Continuum robot, hub assembly, and method of manufacture

Abstract

To provide a robotic apparatus, a catheter and a continuum robot hub for use with same, and methods for use and manufacture.SOLUTION: The continuum robot hub includes a distal end, a proximal end, a section extending from the distal end to the proximal end, and a plurality of hub guide channels that each extend across a distal pitch diameter change and a proximal pitch diameter change along an exterior surface of the section. The distal pitch diameter change extends from the distal end along a first length of the hub, and the proximal pitch diameter change extends from a proximal end of the distal pitch diameter change along a second length of the hub.SELECTED DRAWING: Figure 16

Description

Technical Field

[0001] Cross - References to Related Applications This application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Application No. 63 / 603,419 (Docket No. 2600 - 30862 - prov), filed on November 28, 2023; U.S. Provisional Application No. 63 / 603,561 (Docket No. 2600 - 30660 - prov), filed on November 28, 2023; and U.S. Provisional Application No. 63 / 603,578 (Docket No. 2600 - 30912 - prov), filed on November 28, 2023, the disclosures of each of which are hereby incorporated by reference in their entireties.

[0002] This disclosure generally relates to continuum robots applicable to guidance devices such as medical devices, intervention tools, instruments, endoscopes, etc.

Background Art

[0003] Continuum robots (also called snakes) include multiple curved sections with a flexible structure, and the shape of the continuum robot is controlled by deforming the curved sections. Snakes have significant advantages compared to existing robots including rigid - link robots. One advantage is that a snake can move along curves even in narrow spaces or environments with scattered objects where a rigid - link robot would get stuck. Another advantage is that, taking advantage of the inherent flexibility of a snake, it can be operated without damaging surrounding fragile elements.

[0004] In recent years, minimally invasive medicine has attracted attention as it can reduce the burden on patients and improve the quality of life after treatment or examination. Surgery and examinations using endoscopes are typical examples of minimally invasive medicine. For example, laparoscopic surgery has the advantages of requiring smaller surgical incisions compared to conventional abdominal surgery, resulting in a shorter hospital stay and less visible damage.

[0005] Endoscopes used in minimally invasive medicine are broadly classified into rigid endoscopes and flexible endoscopes. Although rigid endoscopes can provide clear images, the directions in which the object to be observed can be observed are limited. Furthermore, when a rigid endoscope is inserted into a tortuous organ such as the esophagus, large intestine, or urethra, there is a risk that the insertion portion of the rigid endoscope may compress the organ. In contrast, since the insertion portion of a flexible endoscope is formed of a bendable member, a wide range can be observed in detail by adjusting the bending angle of the distal end of the endoscope. Furthermore, by bending the insertion portion along the insertion path, the burden on the patient can be reduced. Increasing the number of bendable portions allows the endoscope to be inserted deep into the body without contacting the tissue, even if the insertion path is complex and tortuous.

[0006] Therefore, flexible endoscopes having a plurality of bendable portions have been researched and developed.

[0007] Disclosures of various related technologies in this field include U.S. Patent No. 11,559,190, which discusses a steerable device having a push-pull actuator and a breakout unit, and International Publication No. 2022 / 146751, which discusses a steerable snake having a push-pull rod structure. U.S. Application Publication No. 2022 / 0202277 discusses a medical device comprising: a bendable body having a drive wire (also known as a tendon); a breakout wire attached to the drive wire, the distal end of the breakout wire being attached to the proximal end of the drive wire; a distal guide tube for guiding the drive wire, the distal guide tube terminating with a space in front of the breakout wire; an elastic element adjacent to the drive wire along at least a portion of the longitudinal direction of the drive wire; and an actuator configured to operate the bendable body by retracting and advancing the drive wire via the breakout wire. Each of the foregoing disclosures is hereby incorporated by reference into this specification.

[0008] When controlling a bendable medical device by pushing and pulling a drive wire of a small diameter, the amount of operating force that can be applied to the drive wire is limited by the buckling force of the specific wire diameter and material. In bendable medical devices, due to spatial constraints imposed by the target anatomical structure, tool dimensions, etc., a small-diameter wire is required. To prevent buckling of the wire, a continuous support may be provided around the drive wire over the entire length of the bendable medical device. U.S. Patent Application Publication No. 2015 / 0142013 discusses releasing tensile force from the pull wire of a continuum robot using buttons / commands to conform the shape of the continuum robot to the anatomical structure. Also, U.S. Patent Application Publication No. 2019 / 0105468 discusses buckling, which becomes a problem especially as the size / diameter of a snake robot decreases. When controlling a bendable medical device by pushing and pulling a drive wire of a small diameter, the amount of operating force that can be applied to the drive wire is limited by wire buckling. Due to spatial constraints such as the target anatomical structure and tool dimensions, it is important to use a small-diameter wire in bendable medical devices.

Summary of the Invention

[0009] Therefore, to prevent buckling of the wire, a continuous support is provided around the drive wire over the entire length of the bendable medical device.

