.

[0018] The board may be a blocking board. At least one positioning sensor may include a sensor configured to detect the light blocked by the blocking board to determine the home position. At least one positioning sensor may include a sensor configured to detect the light blocked by the blocking board to determine the movement limit position. The blocking board may be configured to provide a negative limit transition and a positive limit and home transition. The blocking board may include a first blocking board and a second blocking board.

[0019] The device may further include a control unit. When the detection state of at least one positioning sensor changes from a first state in which the light blocking by the first blocking board is detected to a second state in which the light blocking by the first blocking board is not detected, the control unit determines that the tractor is at the home position. When the detection state of at least one positioning sensor changes from a third state in which the light blocking by the second blocking board is detected to a fourth state in which the light blocking by the second blocking board is not detected, the control unit determines that the tractor is at the limit position.

[0020] The device may further include a first arm, a second arm, and a driving unit. The first arm is connected to a driving unit that drives the first arm in the longitudinal direction, and the second arm is connected to a wire. The detachment mechanism may include a detachment connector configured to connect and disconnect the first arm and the second arm. When the first arm and the second arm are connected by the detachment connector and the first arm is driven by the driving unit, the second arm is moved in the longitudinal direction.

[0021] According to some embodiments, the method can include the following: a step where an actuator moves a wire along a longitudinal direction; a step of connecting a tractor that moves the wire along the longitudinal direction to the wire; a step of connecting a first arm to a driving unit that drives the first arm in the longitudinal direction; a step of connecting the first arm to a board; a step of connecting a second arm to the wire; a step of providing at least one position sensor configured to detect light from the board; a step of supporting the at least one position sensor by a support member; and a step of providing a detachment mechanism that can include a detachment connector configured to connect and disconnect the first arm and the second arm.

[0022] According to some embodiments, a non - transitory storage medium storing a program can cause a computer to execute a method including the following: a step where an actuator moves a wire along a longitudinal direction; a step of connecting a tractor that moves the wire along the longitudinal direction to the wire; a step of connecting a first arm to a driving unit that drives the first arm in the longitudinal direction; a step of connecting the first arm to a board; a step of connecting a second arm to the wire; a step of providing at least one position sensor configured to detect light from the board; a step of supporting the at least one position sensor by a support member; and a step of providing a detachment mechanism that can include a detachment connector configured to connect and disconnect the first arm and the second arm.

[0023] According to some embodiments, the apparatus can include the following: an actuator configured to move a wire along a longitudinal direction; a tractor connected to the wire and configured to move the wire along the longitudinal direction; a board that can include at least a first channel and a second channel; and a plurality of sensors that can include at least a first sensor and a second sensor arranged at different positions from each other along a direction perpendicular to the longitudinal direction. The first sensor is configured to determine a home position, and the second sensor is configured to determine a movement limit position based on the emitted light.

[0024] The first channel and the second channel of the board each have a length, and the length of the first channel is shorter than the length of the second channel. The first channel and the second channel of the board may be configured to move along with the movement of the tractor.

[0025] The board may be a blocking board. The first sensor may include a home position sensor configured to detect the light blocked by the blocking board to determine the home position. The second sensor may include a movement limit sensor configured to detect the light blocked by the blocking board to determine the movement limit position. The blocking board may be configured to provide a negative limit transition portion, a positive limit, and a home transition portion. The blocking board may include a first blocking board and a second blocking board.

[0026] The apparatus may further include a control unit. When the detection state of the first sensor changes from a first state in which the light blocked by the first blocking board is detected to a second state in which the light blocked by the first blocking board is not detected, the control unit determines that the tractor is at the home position. When the detection state of the second sensor changes from a third state in which the light blocked by the second blocking board is detected to a fourth state in which the light blocked by the second blocking board is not detected, the control unit determines that the tractor is at the limit position.

[0027] The board may be a reflective board. The first sensor may include a home position sensor, and the first sensor may include a home position sensor configured to detect the reflected light from the reflective board to determine the home position. The second sensor may include a movement limit sensor configured to detect the reflected light from the reflective board to determine the movement limit position. The reflective board may be configured to provide a negative limit transition portion, a positive limit, and a home transition portion. The reflective board may include a first reflective board and a second reflective board.

[0028] The device may further include a control unit. When the detection state of the first sensor changes from a first state in which reflection from the first reflection board is detected to a second state in which reflection from the first reflection board is not detected, the control unit determines that the tractor is at the home position. When the detection state of the second sensor changes from a third state in which reflection from the second reflection board is detected to a fourth state in which reflection from the second reflection board is not detected, the control unit determines that the tractor is at the limit position.

[0029] The wire may include a plurality of wires. The device may include one or more force sensors configured to measure the pulling and pushing forces applied to the wire, one or more wire gripping mechanisms, and one or more linear slide mechanisms, and may also include other components.

[0030] The device may include a disengaging mechanism configured to separate the actuator and the tractor when the applied force is greater than a predetermined value. The disengaging mechanism may include a disengagement sensor configured to detect the occurrence of disengagement. When disengagement is detected by the disengagement sensor, a return and homing routine may be started and / or an error state that can prompt the diagnosis of the device for a service technician or the like may be started. The disengaging mechanism may be configured to return the tractor to the home position when disengagement occurs.

[0031] The device may further include a first arm, a second arm, and a drive unit. The first arm is connected to a drive unit that drives the first arm in the longitudinal direction, and the second arm is connected to the wire. The disengaging mechanism may include a disengagement connector configured to connect and separate the first arm and the second arm. When the first arm and the second arm are connected by the disengagement connector and the first arm is being driven by the drive unit, the second arm is moved in the longitudinal direction.

[0032] According to some embodiments, the method can include the following: a step of an actuator moving a wire along a longitudinal direction; a step of connecting a tractor that moves the wire along the longitudinal direction to the wire; a step of providing a board that may include at least a first channel and a second channel; a step of providing a plurality of sensors that may include at least a first sensor and a second sensor; a step of arranging the first sensor and the second sensor at different positions along a direction perpendicular to the longitudinal direction; a step of causing the first sensor to determine a home position based on emitted light; and a step of causing the second sensor to determine a movement limit position based on emitted light.

[0033] According to some embodiments, a non-transitory storage medium storing a program can cause a computer to execute a method including the following: a step of an actuator moving a wire along a longitudinal direction; a step of connecting a tractor that moves the wire along the longitudinal direction to the wire; a step of providing a board that may include a first channel and a second channel; a step of providing a plurality of sensors that may include at least a first sensor and a second sensor; a step of arranging the first sensor and the second sensor at different positions along a direction perpendicular to the longitudinal direction; a step of causing the first sensor to determine a home position; and a step of causing the second sensor to determine a movement limit position based on emitted light.

[0034] These and other objects, features, and advantages of the present disclosure will become apparent when the following detailed description of the exemplary embodiments of the present disclosure is read in conjunction with the accompanying drawings and the provided claims.

[0035] Further features of the present disclosure will become apparent from the following description of the exemplary embodiments with reference to the accompanying drawings. Similar structures are denoted by similar reference numerals.

Brief Description of the Drawings

[0036]

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Best Mode for Carrying Out the Invention

[0037] Hereinafter, with reference to the drawings, various exemplary embodiments, features, and aspects of the present disclosure regarding an apparatus, method, storage medium, and other configurations for re - engaging a disengagement and integrating homing control and movement restriction control will be described, which may include different characteristics, advantages, disadvantages, performance parameters, etc.

[0038] An advantage of the present disclosure is to provide a solution for re - engaging a disengagement and integrating homing control and movement restriction control in order to prevent a tractor from experiencing a failure situation where it gets stuck.

[0039] Some embodiments are directed to apparatuses, methods, and media for position detection using various combinations of sensors, couplers, reflective boards, blocking boards, disengagement mechanisms, and other components.

[0040] In some embodiments, in medical, non - medical, industrial, automotive, logistics, agricultural, and other fields, the re - engagement of a disengagement and the combination of homing control and movement restriction control are functionally implemented to improve the accuracy of position detection, measurement, movement, etc. of devices and components.

[0041] In some embodiments, an arrangement or configuration in which a flexible device for performing medical procedures including imaging, diagnosis, endoscopy, biopsy, treatment, surgery, image - guided therapy, and other procedures such as a continuum robot, snake robot, snake robot assembly, snake endoscope assembly, snake robot catheter assembly, etc. can be implemented is functionally implemented. Examples of endoscopy procedures include colonoscopy (intestine), gastroscopy (stomach), cystoscopy (bladder), bronchoscopy (lung airway), laparoscopy (abdominal cavity), and other types of procedures.

[0042] In some embodiments, imaging modalities such as CT (Computed Tomography), MRI (Magnetic Resonance Imaging), IVUS (Intravascular Ultrasound), PET (Positron Emission Tomography), X-ray imaging, Optical Coherence Tomography (OCT), Swept-Source OCT (SS-OCT), Spectral Domain OCT (SD OCT), Optical Frequency Domain Imaging (OFDI), Fourier Domain OCT (FD-OCT), Time Domain OCT (TD-OCT), Multi-modal OCT (MMOCT), Spectral Encoded Endoscopy (SEE), other imaging modalities, combinations thereof, or hybrids are functionally implemented. Depending on the configuration, it is also possible to functionally implement a Light Detection and Ranging (LiDAR) configuration used to measure the distance to a remote target. The present disclosure is not limited to any particular configuration.

[0043] SD OCT is an OCT technique that acquires the spectral distribution of interference light by time division, and SD OCT is an OCT technique that acquires the spectral distribution of interference light by spatial division.