[0010] Aspects of the present disclosure provide a hub for a continuum robot, the hub including a distal end, a proximal end, a section extending from the distal end to the proximal end, and a plurality of guide channels. Each of the plurality of guide channels extends along a surface of the section. The surface includes a distal pitch diameter change portion and a proximal pitch diameter change portion. The distal pitch diameter change portion extends along a first length of the hub from the distal end. The proximal pitch diameter change portion extends along a second length of the hub from the proximal end of the distal pitch diameter change portion.

[0011] Another aspect of the present disclosure provides a hub for connecting a continuum robot to a control device, the hub including a distal end, a proximal end, and a section between the proximal end and the distal end. The distal end includes a first surface having a first maximum length. The proximal end includes a second surface having a second maximum length greater than the first maximum length.

[0012] A further aspect of the present disclosure provides an access component for a continuum robot, the access component including: a hub configured to be fixedly connected to a shaft of the continuum robot and configured to attach the continuum robot to a control device; and a hub cover. The distal end of the hub includes a first surface having a diameter with a first maximum length, and the proximal end of the hub includes a second surface having a diameter with a second maximum length greater than the first maximum length, and a hub hypotenuse extending from the proximal end to the distal end across the hub.

[0013] A further aspect of the present disclosure provides a method of manufacturing a continuum robot, including: forming a hub body, the forming being performed by aligning a hub cone with respect to a tool channel extending through the hub body and a plurality of hub hypotenuses extending along an exterior of the hub body; extending a first end of a mandrel of a plurality of mandrels to a hollow portion of each of the hub hypotenuses of the plurality of hub hypotenuses; extending a second end of the mandrel to a hollow portion of each of a plurality of support sleeve lumens that coincide with the hollow portions of the respective hub hypotenuses; thermally bonding the hub body to the plurality of support sleeve lumens, the thermally bonding coupling the tool channel and the plurality of hub hypotenuses to the hub body; and forming channels in the aligned respective support sleeve lumens and hub hypotenuses by pulling each mandrel of the plurality of mandrels out of its respective hollow portion.

[0014] These and other objects, features, and advantages of the present disclosure will become apparent upon reading the following detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings and the provided paragraphs.

Brief Description of the Drawings

[0015] Further objects, features, and advantages of the present invention will become apparent from the following detailed description when interpreted in conjunction with the accompanying drawings showing exemplary embodiments of the present invention.

[0016]

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[0017] Throughout the figures, unless otherwise noted, the same reference numbers and characters are used to denote similar features, elements, components, or parts of the illustrated embodiments. Further, the present disclosure will now be described in detail with reference to the figures, which are made in connection with the exemplary embodiments. It is intended that changes and modifications can be made to the illustrated exemplary embodiments without departing from the true scope and spirit of the present disclosure as defined by the appended claims.

DETAILED DESCRIPTION OF THE INVENTION

[0018] The present disclosure includes several embodiments and relies on patents, patent applications, and other references for details known to those skilled in the art. Thus, when patents, patent applications, and other references are cited or repeated herein, it is to be understood that they are incorporated by reference in their entirety for all purposes and for the proposals described.

[0019] In the present disclosure, a continuum robot system and mechanism are described, followed by a continuum robot support element for reducing buckling, and systems and procedures related to the continuum robot and the support element are described.

[0020] FIG. 1 is a block diagram of an exemplary medical system including auxiliary components and a bendable medical device.

[0021] As shown in FIG. 1, the system 40 includes a base stage 52, a drive unit 2 (also referred to as an actuator or driver) for driving a drive wire or tendon (also referred to as a drive wire or driver), a continuum robot 100 (also referred to as a bendable medical device, a steerable catheter, a snake, or a robotic catheter), a positioning cart 44, an operation console 50 (also referred to as a control device or control system) having push buttons, a thumbstick, and / or a joystick, and navigation software 46. The medical device system 40 can interact with external system components and clinical users to facilitate use in patients.

[0022] FIG. 2 illustrates the components of the continuum robot.

[0023] As shown in FIG. 2, the continuum robot 100 has push / pull drive wires 111b, 112b, 113b, which are respectively connected to connection portions 121, 122, 123 found on the end disks 160b for the control of the intermediate bending section 104. Additional drive wires (three for each of the other bendable sections 102, 106) 111a, 111c, 112a, 112c, 113a, 113c are attached to respective end disks 160a, 160c at the distal ends of each bendable section 102, 106. Each bending section is operated in the same manner. Thus, the description of one bending section (i.e., the intermediate bending section 104) will be recognized as applicable to the other sections. The posture of the bending section 104 is controlled by pushing and pulling the wires 111b to 113b using an actuator, where l d = the length of the central axis of the bending section, θ n = the bending angle at the distal end, ζ n = the rotational angle at the distal end, ρ n = the radius of curvature of the bending section.

[0024] The continuum robot 100 is connected to the catheter shaft 5. The catheter shaft 5 may be disposed on the base stage 52, and the catheter shaft 5 can be longitudinally moved by the base stage 52 so as to move the continuum robot 100 forward, decelerate, and / or reverse within the target structure by advancing, decelerating, and / or reversing the base stage 52.

[0025] The operation console 50 (FIG. 1) can separately indicate the driving amount for the base stage 52 and the driving amount for the actuator 2. The operation console 50 may include dedicated hardware including a field programmable gate array (FPGA) or the like, and / or may be a computer including a storage device, a work memory, and a central processing unit (CPU). When the operation console 50 is a computer, the storage device may be a memory that stores a software program corresponding to the control system algorithm, and the CPU can expand the program into the work memory and execute the program line by line in order to function the computer as the operation console 50. In any case, the operation console 50 can be communicably connected to the base stage 52 and the actuator 2, and the operation console 50 can transmit a signal representing the driving amount and the configuration (which can be relayed by an end user via a push button, a joystick, etc.) to these controlled objects. Thus, the continuum robot 100 includes at least one distal curved section 102, and during a procedure such as a lung biopsy or a medical treatment, the insertion and removal of the continuum robot 100 with respect to the treatment target can be robotically controlled.

[0026] FIG. 3 illustrates the relative arrangement of the actuator of the continuum robot and the catheter shaft.

[0027] The posture and / or pose of the catheter shaft 5 can be controlled by pushing and pulling on at least one drive wire 4. The catheter shaft 5 has at least one distal bending section 102, and at least three drive wires 4 terminate at each of the at least one distal bending section 102 to control the bending angle and bending plane. The actuator 2 can selectively push and pull the drive wires 4 to control the distal bending section 102. The pusher rod 9 of the catheter can be attached and detached by tightening with the actuator clamp 7 of the actuator 2, and the hub body 6 can be removably attached to the actuator 2 and the control device (operation console 50). The pusher rod 9 is attached and detached from each clamp 7 while being fixedly attached to the proximal end of each drive wire 4. The drive wires 4 slide within respective hub hypodermic tubes 8 (also called support sleeves and fixed to the distal end of the hub body 6) and can slide into the catheter shaft 5.

[0028] The hub body 6 may have a straight portion at its proximal end. The hub body 6 transitions from a proximal end (A - A') with a pitch diameter substantially matching that of the actuator clamp 7 to a distal end (B - B') with a pitch diameter substantially matching that of the catheter shaft 5. Such a change between diameters may be referred to as a pitch diameter transition portion 400.

[0029] At the proximal end of the transition portion, the hub hypodermic tube 8 is connected to the push - pull assembly of the control device. With respect to the connection to the push - pull assembly, it is pushed in with a force of up to 20 N Small It is necessary to support the diameter wire and the hypodermic tube. Also, even when the clamping strength via the pusher rod 9 to be clamped is high Claw A larger wire diameter is used to enable the clamp. To enhance manufacturability, it is necessary to minimize the total number of parts.

[0030] The hub hypo tube 8 is connected to the catheter shaft at the distal end, forming a strong connection between the hub and the catheter shaft in a limited space. Further, the present disclosure provides a smooth and fully protected transition of the drive wire from the hub hypo tube 8 into the lumen within the shaft 5. A sealed connection of the tool channel 20 (Figs. 8 - 10) is formed. Also, a gradual transition in rigidity is provided from the large and rigid hub body to the small and flexible catheter shaft.

[0031] FIG. 4A is a cutaway view illustrating the drive wire spacing.

[0032] FIG. 4A illustrates the spacing between the drive wires 4 within the hub body 6 that connects the control device to the shaft 5 of the continuum robot. The drive wires substantially follow the pitch diameter. FIG. 4A illustrates the proximal pitch diameter located at cross - section A - A' (FIG. 3). The proximal end of the proximal pitch diameter aligns the drive wires 4 with the control device and its respective actuation clamps 7 (FIG. 10).

[0033] FIG. 4B is a cutaway view of the drive wire spacing within the catheter shaft.

[0034] FIG. 4B illustrates the spacing between the drive wires 4 within the shaft 5 of the continuum robot at cross - section B - B' (FIG. 3) corresponding to the drive wires 4 within the catheter shaft 5. FIG. 4B illustrates the distal pitch diameter. The distal end of the distal pitch diameter aligns the drive wires 4 with the respective lumens passing through the hub body 6.

[0035] By comparing FIGS. 4A and 4B, the change in the diameter of the drive wire across the hub body 6 is explained. If there is a transition between pitch diameters, the pushing force applied by the control device and / or the pushing force applied by the distal end of the catheter 5 may cause the pusher rod to buckle, which may limit the pushing ability. For example, if there is an unsupported portion of more than 50 mm, the 26TW hypodermic tube may buckle at less than 5 N. When the hypodermic tube 8 (FIGS. 8-12) bends, the drive wire 4 cannot be accurately pushed. The hypodermic tube 8 cannot return to a completely straight state as required for proper operation. The present disclosure provides an assembly including a conical cover 29 that prevents buckling of the hub hypodermic tube 8 along the curved surface of the transition portion between diameters along the hub body 6. The conical cover 29 may be made of an elastomer, cover the hub cone 30 and be configured to push the hub hypodermic tube 8 into a groove (i.e., a guide channel) and apply a radial force to prevent buckling of the hub hypodermic tube 8. The hub conical cover 29 may be coupled to the hub cone 30 . Also, the conical cover 29, the hub cone 30 , the tool channel 20, the catheter shaft 5, and the hub hypodermic tube (8) may be thermally bonded.