[0044] In the configuration embodiments of continuum robots and snake robots, for example, flexible devices such as catheters and endoscopes can be controlled to perform navigation, insertion, retraction, roll, joint movement, or combinations thereof based on inputs received manually, semi-automatically, automatically, or combinations thereof. The flexible device can include one or more wire configurations including control wires, operating wires, drive wires, push wires, pull wires, push-pull wires, wire bundles, tendons, tendon wires, other wire configurations, or combinations thereof.

[0045] The controllable actuator can adjust the wire to adjust a portion such as the distal tip of the flexible device in any geometric or angular direction (e.g., up, down, left, right, translation, rotation, or combinations thereof).

[0046] FIG. 1 illustrates an exemplary hardware configuration of an apparatus 100 for reengaging disengagement and integrating homing control and movement control restriction according to some embodiments.

[0047] The apparatus 100 includes one or more of an actuator 101, a wire 102, a tractor 103, a board 104 104, a sensor 111, a force sensor 114, an optocoupler 115, an optosensor 116, a control unit 117, a disengagement mechanism 118, a first arm 119, a second arm 120, a wire gripping mechanism 121, a linear slide mechanism 122, an imaging device 123, a drive unit 124, and may include other components or combinations thereof.

[0048] The actuator 101 is configured to move the wire 102 along the longitudinal direction. The actuator 101 includes one or more motors and can drive the components of the apparatus 100. The tractor 103 may be connected to the wire 102 and may be configured to move the wire 102 along the longitudinal direction. The tractor 103 may be detachably connected to the first arm 119 and the second arm 120. The wire 102 may include a plurality of wires or a wire bundle.

[0049] The board 104 may be configured as a cut-off board type 105, a reflection board type 106, another board type, or a combination thereof. The board 104 may be configured to include one or more channels including a first channel 107 and a second channel 108, and may include other channels. The board 104 may be configured to include one or more boards including a first board 109 and a second board 110, and may include other boards.

[0050] That is, the board 104 may be a shutter board 105, a reflective board 105, another board type, or a combination thereof, and each may include a plurality of channels and a plurality of boards. Throughout the present disclosure, reference to "board" can refer to one or more shutter boards, one or more reflective boards, one or more other boards, or a combination thereof. In some embodiments of the present disclosure, various combinations of shutter boards, reflective boards, or combinations thereof may be used. The number of boards is not limited.

[0051] One or more sensors 111 may be associated with the board 104. For example, a home positioning sensor and a movement limiting sensor may be disposed on a sensor substrate, and as described later, the board 104 can be used in various configurations for executing a homing routine and / or a movement limiting routine.

[0052] When the board 104 is the shutter board 105, the first sensor 112 may include a home positioning sensor configured to determine a home position based on emitted light. For example, the first sensor 112 can detect the light blocked by the shutter board type 105 to determine the home position. The second sensor 113 may include a movement limiting sensor configured to determine a movement limit position. For example, the second sensor 113 can detect the light blocked by the shutter board type 105 to determine the movement limit position. The shutter board type 105 may be configured to provide a negative limit transition portion, a positive limit, and a home transition portion. The shutter board type 105 may include a first board 109 and a second board 110.

[0053] When the board 104 is of the reflective board type 106, the first sensor 112 may include a home position sensor configured to determine the home position based on the emitted light. For example, the first sensor 112 can detect the emitted light in the form of reflected light from the reflective board type 106 and determine the home position. The second sensor 113 may include a movement limit sensor configured to determine the limit position based on the emitted light. For example, the second sensor 113 can detect the reflected light from the reflective board type 106 and detect the movement limit position. The reflective board type 106 may be configured to provide a negative limit transition portion and a positive limit and home transition portion. The reflective board type 106 may include a first board 109 and a second board 110.

[0054] When the board 104 is of the blocking board type 105 and one or more blocking board types 105 having a first channel 107 and a second channel 108 are used, FIG. 2 illustrates the first channel 107 of the blocking board type 105 configured as a homing channel. An optocoupler or a photocoupler may be used for the homing channel, and it may include an emitter, a collector, a blocking surface or a blocking board, and other elements or combinations thereof may also be included. In FIG. 2, the components of the optocoupler are arranged in a blocking type opto - sensor configuration, with the emitter and the collector facing each other, and the signal is interrupted by the introduction of the blocking surface. When the homing channel operates in state A, the high signal causes the tractor 103 to be instructed to move in the positive direction to find zero. When the homing channel operates in state B, the low signal causes the tractor 103 to be instructed to move in the negative direction to find zero. The positive direction is shown as right (+) and the negative direction is shown as left (-).

[0055] The homing channel (first channel) may include an opaque surface, and the sensor will be triggered "on" for state A and "off" for state B. The homing routine may operate with an on signal (state A) and instruct the actuator 101 to move the tractor 103 in the positive direction (e.g., the direction in which the first arm 119 is pushed) until the state is triggered off. This will indicate that the tractor 103 has reached the home position. Similarly, when the homing routine is activated in the off state (state B), the tractor 103 will move in the reverse direction (e.g., to a location past the home position) and return to the other side until the sensor 110 is triggered again. This takes into account the hysteresis error of the sensor 111 and improves the homing accuracy (e.g., one-way homing).

[0056] Figure 3 illustrates a second channel 108 configured as a limit channel. The limit channel is used to detect the end of movement in order to prevent collisions and jams of the tractor. In the limit channel, the emitter is blocked from the reflector by a blocking surface. By combining both the limit channel and the home channel, the device 100 can detect the movement limit position and detect whether the limit is positive or negative. Without the homing channel, the device 100 will know whether it has reached the limit, but not which limit it is, so it will not know which direction to move.

[0057] Figure 4 illustrates the movement during operation when there are two blocking boards including a blocking board for homing and a blocking board for limit. When the homing board and the limit board are at the limit, the board can move to the left. When the homing board and the limit board are not at the limit, the board can move to the right.

[0058] Regarding the shutter board configuration, Fig. 5 illustrates the movement during the operation of the movement limit sensor. Here, the limit sensor and the home sensor are of a shutter type opto-sensor configuration, where the emitter and the collector face each other, and the signal is obstructed by the introduction of the shutter surface. The upper diagram of Fig. 5 shows the shutter board position at the movement center or the home position, the middle diagram of Fig. 5 shows the shutter board position at the positive movement limit, and the lower diagram of Fig. 5 shows the shutter board position at the negative movement limit. When the homing channel operates in state A, the high signal causes the tractor 103 to be instructed to move in the positive direction to find zero. When the homing channel operates in state B, the low signal causes the tractor 103 to be instructed to move in the negative direction to find zero. The positive direction is shown as right (+), and the negative direction is shown as left (-).

[0059] When one or more reflective board types 106 having a first channel and a second channel are used, Fig. 6 illustrates the first channel 107 configured as a homing channel. When the homing channel operates in state A, the high signal causes the tractor 103 to be instructed to move in the positive direction to find zero. When the homing channel operates in state B, the low signal causes the tractor 103 to be instructed to move in the negative direction to find zero.

[0060] The homing channel (first channel 107) may include a reflective surface for half of the travel distance, in which case sensor 110 will be triggered 'on' for the first half of the travel distance and 'off' for the second half. The homing routine may be activated with an on signal (state A) and instruct the actuator 101 to move the tractor 103 in a positive direction (e.g., the direction in which the first arm 119 is pushed) until the state is triggered off. This will indicate that the tractor 101 has reached the home position. Similarly, when the homing routine is activated in the off state (state B), the tractor 101 will move in the reverse direction (e.g., to a location past the home position) and return to the other side until the sensor 110 is triggered again. This takes into account the hysteresis error of sensor 111 and improves the homing accuracy (e.g., one-way homing).

[0061] The home position does not necessarily have to be at the center or half of the travel distance. The home position may be located anywhere within the travel distance of the first arm 119, and the length of the first channel 107 of the reflective board may be determined according to the position of the home position.

[0062] FIG. 7 illustrates a second channel 108 configured as a limit channel. The limit channel is used to detect the end of movement in order to prevent the tractor from colliding or jamming. In the limit channel, the central reflective surface detaches at both ends of the travel distance before hitting the end-of-travel hard stop. By combining both the limit channel and the home channel, the device 100 can detect the movement limit position and which limit is positive or negative. Without the homing channel, the device 100 will know whether it has reached the limit, but not which limit it is, so it will not know which direction to move.

[0063] Regarding the reflective board configuration, FIG. 8 illustrates the movement during the operation of the movement limit sensor when the limit sensor and the home sensor are of the reflective board type configuration. FIG 8The upper figure above shows the position of the reflection board at the movement center or home position, and Figure 8 The central figure of shows the position of the reflection board at the positive movement limit, and Figure 8 The lower figure of shows the position of the reflection board at the negative movement limit. When the homing channel operates in state A, the high signal instructs the tractor 101 to move in the positive direction to find zero. When the homing channel operates in state B, the low signal instructs the tractor 101 to move in the negative direction to find zero. The positive direction is shown as right (+) and the negative direction is shown as left (-).

[0064] The sensor 111 may be configured to include one or more sensors including the first sensor 112 and the second sensor 113, and may also include other sensors. The sensor 111 is configured to detect or respond to a physical or environmental change and convert the change into a measurable signal or data. The sensor 110 can collect information regarding various parameters of the device 100, including position, movement, proximity, light, temperature, force, pressure, humidity, and other parameters. The sensor 111 may be configured as an optical-based sensor, optosensor, optical sensor, photocell, optoelectronic sensor, electric field-based sensor, capacitive or inductive proximity sensor, other types of sensors, or a combination thereof.

[0065] The first sensor 112 may be a home position sensor configured to detect the reflected light from the reflection board type 106 to determine the home position, and the second sensor 113 may be a movement limit sensor configured to detect the reflected light from the reflection board type 106 to determine the movement limit position. Further, depending on the state of the first sensor 112 or the home position sensor, it is possible to determine whether the limit is on the positive side or the negative side.

[0066] The force sensor 114 is configured to measure the pushing and pulling force applied to the wire, and can also detect translational forces or movements along the X-axis, Y-axis, and Z-axis, and can individually detect rotational forces or movements centered around the yaw axis, pitch axis, roll axis, or other directions. The force sensor 114 can include an opto-sensor, a force / torque sensor, or other types of sensors that enable the device to respond electro-mechanically to the movement of the wire 102.

[0067] The opto-coupler 115 or optical coupler may include an emitter, a collector, a blocking board, a reflecting board, and may include other elements or combinations thereof. The opto-coupler 115 is configured to be used where light is transmitted from the emitter to the collector. The emitter is a light-emitting element that converts an electrical signal into an optical signal. The collector is a light-receiving element that converts an optical signal into an electrical signal.

[0068] The opto-coupler 115 functions together with an opto-sensor, and the opto-sensor detects the presence, length, number, and other attributes of an object using visible light or infrared light blocked or reflected by the object. Detection becomes possible due to the continuity or interruption of this signal. The components of the opto-coupler 115 can be arranged as an opto-sensor configuration including a reflective opto-sensor, a blocking opto-sensor, or other types of opto-sensors.

[0069] In FIG. 9, the components of the opto-coupler 115 are arranged as a blocking opto-sensor configuration, the emitter and the collector face each other, and the signal is interrupted by the introduction of the blocking surface. In FIG. 10, the components of the opto-coupler 115 are arranged as a reflective opto-sensor configuration, the collector and the emitter are located in a plane, and the light is reflected by the surface to complete the circuit.

[0070] The opto-sensor or optical sensor 116 may include an electro-optical element configured to convert an applied force and / or torque into an electrical signal, thereby enabling the detection of a desired force / torque input and its conversion into motion provided in the detected linear and / or rotational directions. The apparatus 100 can use other types of sensors including strain gauges, piezoelectric elements, and other types of sensors.

[0071] The blocking type and reflective type sensor configurations perform the same function but can be more advantageous in certain designs. In the blocking sensor type, the path between the emitter and collector can be more appropriately accommodated and the signal can be protected from external noise. There should be no concern about choosing a special material as long as it is opaque enough to block the light. In the blocking type sensor, the emitter and collector can generally be housed in a monolithic housing that is aligned by the manufacturer, so alignment is not much of a problem either. The drawback of the blocking sensor is that the emitter and collector are arranged in different planes and may occupy multiple spaces. Also, the blocking board may be a component designed in a specific way with a thin surface where a slide is placed between the emitter and collector (without interfering with the sensor).

[0072] Depending on the embodiment, when volume constraints are not a problem and the blocking type is less susceptible to errors, the blocking type sensor may be preferred due to the advantages mentioned above.

[0073] Reflective sensors have the emitter and collector on the same surface / plane, with a compact profile, making them suitable for designs with strict volume requirements. The reflective board can be an existing component (i.e., the surface of the tractor). The difficulty with reflective sensors can lie in proper alignment and material selection. If the material's reflectivity is insufficient or the alignment is off, there is a high likelihood that the signal will not reach the collector. Also, since the exposure of the collector can be high, false signals can be generated by other light, or the emitter's light can be reflected off another surface, causing the sensor to be accidentally triggered.

[0074] According to some embodiments, a blocking board or a reflective board can be combined with the sensors described above and other sensors (such as optical sensors) for use in position detection. When a blocking board is used, a sensor such as an optical sensor can detect the blocking of light by the blocking board. When a reflective board is used, a sensor such as an optical sensor can detect the reflected light from the reflective board. Similar expressions can be interchanged depending on whether a blocking board or a reflective board is used.

[0075] For example, when a blocking board instead of a reflective board is used for position detection, in the embodiment, "the optical sensor detects the reflection from the reflective board" can be replaced with "the optical sensor detects the blocking of light by the blocking board", and in the embodiment, "the optical sensor does not detect the reflection from the reflective board" can be replaced with "the optical sensor does not detect the blocking of light by the blocking board".

[0076] The control unit 117 includes at least one processor, circuit configuration, or a combination thereof, and is configured to control all elements of the device 100. The first arm 119 can be detachably connected to the second arm 120 by a detachment mechanism 118, or can be removably attached to the second arm 120. The detachment mechanism 118 is configured to separate the actuator 101 from the tractor 103 when the applied force is greater than a predetermined value. For example, the detachment mechanism can separate the first arm 119 from the second arm 120 when the applied force is greater than a predetermined value. The detachment mechanism 118 is configured to return the tractor 103 to the home position when detachment occurs. The detachment mechanism 118 may be configured to include a detachment sensor that can detect the occurrence of detachment. When detachment occurs and is detected by the detachment sensor, a return and homing routine may be started, and / or an error state that can prompt the diagnosis of the device 1000 to a service technician or the like may be started.

[0077] The first arm 119 and the second arm 120 are configured to slide on a linear slide mechanism 122. The imaging device 123 may be mechanical, digital, electrical, or a combination thereof, and is configured to record, store, or transmit visual images. The drive unit 124 may include one or more motors and can operate in relation to the actuator 101.

[0078] FIG. 11 illustrates an exemplary device or configuration 1000 for re - engaging detachment and integrating homing control and movement restriction control according to some embodiments. FIG. 12 shows the hardware configuration of the device 1000.

[0079] The device 1000 includes one or more of a flexible instrument 1002, a tracking sensor 1004, an actuator 1006, a position detector 1008, an operation part or manipulator 1010, a medical tool 1012, a rail 1014, a display 1016, a small display 1018, a display control unit 1020, a control unit 1022, and a drive unit 1024, and may also include other components. The device 1000 may include any of the components of the device 100 in FIG. 1.

[0080] The flexible instrument 1002 is configured to inspect or treat areas within an object such as a patient. The tracking sensor 1004 detects the movement of the tip of the flexible instrument 1002. The actuator 1006 includes one or more motors and can drive the components of the device 1000. The position detector 1008 detects the position of the tracking sensor 1004 (which may be an electromagnetic (EM) tracking sensor or another type of sensor) attached to the tip of the flexible instrument 1002 and outputs the detected position information to the control unit 1022. The operation part or manipulator 1010 is configured to move the flexible instrument 1002 based on the input commands. The medical tool 1012 may be a biopsy tool or other types of tools. The rail 1014 supports the flexible instrument 1002 and the medical tool 1012 such that the flexible instrument 1002 and the medical tool 1012 can move along the rail 1014. The display 1016 and the small display 1018 each display operation information related to the device 1000, such as information data, analysis data, medical information, medical images, captured images, captured videos, and other types of information. The display control unit 1020 controls the display 1016 and the small display 1018. The control unit 1022 controls the elements of the device 1000. The drive unit 1024 includes one or more motors and operates in relation to the actuator 1006.

[0081] The flexible device 1002 may be a flexible, manipulable or elongated tool, instrument or other device (e.g., a continuum robot, a snake robot, a snake robot assembly, a snake endoscope assembly, a snake robot catheter assembly, a catheter, an endoscope, a colonoscope, a bronchoscope, an ablation device, a guide wire, or other device), may be configured to be elongated for observing the interior of an object, where an instrument is passed through the tool for inspecting or treating an area within the object such as a patient. The flexible device 1002 may be configured to be elongated.

[0082] The EM tracking sensor 1004 is attached to the tip of the flexible device 1002 and detects the movement of the tip. The actuator 1006 may include a rotational drive assembly, is releasably connected to the flexible device 1002, and is configured to impart translational, rotational or other types of movement to the flexible device 1002. The position detector 1008 detects the position of the EM tracking sensor 1006 at the tip of the flexible device 1002 and outputs the detected position information to the control unit 1022.

[0083] The operating portion or manipulator 1010 includes a housing having an elongated handle or handle section that can be grasped by hand, and one or more input devices including, for example, levers, buttons, and other input devices that enable an operator (such as a doctor, nurse, technician, etc.) to send commands to the device 1000 to move the flexible device 1002. Since the control unit 1022 executes software, computer instructions, algorithms, etc., the user can complete all operations using the operating portion 1010 by holding the handheld operating portion 1010 with one hand.

[0084] The control unit 1022 directly receives the position information of the tip of the flexible device from the tracking sensor 1004 or the detector 1008. The flexible device 1002 may include an imaging device of a mechanical, digital, electronic or combination thereof for recording, storing or transmitting visual images, such as a camera, a camcorder, a motion picture camera, etc.

[0085] The medical tool 1012 may be a biopsy tool or other types of tools. The actuator 1006 may include one or more motors and can drive each section of the flexible device 1002. The flexible device 1002 and the medical tool 1012 are operably supported on the rail 1014. The control unit 1022, the flexible device 1002, the tracking sensor 1004, and other elements are interconnected to the actuator 1006. The control unit 1022 includes at least one processor, circuit configuration, or a combination thereof, and is configured to control all elements of the device 1000 including the medical tool 1012 via the actuator 1006, and is configured to control the actuator 1006 according to an operation by a user, or semi-automatically, or automatically, or a combination thereof.

[0086] The drive unit 1024 may include one or more motors and can operate in relation to the actuator 1006.