[0036] FIG. 5A is a perspective view of the hub assembly.

[0037] FIG. 5B is a top view of the hub assembly.

[0038] The hub body 6 and the hub cone 30 form a hub assembly. The pusher rod 9 attached to the proximal end of each drive wire 4 extends from the proximal side of the hub assembly. The distal portion of the drive wire 4 extends from the distal side of the hub assembly. The drive wire 4 is slidable within each hub hypotenuse 8. As shown in the hub assembly of FIG. 5A (the continuum robot is omitted), when the drive wire 4 exits the hub cone 30, it naturally follows a path corresponding to the inclination of the distal end of the hub cone 30. As shown in FIG. 5B (including the continuum robot at the distal end of the hub assembly), the path that the drive wire 4 naturally follows changes so that the drive wire extends parallel along the continuum robot. The push-pull assembly of FIG. 5B is longer than the push-pull assembly of FIG. 5A, but each assembly requires similar components for the pitch diameter transition. The hub hypotenuses 8 in both FIGS. 5A and 5B bend similarly at the positions due to the pitch diameter transition, increasing the risk of buckling. FIG. 5B shows the non-supported sections of a plurality of pusher rods. The present disclosure provides a gradual transition from a large and rigid hub body 6 to a small and flexible catheter shaft 5.

[0039] FIG. 6 is a rear perspective view of a hub body illustrating a single-piece hub body having a plurality of channels.

[0040] In contrast, in the structure shown in FIG. 6, the pusher hypotenuse 10 is reinforced to prevent damage to the pusher hypotenuse 10 based on the forces applied by the hypotenuse clamp sleeve 24 and the clamp rod 23 and other sources of damage.

[0041] The hub body 6 of FIG. 6 may be formed as a single extruded part with straight hub channels 32 to support each push-pull assembly. As shown in FIG. 6, hub guide discs 19 are provided at the proximal and distal ends of the hub body 6. The hub disc 19 at the distal end can be used for attachment to the hub cone 30.

[0042] FIG. 7 illustrates the buckling of the hub hypotenuse.

[0043] In the hub hypo tube 8 shown in FIG. 7, there is no support at the transition portion between the pitch diameters. FIG. 7 illustrates the buckling of the hub hypo tube 8. At the position where the wire path bends, that is, at the pitch diameter transition portion, the risk of wire buckling increases. In a small-diameter robotic catheter, the wire pitch inside the catheter is smaller than the wire pitch of the actuator push mechanism. In the hub cone 30, the wire will pass from a large actuator pitch diameter to a small catheter pitch diameter. For example, the wire can be clamped at a pitch diameter of 25 mm (due to the spacing of the clamps within the actuator), while the pitch diameter of the catheter shaft is 0.1225” (3.115 mm).

[0044] The connection region between the catheter and the hub includes a connection point and a curved wire path, and wire buckling is prevented by continuous support of the drive wire. Thus, aspects of the present disclosure provide support for the hub hypo tube 8 in the section of pitch diameter transition to prevent buckling during the pushing operation.

[0045] As a non-limiting example, an operable robotic catheter may include a small-diameter (4 mm) catheter shaft 5 and a hub hypo tube (0.018” outer diameter (OD)), a small-diameter (0.0095”) nitinol drive wire 4 configured to be pushed and pulled with a force of up to 20 N and a stroke length of ±16 mm, and a wire pitch diameter increasing portion from 3.1 mm to 22 mm from the catheter shaft to the actuator 2. In particular, when the diameter of the hypo tube is small and the push stroke is long, the hub hypo tube 8 may be at risk of buckling within the non-supported section. The drive wire 4 may be a 0.0095” diameter nitinol wire, and the hub hypo tube 8 may be 304 SS 26TW, 0.012” inner diameter (ID) / 0.018” OD, and 120 mm in length. The pusher hypo tube 10 may be 304SS21RW, 0.020” ID / 0.032” OD, and 61 mm in length. Also, an elastic member with a free length of 30 mm / a contact length of 9 mm, a 0.0025” nitinol wire, and a 0.018” OD may be included.

[0046] FIG. 8 is a side view illustrating a component connected to a catheter hub according to the present disclosure.

[0047] FIG. 9 is a perspective view of a component connected to a catheter hub according to the present disclosure.

[0048] FIG. 10 is a perspective view of a proximal component connected to a catheter hub fixed to each clamp of a control device according to the present disclosure.

[0049] As shown in FIGS. 8 - 10, a tool channel 20 including an exit port is provided within hub body 6. The tool channel 20 may be centrally located and may extend over the entire working length of the catheter 5 to enable use of a tool (e.g., a biopsy tool or an endoscope) during operation.