[0087] The display 1016 and the small display 1018 may be display devices configured as, for example, a monitor, an LCD (liquid crystal display), an LED (light emitting diode) display, an OLED (organic LED) display, a plasma display, an organic electroluminescence panel, etc. The display control unit 1020 controls the display 1016 and the small display 1018. Based on the control of the device 1000, a navigation screen may be displayed on the displays 1016, 1018 showing one or more captured images, captured images, captured videos recorded in the storage device, etc.

[0088] The control unit 1022 functions to control the elements of the device 1000, and also includes a processor 1031, a memory 1032, a sensor 1033, an input / output (I / O) interface 1034, a communication interface 1035, as shown in FIG. 13 , de It may have one or more constituent components including one or more of a display or a graphical user interface (GUI) 1036 and a power supply 1037, and may have other components. The device 1000 may be interconnected with medical devices and various other devices, and can be controlled independently by the control unit 1022, or from the outside, or remotely.

[0089] The processor 1031 may be configured as a control circuit, circuit configuration, or a combination thereof (such as a central processing unit (CPU) or a microprocessing unit (MPU), etc.) for performing overall control of the device 1000, and can execute programs, instructions, codes, or software stored in the memory 1032 to perform various data processing, calculations, algorithm tasks, and other functions of the device 1000. The memory 1032 can store programs, software, computer instructions, information, other data, or a combination thereof. The memory 1032 is used as a working memory. The processor 1031 executes the software stored in the memory 1032. The I / O interface 1034 inputs catheter position information to the control unit 1022 and outputs information for displaying a navigation screen to the display 1038. The power supply 1037 adjusts the power supply to the device 1000, and may include an external power supply such as line power or AC power from a power outlet. To adapt the power voltage from the power supply to one or more voltages used by the components of the device 1000, it can be interconnected with the device 1000 via an AC / DC adapter and a DC / DC converter, or an AC / DC converter.

[0090] The components are connected to each other by bus 1038 so that the components can communicate with each other. Bus 1038 transmits and receives data between these interconnected hardware components, or transmits commands from processor 1031 to other hardware. The components may be implemented by one or more physical devices that can be coupled to processor 1031 via communication interface 1035 for a communication channel. For example, control unit 1022 may be implemented using a circuit configuration in the form of an ASIC (application specific integrated circuit) or the like. Alternatively, control unit 1022 may be implemented as a combination of hardware and software, in which case the software is loaded into the processor from memory or via a network connection. The functions of control unit 1022 may be stored in a storage medium, examples of which include random access memory (RAM), read-only memory (ROM), magnetic or optical drives, floppy disks, cloud storage, and the like.

[0091] FIG. 14 shows the operational configuration of apparatus 1000, where flexible device 1002 is configured as a continuum robot that can include a catheter device. Apparatus 1000 includes operational device 2000 and receiving device 3000. Operational device 2000 includes continuum robot 1002 and tracking sensor 1004. Receiving device 3000 includes operation portion 1010 and display 1016, and may also include small display 1018. EM tracking sensor 1004 is attached to the tip of continuum robot 1002. Tip position detector 1008 detects the position of EM tracking sensor 1004 and outputs the detected position information to control unit 1022.

[0092] The continuum robot 1002 may be detachable from the actuator 1006, and the continuum robot 1002 may be disposable. The display control unit 1020 executes a software program and controls to display the navigation screen of the continuum robot 1002 on one or more of the displays 1016 and 1018. The display control unit 1020 acquires the position information of the continuum robot 1002 from the control unit 1022. Alternatively, the display control unit 1020 may acquire directly position information from the tip of the continuum robot 1004 via the tip position detector 1008.

[0093] The control unit 1022 receives the position information of the tip of the continuum robot 1004 from the tip position detector 1008. The control unit 1022 controls the actuator 1006 according to the operation by the user via one or more operation parts 1010. One or more displays 1016, 1018 and / or operation parts 1010 are used as the user interface 3000 (receiving device). In this embodiment, the device 1000 includes, as the user interface 3000 or operation unit, the display 1016 (large-screen user interface with a touch panel, first user interface unit), the small display 1018 (small user interface with a touch panel, second user interface unit), and the operation part 1010 (joystick-type user interface unit having a shift lever / button, third user interface unit).

[0094] The control unit 1022 and the display control unit 1020 can be configured separately. The control unit 1022 may include a processor, a circuit configuration, or a combination thereof, a central processing unit (CPU), a random access memory (RAM), an input / output interface (I / O), a read-only memory (ROM), a hard disk drive (HDD), and may include other components. Alternatively, the control unit 1022 and the display control unit 1020 can be configured as one device.

[0095] Figures 15A and 15B show an embodiment of the continuum robot 1002. Figure 15B is a cross-sectional view taken along line A of Figure 15A.

[0096] In Figure 15A, the continuum robot 1002 is configured as a catheter as a flexible device and includes a proximal section 1002A, an intermediate section 1002B, and a distal section 1002C. A hollow chamber passes through the catheter from proximal to distal and can be used as a working channel for medical procedures. The continuum robot 1002 includes a plurality of drive wires 1042 and support wires 1044, which are respectively arranged in a lumen 1046 surrounding a central hollow chamber 1040 as shown in the cross-sectional view of Figure 15B. Each section is bent by a plurality of wires (drive linear members). The posture of the continuum robot 1002 is supported by support wires (support linear members). A tracking sensor 1004 is attached to the non-invasive tip 1005 of the continuum robot 1002.

[0097] Figure 16 shows the operating system of the continuum robot 1002. The drive wires are connected to an actuator 1006. The actuator 1006 includes one or more motors and drives each section of the continuum robot 1002 by pushing and pulling the drive wires. The actuator 1006 moves forward or backward along a rail 1014, and the actuator 1006 and the continuum robot 1002 move forward or backward inside an object or a patient's body. An EM tracking sensor 1004 is attached to the tip of the continuum robot 1002.

[0098] The tip position detector 1008 detects the position of the EM tracking sensor 1004 and outputs the detected position information to the control unit 1022.

[0099] The control unit 1022 receives the position information of the tip of the continuum robot 1004 from the tip position detector 1008. The control unit 1022 controls the actuator 1006 according to the operation by the user via one or more operation parts 1010.

[0100] The control unit 1022 may control the continuum robot 1002 based on an algorithm known as the follow-the-leader (FTL) algorithm. By applying the FTL algorithm, the intermediate section 1002B and the proximal section 1002A (the follower section) of the continuum robot 1004 move in the first position in the same way as the distal section 1002C moves at the first position or a second position near the first position.

[0101] The control unit 1022 and the display control unit 1020 can be configured separately. Alternatively, the control unit 1022 and the display control unit 1020 can be configured as one device.

[0102] The tool 1012 may be a medical tool such as an endoscope, forceps, a needle, or other biopsy tools. In this embodiment, the tool may be described as a surgical tool or a working tool. The working tool is inserted or removed through the working tool insertion slot 1101. An insertion / removal detector 1102 is attached to the insertion slot 1101 to detect whether the working tool is inserted into the insertion slot 1101.

[0103] FIG. 17 shows the mechanism of the actuator 1006 according to some embodiments.

[0104] The actuator 1006 includes a motor 1201, a threaded nut 1202, a home positioning mechanism 1203, a first arm 1204, a second arm 1205, a release mechanism 1206, a first member 1207, a second member 1208, a linear slide mechanism 1209, a force sensor 1210, a wire gripping mechanism 1211, a catheter interface hub 1212, a central axis 1213, a support arm 1214, and a parent screw 1215, and may also include other components.

[0105] The motor 1201 is a driving unit that provides a force to push and pull the driving wire. The lead screw 1215 and the threaded nut 1202 convert the rotational motion generated by the motor 1201 into a linear motion (pushing and pulling motion). The threaded nut 1202 is attached to the first arm 1204 and pushes or pulls the first arm (tractor) 1204 according to the driving force from the motor 1201.

[0106] The tractor is the first arm 1204 and is detachably connected to the second arm 1205 by a detachment mechanism 1206 (detachment connector). In this embodiment, the first arm 1204 and the second arm 1205 are magnetically connected by the detachment mechanism 1206. The first member 1207 is fixed to the first arm 1204, and the second member 1208 is fixed to the second arm 1205. The contact surface of the first member 1207 and the contact surface of the second member 1208 adhere magnetically. In this embodiment, both the first member 1207 and the second member 1208 are magnets. The detachment mechanism 1206 does not necessarily have two magnets, and more magnets may be included. One of the first member 207 and the second member 1208 can be a magnet, and the other member can be a metal such as iron that adheres to the magnet. The detachment mechanism 1206 may be configured to include a detachment sensor that can detect the occurrence of detachment. When detachment occurs and is detected by the detachment sensor, a return and homing routine may be started, and / or an error state that can prompt a diagnosis of the continuum robot 1004 to a service technician or the like may be started.

[0107] In this embodiment, the contact surface of the first member 1207 faces the direction in which the first arm 1204 and / or the driving wire is pulled, and the contact surface of the second member 1208 faces the direction in which the first arm 1204 and / or the driving wire is pushed.

[0108] The first arm 1204 and the second arm 1205 are configured to slide on the linear slide mechanism 1209. When the first member 1207 and the second member 1208 are adhered, when the tractor pushes or pulls the first arm 1204, the first arm 1204 and the second arm 1205 move linearly along the linear slide mechanism 1209.

[0109] When the first arm 1204 is pushed and a force greater than a predetermined force is applied to the first member 1207 and the second member 1208, the first member 1207 and the second member 1208 are separated or pulled apart. After the first member 1207 and the second member 1208 are separated, the force transmitted by the first arm 1204 is not transmitted to the second member 1208, the second arm 1205, the wire gripping mechanism 1211, and the drive wire gripped by the gripping mechanism 1211. In this way, the detachment mechanism 1206 prevents the drive wire from being pushed by a force greater than a predetermined force, and prevents the tip of the continuum robot 1004 from pressing too hard on the lumen wall of a human organ, for example.