[0050] The tool channel 20 may enter the hub body 6 and extend through both the hub body 6 and the catheter shaft 5. The tool channel 20 may be coupled to the hub cone 30 and the catheter shaft 5. The tool channel 20 may have an OD of 0.091” / 2.3 mm. The ID of the tool channel 20 may be 2 mm to enable use of an 1.8 mm biopsy tool. The tool channel 20 may be a 13XX stainless steel hypo tube with an OD of 0.100” / ID of 0.087” to enable use of an endoscope and a biopsy tool. The tool channel 20 can be used for aspiration and irrigation by means of a luer / pump attachment.

[0051] A tool can be inserted into the hub body 6 through the tool channel 20. To enable access to the outlet port of the tool channel 20 from outside the hub body 6, it may be necessary to increase the pitch diameter to create a space between the drive wires 4. An adapter (e.g., a luer fitting) may be attached to the proximal end of the tool channel 20 outside the hub body 6 for connection of a syringe, pump, or other instrument. The tube forming the tool channel 20 may be composed of a material flexible enough to bend along the outlet path while maintaining resistance to buckling when the tool is pushed in.

[0052] As shown in FIGS. 11 and 13A, the hub body composed of multiple parts may include a plurality of single-lumen hub guide hypo tubes 13 and guide discs 19. The tool channel 20 exits from between the hub guide discs 19, and the catheter shaft 5 includes a central lumen for passing a tool throughout its working length. The tool channel 20 may be inserted / connected to the proximal end of the catheter shaft 5 to provide an inlet / outlet path for the tool inserted from outside the hub body 6. The ID of the tool channel 20 may be set to a size that allows endoscopes and surgical tools to pass through without interference.

[0053] The steerable robotic catheter of the present disclosure supports the hub hypo tube and prevents buckling of the drive wires.

[0054] FIG. 11 is a cutaway view of the hub guide hypo tube and guide disc of the hub guide according to the present disclosure.

[0055] As shown in FIG. 11, the pusher hypo tube 10 can be fixed to the control device via the clamp 7. A deformable member 15 may be provided within the pusher hypo tube 10 to surround at least a portion of each drive wire 4. The deformable member 15 may be a foam, elastomer, elastic polymer, thermoplastic, unsaturated rubber, saturated rubber, organic rubber AndIt may be one or more of the inorganic rubbers. A linear hub channel 32 is provided between the hub guide discs 19 in the hub body 6. The pitch diameter transition portion may start from the distal side of the distal hub guide disc 19.

[0056] FIG. 12A illustrates a cone cover assembled in a state before reflow according to the present disclosure. Round

[0057] FIG. 12B illustrates a cone cover assembled to the hub body in a reflow state according to the present disclosure.

[0058] As illustrated in FIG. 12A, before reflow, the hub Body 6 may abut against the catheter shaft 5, and the hub hypo tube 8 extends therethrough.

[0059] As illustrated in FIG. 12B, the hub cone 30 may be coupled to the catheter shaft 5, and the hub hypo tube 8 transitions therebetween. The proximal end of the catheter shaft 5 may include a lumen larger than the lumen of the distal end of the catheter shaft 5. The large lumen at the proximal end of the catheter shaft 5 is configured to a size adapted to the OD of the hub hypo tube 8 accommodated therein. At the proximal end of the lumen of the catheter shaft, the distal end of the hub hypo tube 8 can be inserted. The small lumen at the distal end of the catheter shaft 5 is configured to a size adapted to the ID of the drive wire 4 accommodated therein.

[0060] The cone cover 29 can cover the entire hub cone 30 and the proximal end of the catheter shaft 5. The distal end of the cone cover 29 snugly covers the OD of the catheter shaft 5. At the proximal end of the catheter shaft 5, a lumen 20 having a size adapted to the OD of the hub hypo tube 8 is provided. The distal end of the hub hypo tube 8 is inserted into the proximal catheter shaft. The distal end of the tool channel 20 is inserted into the central tool channel lumen of the catheter shaft 5.

[0061] ​Conical cover 29, hub cone 30 , the tool channel 20 and the catheter shaft 5 may all be formed from a thermoplastic material.

[0062] The hub cone 30, the tool channel 20, the catheter shaft 5 and the hub hypo tube 8 may be thermally bonded (i.e., reflowed) together as shown in Figure 12B. A mandrel may be used to keep the tool channel and the wire channel open, and the mandrel for the tool channel has the same diameter as the ID of the tool channel 20. The mandrel for the wire channel may have the same diameter as the lumen of the catheter shaft 5 and the ID of the hub hypo tube 8. Also, as shown in Figure 12B, the hub Body 6 may be fixedly attached to the catheter shaft 5.

[0063] The catheter shaft 5 may include nine 0.0095” OD nitinol drive wires 4. The hub hypo tube 8 may be a 0.012” ID / 0.018” OD 304 stainless steel, 26TW hypo tube. The tool channel 20 may be a single lumen 63D Pebax® extruded part, 0.091” ID / 0.104” OD. The catheter shaft 5 may be a multi-lumen 72D Pebax® extruded part, 0.101” ID / 0.1461” OD, and includes 18 small lumens (9 for drive wires) and a central lumen for passing the tool. The proximal catheter shaft lumen guide 28 (Figure 22) may be 0.0165” ID and 5 mm long. The distal lumen of the catheter shaft 5 may be 0.0125” ID and extends longitudinally through the distal curved section 102. The hub hypo tube 8 may be inserted 5 mm into the proximal catheter shaft lumen guide 28. The tool channel 20 may be inserted into the catheter shaft 5 and terminate 3 mm beyond the proximal edge of the distal end of the catheter shaft 5.

[0064] At locations such as the transition part from the extrusion mechanism at the proximal end of the hub body 6, where the path of the wire can bend, the risk of buckling increases. This transition is a taper transition from the large diameter at the proximal end of the hub body 6 to the small diameter at the distal end of the hub body 6 to fit the small-diameter catheter 5. At the connection points between the hub body 6, the catheter shaft 5, and other components, there may be protrusions where wires and other slidable members may get caught, for example, due to misalignment of the channels or gaps where the surfaces are not flush or not supported. Friction may occur due to the transition between different materials. When adhesives are used for component attachment, there is a risk that excess adhesive may enter the wire channel at these connection points during assembly. Regarding assembly, it may be difficult to maintain smooth wire transition in an accurate and reproducible manner. For example, perfectly aligning the support channels of multiple wires between two components is facilitated by a very accurate / reproducible assembly method and components with precise tolerances. Due to assembly variations, there may be gaps where the wire is not supported outside the catheter shaft extrusion part. Since there is a risk that the exposed wire may be contaminated by the adhesive, the catheter extrusion part is not adhered to the tool channel or the hub cone with adhesive, resulting in a weakened connection between the catheter and the hub and a risk of separation when the wire is pushed. Since the tool channel 20 may not be adhered to the catheter shaft 5, the sealing / leak prevention of the tool channel 20 may not be perfect. Also, there is a risk that the catheter 5 may twist during the assembly of the tool channel 20 and the hub body 6, causing a risk of misalignment. Since alignment and individual adhesion of each component are required, the assembly process is very time-consuming. Assembly errors may cause inconsistent friction and other damages.

[0065] In the reflow process, the hub cone 30, the tool channel 20, the hub hypo tube 8, and the catheter shaft 5 are reflowed together at about 180 °C using fluorinated ethylene propylene (FEP) heat shrinkage. The cone cover 29 may be reflowed to the connection part between the catheter and the hub.

[0066] During the reflow process, the inner diameters of the tool channel 20 and the catheter shaft 5 may be supported by a 0.091” polytetrafluoroethylene (PTFE)-coated mandrel. The inner diameters of the hub hypo-tube 8 and the catheter lumen may be supported by a 9×0.0113” PTFE-coated mandrel, which is removed after reflow. Thus, the attachment of the hub body 6 to the catheter and manufacturability are improved. Regarding the attachment of the hub body 6 to the catheter, by reflowing the hub cone 30, the tool channel 20, the hub hypo-tube 8, and the catheter shaft 5, a strong attachment between components is formed in the limited bonding space. Regarding manufacturability, since all components can be reflowed together in one manufacturing step, the individual bonding steps required for bonding with an adhesive are eliminated. Reflow is faster, easier to implement, and enables a robust bond with high reproducibility compared to bonding with an adhesive, and the number of components is reduced. After reflow, the entire connection region between the catheter and the hub becomes a solid structure that conforms to all components, and individual bonding points are not included. By reflow, the material rigidity gradually transitions from the large and rigid hub body 6 to the small and flexible catheter shaft 5, improving the rigidity and durability of the connection region. Smooth wire migration reduces friction and the risk of buckling, and reflow reforms the material of the catheter shaft 5 around the hub hypo-tube 8 and the 0.0113” mandrel, forming a smooth and uniformly-diameter channel through which the drive wire 4 can slide without gaps or edge inconsistencies. Also, since the wire channel is sealed from contamination, aspiration / perfusion can be performed while preventing dust / debris intrusion.

[0067] In the reflow method, the inner cone 30a (Fig. 36), hub cone 30, hub hypo tube 8, tool channel 20, and catheter shaft extrusion molding parts (5a and 5b, Fig. 35) can be attached together, eliminating the need for expensive molds and reducing the need for precision machining of the hub cone 30. In the attachment by the reflow method, the gap between the hub body 6 and the catheter shaft 5 is eliminated, reducing the buckling of the hub hypo tube 8, the buckling of the tool channel 20, the twisting / displacement of the catheter, and the losses associated with the bending / movement of the hub hypo tube 8.

[0068] In the reflow method, the connection area becomes robust by forming a solid monolithic structure with a smooth tapered outer diameter, and the rigidity from the hub body 6 to the catheter shaft 5 transitions gradually. The reflowed conical shape of the hub body 6 provides stress relaxation and prevents damage to the connection area between the catheter and the hub. Manufacturing uniformity is also ensured. There is no adhesive joint, reducing the connection points where defects can occur. The wire friction inside the hub body 6 is reduced, and a gentle conical curve shape is obtained by the reflow method. By making the slope of the conical curve gentle, the wire friction and the risk of wire buckling inside the hub cone are reduced. In contrast to a process involving multiple steps for individually attaching components, components such as the proximal reinforcement 520 (Figs. 22, 23) can be connected / sealed in a single manufacturing step. The material to be reflowed can easily conform to the correct shape of the assembly, and all components are held in place during reflow.