[0110] The wire gripping mechanism 1211 is configured to grip the end of the drive wire of the continuum robot 1004 when the continuum robot 1004 is attached to the actuator 1006 via the catheter interface 1212. The gripping mechanism 1211 is pushed and pulled according to the pushing and pulling of the second arm 1205, and then the drive wire is pushed and pulled in the longitudinal direction to bend the continuum robot 1004.

[0111] The force sensor 1210 detects the tension applied to the drive wire. The detection signal is sent to the control unit 1022, and the control unit 1022 controls the actuator 1006 based on the detection signal.

[0112] The home positioning mechanism 1203 is configured to return the tractor to its home position, for example, after the first member 1207 and the second member 1208 are separated or pulled apart. The home positioning mechanism 1203 includes a sensor substrate and a reflection board. One or more position sensors (such as optical sensors or photodetectors, etc.) are provided on the surface of the sensor substrate facing the reflection board. The sensor substrate is fixed to the support arm 1214 or is part of the support arm 1214, and the reflection board is fixed to the first arm 1204 or is part of the first arm 1204.

[0113] In FIG. 17, for the sake of explanation, only one set of the motor 1201, the threaded nut 1202, the lead screw 1215, the home positioning mechanism 1203, the first arm 1204, the second arm 1205, the first member 1207, the second member 1208, the force sensor 1210, and the wire gripping mechanism 1211 is shown, but the actuator 1006 may include a set of those features for each wire around the central axis 1213.

[0114] The home position is set at the end of the wire by homing control. The homing control section executes homing control when a predetermined initialization condition is satisfied. The homing control is executed by the homing control section so that the release mechanism returns the wire to the home position in the released state. The initialization condition may have one or more condition items, and when any one of the conditions is satisfied, it is determined that the initialization condition is satisfied. Therefore, the homing control section may be configured to execute homing control when one of the condition items is satisfied. In the homing condition, the steering signal is proportional to the turning rate of the line of sight from the sensor position to the target.

[0115] The movement restriction function, mechanism, or component may be configured as a sensor located at the outer tip of the flexible device or at the distal end of a continuum robot or catheter. The movement of the position of the distal end of the catheter can be restricted by the movement restriction function. The movement restriction function can be based on the relative movement between the actuator and the flexible device. The guide member may be configured to include a stopper that restricts the distal movement of the catheter tip.

[0116] The sensing element may be a sensor, transducer, or other functional element. The sensing element can generate a signal regarding the parameters of an object to which a medical device or procedure is applied. The sensing element can generate signals regarding various parameters including position, temperature, pressure, movement, movement distance, and other parameters.

[0117] Referring again to FIGS. 8 and 9, the home positioning mechanism will be described.

[0118] As described above, the home positioning mechanism 1203 includes a sensor substrate and a reflection board.

[0119] The reflection board is compatible with optical sensors (home positioning sensor and limit sensor) and is attached to the first arm 1204 connected to the motor 1201, rather than the second arm 1205 connected to the wire. The optical sensor outputs a high signal when detecting a reflection from the reflection board and outputs a low signal when not detecting a reflection from the reflection board.

[0120] The home positioning sensor and the movement restriction sensor are arranged at different positions from each other along a direction perpendicular to the longitudinal direction. Also, the length of the first reflection board is shorter than the length of the second reflection board. In this embodiment, the home positioning sensor and the movement restriction sensor are arranged diagonally on the sensor substrate.

[0121] The reflecting board is fixed to the first arm 1204 or is part of the first arm 1204, and the reflecting board moves together with the first arm 1204. The sensor substrate on which the optical sensor is present is fixed to the support arm 1214. The first arm 1204 is configured to slide along a linear slide mechanism. The first arm 1204 has a reflecting board, and the reflecting surface of the reflecting board faces the direction in which the optical sensor is present. When the first arm 1204 is on the motor side of the home position, the reflecting board is configured such that the first channel of the reflecting board faces the optical sensor and the reflection from the first channel of the reflecting board is detected by the homing sensor.

[0122] Furthermore, when the first arm 1204 is on the other side of the home position (the continuum robot 1002 side and / or the wire gripping mechanism 1211 side), the reflecting board is configured such that the first channel of the reflecting board does not face the optical sensor and the reflection from the reflecting board is not detected by the optical sensor.

[0123] The homing channel has a first channel and a second channel and may include other channels. The first channel includes a reflecting surface for half of the moving distance. In this case, the sensor will be triggered 'on' in the first half of the moving distance and 'off' in the second half. When the homing routine is activated, the actuator is instructed by the on signal (state A) to move the tractor in the positive direction (e.g., the direction in which the first arm 1204 is pushed) until the state is triggered off. This will indicate that the tractor has reached the home position. Similarly, when the homing routine is activated by the 'off' signal (state B), the tractor will move in the reverse direction (e.g., the direction in which the first arm is pulled) to find the home. Furthermore, in state B, the tractor can move a little beyond the home position and return to the other side until the sensor is triggered again. This takes into account the hysteresis error of the sensor 110 and improves the homing accuracy (e.g., one-way homing).

[0124] The home position may change and does not necessarily have to be at the center or halfway of the movement stroke. The home position may be located anywhere within the movement stroke of the first arm 1204, and the length of the first channel of the reflection board may be determined according to the position of the home position.

[0125] The second channel may be configured as a limit channel. The limit channel is used to detect the end of movement in order to prevent collisions and jams of the tractor. In the limit channel, before hitting the end-of-movement hard stop, the central reflection surface disengages at both ends of the movement distance. By combining both the limit channel and the home channel, the device can detect the movement limit position and also detect which limit is positive or negative. Without the homing channel, the device 100 can know whether it has reached the limit, but it does not know which limit it is, so it will not know in which direction to move.

[0126] FIG. 18 is a flowchart of a homing process according to some embodiments. The homing process is executed by one or more processors of the control unit 1022 by executing instructions stored in one or more memories of the control unit 1022.

[0127] In step S101, the processor determines whether a homing command has been received. For example, the homing command is received according to a user's command. Alternatively, the homing command may be automatically received according to the occurrence of a specific event. The event may be the detection of the separation of the first arm 1204 and the second arm 1205. The processor is configured to detect the separation based on the signal of the force sensor 1210 and the driving status of the motor 1201. When the first arm 1204 and the second arm 1205 are separated, even if the motor 1201 drives the first arm 1204, the second arm does not move. And the force sensor 1210 does not detect a change in the tension of the drive wire during the driving of the motor 1201. In such a situation, the control unit 1022 can determine that the first arm 1204 and the second arm 1205 are separated.

[0128] If the homing command is not received (No in step S101), the homing process is not executed. If the homing command is received, the control unit 1022 determines whether the signal from the homing sensor is high (the first state) or low (the second state) (step S102). In this embodiment, when the first channel of the reflection board faces the optical sensor and the reflection from the first channel of the reflection board is detected by the homing sensor, the homing sensor outputs a high signal. Further, when the first channel of the reflection board does not face the homing sensor and the reflection from the reflection board is not detected by the homing sensor, the homing sensor outputs a low signal. If the signal is high, the process proceeds to step S103. If the signal is low, the process proceeds to step S105.

[0129] The determination in S101 is not limited to determining whether the signal is high or low. The control unit 1022 may determine whether the signal is higher than a predetermined threshold. If the signal is higher than the threshold, the process proceeds to step S103, and if the signal is lower than the threshold, the process proceeds to step S105. A plurality of thresholds can be used. For example, if the signal is higher than the first threshold, the process proceeds to step S103, and if the signal is lower than the second threshold which is lower than the first threshold, the process proceeds to step S105.

[0130] In step S103, the control unit 1022 controls the motor 1201 to push and move the first arm 1204 forward.

[0131] In step S104, the control unit 1022 determines whether the signal has changed from high to low. If the signal has changed to low, the control unit 1022 returns to step S102. If the signal has not changed to low, the control unit 1022 returns to step S103.

[0132] In an alternative embodiment, as shown in FIG. 19, when the signal changes to low (Yes in step S104), the control unit can control the motor 1201 to stop the first arm in step S107. In that case, the position where the signal changes from high to low and the position where the signal changes from low to high are defined as the home position. However, in that case, those positions may not be the same due to the momentum of the first arm, so the home position can change depending on whether the signal changes from low to high or from high to low. In order to consistently stop the first arm at the same position, in the embodiment shown in FIG. 18, even when the signal changes from high to low (Yes in step S104) and the signal is in the low state, the first arm continues to move and proceeds to step S105 via step S102, changing the operating direction of the first arm from forward to backward. As will be described later, when the signal changes to high (Yes in step S106), the control unit 1022 controls the motor 1101 to stop the first arm in step S107. In this way, since the control of the movement of the first arm is executed while the first arm is moving in the same direction (in this embodiment, the direction is backward), the first arm can stop at the same position.

[0133] The operating speed of the first arm while the signal is high can be made faster than the operating speed of the first arm after the signal changes from high to low and the operating direction of the first arm changes to backward. In this way, the first arm can be quickly moved to near the home position at a high operating speed, and at the same time, the first arm can be accurately stopped at the home position at a low operating speed.

[0134] In step S105, the control unit 1022 controls the motor 1101 to pull the first arm 104 and move it backward.

[0135] In step S106, the control unit 1022 determines whether the signal has changed from low to high. If the signal changes to high, in step S107, the control unit 1022 controls the motor 1101 to stop the first arm. If the signal has not changed to low, the control unit 1022 returns to step S105.

[0136] Although it is repetitive, for the signal to be high, it may mean that the signal is higher than the first threshold, and for the signal to be low, it may mean that the signal is lower than the second threshold which is lower than the first threshold. Alternatively, the first threshold and the second threshold may be the same value. 1 The homing process is not limited to the process shown in the figure. For example, if the signal changes to low in step S104 (Yes in step S104), the control unit can proceed to the process of step S107, and if the signal changes to high in step S106 (Yes in step S106), the control unit returns to S102.

[0137] The homing process is not limited to the process shown in the figure. For example, if the signal changes to low in step S104 (Yes in step S104), the control unit can proceed to the process of step S107, and if the signal changes to high in step S106 (Yes in step S106), the control unit returns to S102. 18 When only using the homing sensor, the limit can be inferred by software, but there remains a safety concern of reaching the end of movement. Therefore, in order to prevent the tractor from colliding or getting stuck, a second channel is provided in the form of a limit channel for detecting the end of movement. The limit channel generally has a reflective surface in the center, and the reflective surface detaches at both ends of the movement distance before hitting the end-of-movement hard stop. By combining both the limit channel and the home channel, the device 1000 can detect the movement limit position and can also detect which limit is positive or negative. Without the homing channel, the device 1000 will know that it has reached the limit, but will not know which limit it is, so it will not know in which direction to move.

[0138] When only using the homing sensor, the limit can be inferred by software, but there remains a safety concern of reaching the end of movement. Therefore, in order to prevent the tractor from colliding or getting stuck, a second channel is provided in the form of a limit channel for detecting the end of movement. The limit channel generally has a reflective surface in the center, and the reflective surface detaches at both ends of the movement distance before hitting the end-of-movement hard stop. By combining both the limit channel and the home channel, the device 1000 can detect the movement limit position and can also detect which limit is positive or negative. Without the homing channel, the device 1000 will know that it has reached the limit, but will not know which limit it is, so it will not know in which direction to move.

[0139] FIG. 20 is a flowchart of the movement restriction process. This movement restriction process is executed by one or more processors of the control unit 1022 by executing instructions stored in one or more memories of the control unit 1022.

[0140] The control unit 1022 determines whether the signal from the restriction sensor is high (the third state) or low (the fourth state) (step S111). In this embodiment, when the second channel of the reflection board faces the restriction sensor and the reflection from the second channel of the reflection board is detected by the restriction sensor, the restriction sensor outputs a high signal. Further, when the second channel of the reflection board does not face the restriction sensor and the reflection from the second channel of the reflection board is not detected by the restriction sensor, the restriction sensor outputs a low signal. If the signal is high, the process repeats step S1201. If the signal is low, the process proceeds to step S112.

[0141] In step S112, the control unit 1022 controls the motor 1201 to stop the movement of the first arm 1204, and the process ends.

[0142] In this embodiment, the length of the second channel of the reflection board corresponds to the length that the first arm 1204 can move.

[0143] FIG. 21 shows an operation diagram of the home sensor and the restriction sensor when using a plurality of reflection boards according to some embodiments. Here, the length of the first channel (for homing) of the reflection board can be made shorter than the length of the second channel (for restriction) of the reflection board. In this embodiment, the first channel and the second channel of the reflection board can be configured as one board. The lengths of the first channel and the second channel (as well as other channels) may vary according to the desired configuration, and the length of the first channel may be shorter than, equal to, or longer than the length of the second channel.

[0144] Figures 22 and 23 illustrate homing detection edges and limit detection edges according to some embodiments. The homing detection edges and the limit detection edges can be arranged on a reflection board.

[0145] Figure 24 illustrates homing detection edges and limit detection edges according to some embodiments. The reflection board is attached to the first arm, and the homing detection edges can be arranged on the reflection board. A light sensor can be attached to the blocking board. In Figure 24, there are two separate reflection boards with different lengths. Other configurations are also possible.

[0146] Figure 25 illustrates a home sensor and a limit sensor configured to be attached to a blocking board for both the negative limit transition part and the positive limit and home transition parts. In this configuration, the reflection board can function. The blocking board can be the same for both the limit sensor and the home sensor, and thus can have the same length. This can be advantageous as there are fewer components and lower costs. However, it is necessary to accurately arrange the sensors at a distance equal to half of the board length such that the limit is at the center when the home is at the edge. In an alternative embodiment, separate boards can be used for each channel, so that the sensors can be arranged closer. Then, it is not necessary to spatially constrain the sensors respectively, and they can be arranged at appropriate locations on the board.

[0147] Figure 26 is a flowchart of the operation method of the wire when using a reflection board according to some embodiments.

[0148] Step S121 includes the step of moving the wire along the longitudinal direction by the actuator. Step S122 includes the step of connecting a tractor for moving the wire along the longitudinal direction to the wire. Step S123 includes the step of providing a reflecting board having a first channel and a second channel. Step S124 includes the step of detecting the reflected light from the reflecting board by the first sensor to determine the home position. Step S125 includes the step of determining the home position by the first sensor. Step S126 includes the step of determining the movement limit position by the second sensor. Step S127 includes the step of arranging the first sensor and the second sensor at different positions along the direction perpendicular to the longitudinal direction.

[0149] Figure 27 is a flowchart of a method for operating a wire when using a reflecting board according to some embodiments.

[0150] Step S131 includes the step of moving the wire along the longitudinal direction by the actuator. Step S132 includes the step of connecting a tractor for moving the wire along the longitudinal direction to the wire. Step S133 includes the step of connecting the first arm to a driving unit that drives the first arm in the longitudinal direction. Step S134 includes the step of connecting the second arm to the wire. Step S135 includes the step of providing a detachment mechanism that may include a detachment connector configured to connect and disconnect the first arm and the second arm. Step S136 includes the step of supporting at least one by a support member. Step S137 includes the step of reflecting light with a reflecting board so that at least one position sensor can detect the light reflected by the reflecting board. Here, the reflecting board is included in the first arm.

[0151] Figure 28 is a flowchart of a method for operating a wire when using a blocking board according to some embodiments.

[0152] Step S 141includes the step of moving a wire along the longitudinal direction by an actuator. Step S 142 includes the step of connecting a tractor for moving the wire along the longitudinal direction to the wire. Step S 143 includes the step of connecting a first arm to a driving unit that drives the first arm in the longitudinal direction. Step S 144 includes the step of connecting a second arm to the wire. Step S 145 includes the step of providing a detachment mechanism that may include a detachment connector configured to connect and disconnect the first arm and the second arm. Step S 146 includes the step of supporting at least one position sensor by a support member. Step S 147 wherein at least one position sensor cut off is by a board cut off such that light can be detected, cut off causing light on the board cut off is included. Here, cut off the board is included in the first arm.

[0153] Preferably, according to some embodiments, the home reflection board, the limit reflection board, and the tractor are implemented as one component in combination. This is beneficial for reducing costs and reducing the accumulation of tolerances. Also, since both sensors can be mounted on a single printed circuit board assembly (PCBA), the number of components and cables can be reduced.

[0154] Preferably, according to some embodiments, the limit sensor and the homing sensor may be separate components, such as separate PCBA and reflection boards. This may be beneficial in scenarios with special space constraints. Also, this can reduce the possibility of noise and crosstalk between channels. A further advantage of using a separate component for the limit board is that the limit position can be adjusted to shorten the movement stroke to the desired stroke, which is beneficial for prototyping purposes.

[0155] The reflecting board may be fixed to the support arm 1214, and the sensor substrate may be fixed to the first arm 1204.

[0156] When the first arm 1204 is on the motor side of the home position, the reflecting board can be configured such that the first channel of the reflecting board does not face the optical sensor (home positioning sensor or limit sensor), and the reflection from the first channel of the reflecting board is not detected by the homing sensor.

[0157] Furthermore, when the first arm 1204 is on the other side of the home position (the continuum robot 104 side and / or the wire gripping mechanism 1211 side), the reflecting board is configured such that the first channel of the reflecting board faces the optical sensor, and the reflection from the first channel of the reflecting board is detected by the optical sensor.

[0158] In this case, when the signal from the optical sensor is low, the control unit controls the motor to push and move the first arm 1204 forward. Furthermore, when the signal from the optical sensor is high, the control unit controls the motor 1201 to pull and move the first arm 1204 backward.

[0159] Advantages

[0160] By integrating the home sensor and the limit sensor, the tractor is prevented from experiencing a failure situation where the tractor jams and maintenance is required.

[0161] Important features

[0162] An actuator that moves the wire along the longitudinal direction.

[0163] A tractor connected to the wire and moving the wire along the longitudinal direction.

[0164] A home positioning sensor.

[0165] The movement limit sensor, the home positioning sensor, and the movement limit sensor are arranged at different positions along a direction perpendicular to the longitudinal direction.

[0166] The first channel for the home positioning sensor of the blocking board or the reflecting board.

[0167] The second channel for the movement limit sensor of the blocking board or the reflecting board. Here, the length of the first channel of the blocking board or the reflecting board is cut-off board or Shorter than the length of the second channel of the reflecting board, cut-off board or The first channel of the reflecting board and cut-off board or The second channel of the reflecting board move with the movement of the tractor.

[0168] The actuator can further include a control unit. Here, when the detection state of the home position sensor changes from the first state in which the reflection from the first reflecting board is detected to the second state in which the reflection from the first reflecting board is not detected, the control unit determines that the tractor is at the home position. When the detection state of the movement limit sensor changes from the third state in which the reflection from the second reflecting board is detected to the fourth state in which the reflection from the second reflecting board is not detected, the control unit determines that the tractor is at the limit position.