[0069] The cone cover 29 can fit snugly over at least the first proximal curve of the hub cone 30 such that when the cone cover 29 is attached, it firmly presses the hub hypo tube 8 into their respective guide channels 31. The cone cover 29 may be formed from a thermoplastic styrene or other rigid material (e.g., acrylonitrile butadiene styrene (ABS)), and the inner diameter at its proximal end may be 22.5 mm. The cone cover 29 may be adhered to the hub cone 30 using a wicking adhesive.

[0070] The conical cover 29 does not extend beyond the distal reflow section of the hub cone 30 and the proximal flare reinforcement 522 (Figs. 37, 40). By way of example, the hub cone 30 may terminate at a distance of 15 mm from the catheter shaft 5 (for a pitch diameter of approximately 0.150”). The inner cone 30a may have a flared section of the proximal reinforcement 520 that is 15 mm in length to fill the gap therebetween. The inner cone may be formed using a reinforcing material (e.g., 63D Pebax®). The inner cone 30a and the proximal reinforcement 520 may have a shape based on the shape of the hub cone 30.

[0071] It is desirable for the stiffness of the connection region to decrease gradually from the large / rigid hub body 6 to the small diameter of the flexible catheter shaft 5. With respect to the robustness of the catheter, weaknesses where there is a risk of breakage / damage are avoided. Thus, reflow may be utilized in the construction.

[0072] The tube forming the tool channel 20 may be a single lumen 63D Pebax® extruded component having a 0.101” OD and a 0.091” ID. A 0.091” PTFE-coated stainless steel (SS) mandrel may be used to support the ID of the tool channel 20 during reflow. The tool channel 20 may be reflowed approximately 3 mm into the distal catheter shaft. The PTFE-coated SS mandrel used to keep the lumen of the distal catheter shaft lumen 148 open during reflow may be 0.113”. By completely sealing the tool channel 20 that can be used for aspiration and perfusion, smooth wire migration is achieved. Also, since a smooth transition without edges is obtained, snagging of the working tool is avoided. The reflow transition from the support sleeve to the catheter lumen is smoothed by a uniform diameter channel. Thus, wire buckling and friction during wire operation are reduced. In reflow assembly, all components are joined in a single step. In contrast, in conventional assembly, at least four or more steps are required, namely, adhering individual support sleeves to the catheter lumen, adhering the tool channel to the catheter shaft, adhering the catheter shaft to the hub cone, and adhering the tool channel to the hub cone. Reflowing an extruded component is more cost-effective than other methods of creating a single extruded component with two different sized lumens. Since all components are assembled together and held in place by fixtures during reflow to ensure correct alignment, the reproducibility and accuracy of the assembly are improved. In the conventional assembly method using an adhesive for component bonding, it is difficult to control because the adhesive penetrates into the lumen / wire channel. The bonding process takes time as it is necessary to consider an appropriate curing time (often several hours). Since the reflow structure conforms to the correct desired assembly shape, misalignment at the attachment point and bonding strength defects are eliminated.

[0073] The clamp rod 23 includes a hollow portion extending in its longitudinal length and has an opening into which the proximal end of the pusher hypo tube 10 is inserted, and the clamp rod 23 can completely cover the pusher hypo tube 10. The ID of the clamp rod 23 exactly covers the OD of the pusher hypo tube 10. The clamp rod 23 may be coupled to the distal end of the pusher hypo tube 10. The clamp rod 23 may be removably fixed to the actuator clamp 7. The proximal end of the pusher hypo tube 10 may be shortened so as to terminate behind the wire attachment position. The clamp rod 23 may be made of an electrically insulating material or may be coated with an electrically insulating material. The distance from the distal end of the pusher hypo tube 10 to the actuator clamp 7 and the distance from the proximal end of the pusher hypo tube 10 to the actuator clamp 7 may be longer than the creepage distance / clearance distance so as to electrically insulate the pusher hypo tube 10 from the actuator clamp 7.

[0074] The pusher hypo tube 10 may be a 21RW hypo tube (0.032” OD / 0.020” ID) with a length of 61 mm. The 61-mm length may include 10 mm for wire attachment, 30 mm for the deformable member 15 (FIG. 11), and 21 mm for the pull stroke length and the minimum overlap length. The deformable member 15 can surround at least a part of at least one drive wire 4 extending through the support sleeve and may be one or more of foam, elastomer, elastic polymer, thermoplastic, unsaturated rubber, saturated rubber, organic rubber, and / or inorganic rubber.

[0075] The clamp rod 23 may be a transparent polycarbonate tube with an ID of 1.0 mm / OD of 2.5 mm and a length of 91 mm. The pusher hypo-tube 10 may be coupled to the clamp rod 23 using Loctite 4311 UV adhesive. The clamp length of the actuator clamp 7 may be 20 mm from the proximal end of the clamp rod 23. The creepage distance for electrical insulation between the catheter drive wire 4 and the actuator clamp 7 may be 4.0 mm, and the clearance distance may be 2.5 mm. The proximal end of the clamp rod 23 may be filled with adhesive, and the distance between the distal edge of the actuator clamp 7 and the distal end of the clamp rod 23 may be 71 mm so as to exceed the creepage / clearance requirements. Of course, the dimensions provided herein are exemplary and may be changed to accommodate other routes or points of interest in a given situation.