[0169] The actuator can further arrange the home positioning sensor and the movement limit sensor at different positions along the longitudinal direction.

[0170] Snake robot

[0171] The present disclosure can be configured to be a feature of a maneuverable device such as a snake robot catheter.

[0172] As described above, the advantage of the present disclosure is to provide a solution for re - engaging the detachment and integrating the homing control and the movement limit control in order to prevent the tractor from experiencing a failure situation where the tractor gets stuck.

[0173] According to one embodiment, the apparatus can include: an actuator configured to move a wire along a longitudinal direction; a tractor connected to the wire and configured to move the wire along the longitudinal direction; a driving unit; a first arm connected to the driving unit, wherein the driving unit drives the first arm in the longitudinal direction, the first arm; a board connected to the first arm; a second arm connected to the wire; a plurality of sensors that may include at least a first sensor and a second sensor disposed at different positions from each other along a direction perpendicular to the longitudinal direction; at least one position sensor configured to detect light from the board; a support member configured to support the at least one position sensor; and a detachment mechanism that may include a detachment connector configured to connect and disconnect the first arm and the second arm.

[0174] The detachment mechanism may be configured to separate the actuator and the tractor when an applied force is greater than a predetermined value. The detachment mechanism may include a detachment sensor configured to detect the occurrence of detachment. When detachment is detected by the detachment sensor, a return and homing routine may be started and / or an error state that can prompt the diagnosis of the apparatus to a service technician or the like may be started. The detachment mechanism may be configured to return the tractor to the home position when detachment occurs. When the first arm and the second arm are connected by the detachment connector and the first arm is being driven by the driving unit, the second arm can be moved in the longitudinal direction.

[0175] The board may include a first channel and a second channel. The first channel and the second channel of the board may each have a length, in which case the length of the first channel is shorter than the length of the second channel. The first channel and the second channel of the board may be configured to move with the movement of the tractor.

[0176] At least one positioning sensor may include at least a first sensor and a second sensor disposed at different positions from each other along a direction perpendicular to the longitudinal direction. The wire may include a plurality of wires. The apparatus may include one or more force sensors configured to measure the pushing and pulling forces applied to the wire, one or more wire gripping mechanisms, and one or more linear slide mechanisms, and may also include other components.

[0177] The apparatus may further include a driving unit. The first arm is connected to a driving unit that drives the first arm in the longitudinal direction, and the detachment mechanism may include a detachment connector configured to connect and separate the first arm and the second arm. When the first arm and the second arm are connected by the detachment connector and the first arm is driven by the driving unit, the second arm is moved in the longitudinal direction.

[0178] The board may be a blocking board. At least one positioning sensor may include sensors configured to detect light blocked by the blocking board to determine a home position. At least one positioning sensor may include sensors configured to detect light blocked by the blocking board to determine a movement limit position. The blocking board may be configured to provide a negative limit transition portion and a positive limit and home transition portion. The blocking board may include a first blocking board and a second blocking board.

[0179] The apparatus may further include a control unit. When the detection state of at least one positioning sensor changes from a first state in which light blocking by the first blocking board is detected to a second state in which light blocking by the first blocking board is not detected, the control unit determines that the tractor is at the home position. When the detection state of at least one positioning sensor changes from a third state in which light blocking by the second blocking board is detected to a fourth state in which light blocking by the second blocking board is not detected, the control unit determines that the tractor is at the limit position.

[0180] The device may further include a first arm, a second arm, and a driving unit. The first arm is connected to a driving unit that drives the first arm in the longitudinal direction, and the second arm is connected to a wire. The detachment mechanism may include a detachment connector configured to connect and disconnect the first arm and the second arm. When the first arm and the second arm are connected by the detachment connector and the first arm is driven by the driving unit, the second arm is moved in the longitudinal direction.

[0181] According to some embodiments, the method may include: an actuator moving a wire along the longitudinal direction; connecting a tractor to the wire to move the wire along the longitudinal direction; connecting a first arm to a driving unit that drives the first arm in the longitudinal direction; connecting the first arm to a board; connecting a second arm to the wire; providing at least one position sensor configured to detect light from the board; supporting the at least one position sensor by a support member; and providing a detachment mechanism that may include a detachment connector configured to connect and disconnect the first arm and the second arm.

[0182] According to some embodiments, a non-transitory storage medium storing a program can cause a computer to execute a method including: an actuator moving a wire along the longitudinal direction; connecting a tractor to the wire to move the wire along the longitudinal direction; connecting a first arm to a driving unit that drives the first arm in the longitudinal direction; connecting the first arm to a board; connecting a second arm to the wire; providing at least one position sensor configured to detect light from the board; supporting the at least one position sensor by a support member; and providing a detachment mechanism that may include a detachment connector configured to connect and disconnect the first arm and the second arm.

[0183] According to some embodiments, the apparatus can include: an actuator configured to move a wire along a longitudinal direction; a tractor connected to the wire and configured to move the wire along the longitudinal direction; a board that may include at least a first channel and a second channel; and a plurality of sensors that may include at least a first sensor and a second sensor disposed at different positions from each other along a direction perpendicular to the longitudinal direction. The first sensor is configured to determine a home position, and the second sensor is configured to determine a movement limit position based on the emitted light.

[0184] The first channel and the second channel of the board each have a length, and the length of the first channel is shorter than the length of the second channel. The first channel and the second channel of the board may be configured to move with the movement of the tractor.

[0185] The board may be a blocking board. The first sensor may include a home position sensor configured to detect the light blocked by the blocking board to determine the home position. The second sensor may include a movement limit sensor configured to detect the light blocked by the blocking board to determine the movement limit position. The blocking board may be configured to provide a negative limit transition portion and a positive limit and home transition portion. The blocking board may include a first blocking board and a second blocking board.

[0186] The apparatus may further include a control unit. When the detection state of the first sensor changes from a first state in which the light blocking by the first blocking board is detected to a second state in which the light blocking by the first blocking board is not detected, the control unit determines that the tractor is at the home position. When the detection state of the second sensor changes from a third state in which the light blocking by the second blocking board is detected to a fourth state in which the light blocking by the second blocking board is not detected, the control unit determines that the tractor is at the limit position.

[0187] The board may be a reflective board. The first sensor may include a home positioning sensor, and the first sensor may include a home positioning sensor configured to detect reflected light from the reflective board to determine the home position. The second sensor may include a movement limit sensor configured to detect reflected light from the reflective board to determine the movement limit position. The reflective board is configured to provide a negative limit transition portion and a positive limit and home transition portion. The reflective board may include a first reflective board and a second reflective board.

[0188] The device may further include a control unit. When the detection state of the first sensor changes from a first state in which reflection from the first reflective board is detected to a second state in which reflection from the first reflective board is not detected, the control unit determines that the tractor is at the home position. When the detection state of the second sensor changes from a third state in which reflection from the second reflective board is detected to a fourth state in which reflection from the second reflective board is not detected, the control unit determines that the tractor is at the limit position.

[0189] The wire may include a plurality of wires. The device may include one or more force sensors configured to measure the pushing and pulling force applied to the wire, one or more wire gripping mechanisms, and one or more linear slide mechanisms, and may also include other components.

[0190] The device may include a detachment mechanism configured to separate the actuator and the tractor when the applied force is greater than a predetermined value. The detachment mechanism may include a detachment sensor configured to detect the occurrence of detachment. When detachment is detected by the detachment sensor, a return and homing routine may be started, and / or an error state that can prompt a diagnosis of the device to a service technician or the like may be started. The detachment mechanism may be configured to return the tractor to the home position when detachment occurs.

[0191] The device may further include a first arm, a second arm, and a driving unit. The first arm is connected to a driving unit that drives the first arm in the longitudinal direction, and the second arm is connected to a wire. The detachment mechanism may include a detachment connector configured to connect and separate the first arm and the second arm. When the first arm and the second arm are connected by the detachment connector and the first arm is driven by the driving unit, the second arm is moved in the longitudinal direction.

[0192] According to some embodiments, the method may include: an actuator moving a wire along a longitudinal direction; connecting a tractor that moves the wire along the longitudinal direction to the wire; providing a board that may include at least a first channel and a second channel; providing a plurality of sensors that may include at least a first sensor and a second sensor; arranging the first sensor and the second sensor at different positions along a direction perpendicular to the longitudinal direction; causing the first sensor to determine a home position based on the emitted light; and causing the second sensor to determine a movement limit position based on the emitted light.

[0193] According to some embodiments, a non-transitory storage medium storing a program can cause a computer to execute a method including: an actuator moving a wire along a longitudinal direction; connecting a tractor that moves the wire along the longitudinal direction to the wire; providing a board that may include a first channel and a second channel; providing a plurality of sensors that may include at least a first sensor and a second sensor; arranging the first sensor and the second sensor at different positions along a direction perpendicular to the longitudinal direction; causing the first sensor to determine a home position; and causing the second sensor to determine a movement limit position based on the emitted light.

[0194] In addition, the advantages of the additional features or aspects of the present disclosure are that one or more AI (Artificial Intelligence) or machine learning algorithms, processes, techniques, etc. can be implemented to re-engage the disengagement and integrate homing control and movement control limit control in order to prevent the tractor from experiencing a failure situation where it gets stuck. Such AI technologies use neural networks, random forest algorithms, cognitive computing systems, rule-based engines, etc., and are trained based on a series of data to evaluate the type of data and generate an output. For example, in order to prevent the tractor from experiencing a failure situation where it gets stuck, a training algorithm can be configured to re-engage the disengagement and integrate homing control and movement control limit control. The model can be configured as software that receives an image as input and returns a prediction of the specified image as output. The model can be an instance of a model architecture (a set of parameter values) obtained by training and selecting the model using machine learning and / or optimization algorithms / processes. The model can generally include, for example: source code (e.g., a convolutional neural network including layers of parameterized convolutional kernels and activation functions), and configuration values (parameters, weights, features, etc.) that are initially set to random values and then iteratively optimized during training considering a given data example; a function (a loss function); an optimization algorithm (an optimizer), etc.

[0195] To prevent the tractor from experiencing a failure situation where it gets stuck, at least a part of the position movement or orientation of the actuator and other components for re-engaging the disengagement and integrating the homing control and movement limit control can be used as input data and provided to the training algorithm. Using the input mapping to the model or storing the initial position movement or orientation of the medical device generated through a special investigation in the database can facilitate the precise centering of the fiber core with respect to the ferrule outer diameter, and through machine learning, parameters for the AI process can be found. When the initial position movement or orientation of the medical device is used or input into the AI process or algorithm, it facilitates accurate modeling to correspond to various types of medical procedures, treatments, diagnoses, and other applications. The training algorithm is configured to learn the physical relationships in the input data and describe such relationships or correlations best. The dataset includes information based on many factors (such as the position movement or orientation of the actuator and other components) for re-engaging the disengagement and integrating the homing control and movement limit control to prevent the tractor from experiencing a failure situation where it gets stuck. The data is evaluated using weighted evaluation, and the weights are learned through the training process, subject matter specifications, etc. The structure of deep learning can be used to expand the AI process to accommodate various types of position detection and disengagement configurations, or other applications.

[0196] This disclosure has been described with reference to exemplary embodiments. Of course, the disclosure is not limited to the disclosed exemplary embodiments. The following claims should be given the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

[0197] Other embodiments Embodiments of the present disclosure can be implemented by reading and executing computer-executable instructions (e.g., one or more programs) recorded on a storage medium (more precisely, which can also be referred to as a "non-transitory computer-readable storage medium") to execute one or more functions of the foregoing embodiments and / or by a computerized configuration of a system or apparatus including one or more circuits (e.g., an application-specific integrated circuit (ASIC)) for executing one or more functions of the foregoing embodiments. Also, the computerized configuration of the system or apparatus can be realized by a method executed by reading and executing computer-executable instructions from a storage medium to execute one or more functions of the foregoing embodiments and / or by controlling one or more circuits to execute one or more functions of the foregoing embodiments. The computerized configuration may include one or more processors, one or more memories, circuit configurations, or combinations thereof (e.g., a central processing unit (CPU), a microprocessing unit (MPU), etc.), and may include a separate computer or a network of separate processors for reading and executing computer-executable instructions. The computer-executable instructions can be provided to the computerized configuration, for example, from a network or a storage medium. The storage medium may include, for example, one or more of a hard disk, a random access memory (RAM), a read-only memory (ROM), the storage of a distributed computing system, an optical disk (such as a compact disk (CD), a digital versatile disk (DVD), or a Blu-ray Disc (BD) (trademark), etc.), a flash memory device, a memory card, etc.

[0198] The present disclosure has been described with reference to exemplary embodiments. Of course, the present disclosure is not limited to the disclosed exemplary embodiments. The following claims should be given the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. an actuator configured to move the wire along a longitudinal direction; a tractor connected to the wire and configured to move the wire along the longitudinal direction; A drive unit; a first arm connected to the drive unit, the drive unit driving the first arm along the longitudinal direction; a board connected to the first arm; a second arm connected to the wire; A plurality of sensors including at least a first sensor and a second sensor arranged at different positions along a direction perpendicular to the longitudinal direction; at least one position sensor configured to determine a position based on the emitted light; a support member configured to support at least one position sensor; a release mechanism having a release connector configured to connect and disconnect the first arm and the second arm; An apparatus comprising:

2. the disengagement mechanism is configured to decouple the actuator and the tractor when an applied force is greater than a predetermined value.

2. The apparatus of claim 1.

3. the release mechanism includes a release sensor configured to detect the occurrence of a release; If a disengagement is detected by the disengagement sensor, a recovery and homing routine may be initiated and / or an error condition may be initiated that may prompt a service technician or the like to diagnose the device.

2. The apparatus of claim 1.

4. The disengagement mechanism is configured to return the tractor to a home position if a disengagement occurs.

2. The apparatus of claim 1.

5. the first arm and the second arm are connected by the release connector, and the second arm is configured to move along the longitudinal direction when the first arm is driven by the drive unit.

2. The apparatus of claim 1.

6. the board comprises a first channel and a second channel.

2. The apparatus of claim 1.

7. the first channel and the second channel of the board each have a length, the length of the first channel being shorter than the length of the second channel; 7. The apparatus of claim 6.

8. the first channel and the second channel of the board are configured to move with movement of the tractor.

7. The apparatus of claim 6.

9. the at least one positioning sensor includes at least a first sensor and a second sensor disposed at different positions along a direction perpendicular to the longitudinal direction; 2. The apparatus of claim 1.

10. The apparatus of claim 1 , wherein the wire comprises a plurality of wires.

11. one or more force sensors configured to measure push / pull forces on the wire; The apparatus of claim 1 further comprising:

12. The device of claim 1 , further comprising one or more wire gripping mechanisms.

13. The apparatus of claim 1 , further comprising one or more linear slide mechanisms.

14. Further comprising a drive unit, The first arm is connected to the drive unit that drives the first arm along the longitudinal direction, the release mechanism includes a release connector configured to connect and disconnect the first arm and the second arm; When the first arm and the second arm are connected by the detachable connector and the first arm is driven by the drive unit, the second arm is moved along the longitudinal direction.

2. The apparatus of claim 1.

15. The apparatus of claim 1 , wherein the board comprises an isolation board.

16. the at least one positioning sensor includes one or more sensors configured to detect light blocked by the blocking board to determine a home position.

16. The apparatus of claim 15.

17. the at least one positioning sensor includes one or more sensors configured to detect light blocked by the blocking board to determine a limit of travel position; 16. The apparatus of claim 15.

18. the isolation board is configured to provide a negative limit transition and a positive limit and home transition; 16. The apparatus of claim 15.

19. A control unit is further provided, the isolation board includes a first isolation board and a second isolation board; When the detection state of the at least one positioning sensor changes from a first state in which blocking of light by the first blocking board is detected to a second state in which blocking of light by the first blocking board is not detected, the control unit determines that the tractor is in a home position; When the detection state of the at least one positioning sensor changes from a third state in which blocking of light by the second blocking board is detected to a fourth state in which blocking of light by the second blocking board is not detected, the control unit determines that the tractor is in a limit position.

16. The apparatus of claim 15.

20. further comprising a first arm, a second arm and a drive portion; The first arm is connected to the drive unit that drives the first arm in the longitudinal direction, the second arm is connected to the wire; the release mechanism includes a release connector configured to connect and disconnect the first arm and the second arm; When the first arm and the second arm are connected by the detachable connector and the first arm is driven by the drive unit, the second arm is moved in the longitudinal direction.

2. The apparatus of claim 1.

21. An actuator moving the wire along a longitudinal direction; connecting a tractor to the wire to move the wire along the longitudinal direction; connecting a first arm to a drive configured to drive the first arm in the longitudinal direction; connecting the first arm to a board; connecting a second arm to the wire; providing at least one position sensor configured to determine a position based on the emitted light; supporting the at least one position sensor by a support member; providing a release mechanism having a release connector configured to connect and disconnect the first arm and the second arm; The method includes:

22. A non-transitory storage medium storing a program for causing a computer to execute a method, The method comprises: An actuator moving the wire along a longitudinal direction; connecting a tractor to the wire to move the wire along the longitudinal direction; connecting a first arm to a drive configured to drive the first arm in the longitudinal direction; connecting the first arm to a board; connecting a second arm to the wire; providing at least one position sensor configured to determine a position based on the emitted light; supporting the at least one position sensor by a support member; providing a release mechanism having a release connector configured to connect and disconnect the first arm and the second arm; Non-transitory storage media, including

23. an actuator configured to move the wire along a longitudinal direction; a tractor connected to the wire and configured to move the wire along the longitudinal direction; a board having at least a first channel and a second channel; A plurality of sensors including at least a first sensor and a second sensor arranged at different positions along a direction perpendicular to the longitudinal direction; An apparatus comprising: the first sensor is configured to determine a home position based on emitted light; the second sensor is configured to determine a limit of travel position based on the emitted light. Device.

24. 24. The apparatus of claim 23, wherein the board comprises an isolation board.

25. A control unit is further provided, the isolation board includes a first isolation board and a second isolation board; When the detection state of the first sensor changes from a first state in which blocking of light by the first blocking board is detected to a second state in which blocking of light by the first blocking board is not detected, the control unit determines that the tractor is in a home position; When the detection state of the second sensor changes from a third state in which blocking of light by the second blocking board is detected to a fourth state in which blocking of light by the second blocking board is not detected, the control unit determines that the tractor is in a limit position.

24. The apparatus of claim 23.

26. 24. The apparatus of claim 23, wherein the board comprises a reflective board.

27. A control unit is further provided, The reflective board includes a first reflective board and a second reflective board, When the detection state of the first sensor changes from a first state in which a reflection from the first reflective board is detected to a second state in which a reflection from the first reflective board is not detected, the control unit determines that the tractor is in a home position; When the detection state of the second sensor changes from a third state in which reflection from the second reflective board is detected to a fourth state in which reflection from the second reflective board is not detected, the control unit determines that the tractor is in a limit position.

27. The apparatus of claim 26.

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