[0076] FIG. 13A is a cut-away side view of a hub body according to the present disclosure.

[0077] As shown in FIG. 13A, a plurality of pusher hypo-tubes 10 extend from the proximal end of the hub body 6 to their respective clamp rods 23. A drive wire 4 is disposed within each pusher hypo-tube 10. Each pusher hypo-tube 10 transitions to the hub body 6 through a proximal hub guide disk 19. The drive wire 4 passes through the hub body 6 within its respective hub hypo-tube 8 and exits from the distal hub guide disk 19. As the hub hypo-tubes 8 transition from the distal end of the distal hub guide disk 19 through the hub cone 30 to the shaft 5, the spacing between the hub hypo-tubes 8 narrows. The drive wire 4 exits from its respective hub hypo-tube 8 within or along the catheter shaft 5.

[0078] The outer shell 34 may be a shell consisting of two parts fixed by screws, snaps or similar components. When assembled, the outer shell 34 is, SetIt can cover the raised hub cone 30 and the cone cover 29. The hub cone 30, the hub hypo tube 8, and the catheter shaft extrusion forming parts (5a and 5b, Figure 35) may be compressed together by the assembled outer shell 34 for their connection.

[0079] Figure 13B is a view of a hub cone according to the present disclosure.

[0080] As shown in Figures 13A and 13B, an aspect of the present disclosure provides a hub cone 30, the hub cone 30 including a distal end 410 including a first surface 412, a proximal end 430 including a second surface 432, and a section 420 extending between the first surface 412 and the second surface 432.

[0081] The first surface 412 has a first maximum length L max1 between its sides. The second surface 432 has a second maximum length L max2 between its sides. The second maximum length L max2 is greater than the first maximum length L max1 .

[0082] The first surface 412 and the second surface 432 may be substantially circular, elliptical, and / or quadrilateral in shape. When the surface 412 is substantially circular or elliptical, the first maximum length L max1 is the first diameter, the section 420 is substantially conical, and the second maximum length L max2 is the second diameter. When the surface 412 is substantially quadrilateral, the first maximum length L max1 is the longest distance between the sides of the substantially quadrilateral along the first surface 412, and the second maximum length L max2 is the longest distance between the sides of the substantially quadrilateral along the second surface 432.

[0083] The section 420 of the hub cone 30 extends from the distal end 410 to the proximal end 430. Through the section 420, a hollow portion 436 extends from the first surface 412 to the second surface 432. Along at least a part of the longitudinal length of the outer surface 424 of the section 420, a plurality of hub guide channels 31a, 31b,... 31e extend.

[0084] Since the OD of the hub hypo-tube is smaller than the ID of the hub insertion tube, the hub hypo-tubes fit within their respective hub insertion tubes. Since the hub insertion tubes are substantially longitudinal, the hub insertion tubes straighten the proximal ends of the hub hypo-tubes 8 inserted therein. The hub insertion tubes are substantially parallel to the hub guide tubes 18 and are supported by the guide discs 19. The hub insertion tubes are positioned at least one push stroke distance away from the proximal ends of their respective clamp rods 23. Part As shown in FIG. 13A, the hub cone 30 may be provided with a tool channel 20. At least a portion of the inner surface of the outer shell 34 is in close contact with at least a portion of the outer surface of the hub cone cover 29, and the outer shell 34 can support the outlet port of the tool channel 20.

[0085] As shown in FIG. 13A, the hub cone 30 may be provided with a tool channel 20. At least a portion of the inner surface of the outer shell 34 is in close contact with at least a portion of the outer surface of the hub cone cover 29, and the outer shell 34 can support the outlet port of the tool channel 20.

[0086] FIG. 14 is a perspective view of a hub cone disassembled from a cone cover according to the present disclosure.

[0087] FIG. 14 is a view of the hub cone 30 and the cone cover 29 as seen from the proximal end, with the hub cone 30 partially removed / disassembled from the cone cover 29. The cone cover 29, when assembled to the hub cone 30, prevents the hub hypo-tubes 8 within the hub guide channels 31a... 31h (FIG. 15) from moving away from or bending the hub cone 30 when a pushing force is applied to one or more ends of the drive wire 4. The hub hypo-tubes 8 may be a rigid material (e.g., 26TW SS) with an inner diameter of 0.012” and an outer diameter of 0.018”. The outer cone cover 200 may be a molded TPU, and the hub cone 30 may be a molded 72D Pebax®.

[0088] The cone cover 29 and the hub cone 30 are provided, as shown in FIG. 14, for alignment and also Conical Cover 29 within Hub Cone 30A connecting groove may be provided to prevent twisting.

[0089] The conical cover 29 may be fixed to the proximal portion of the hub cone 30. The fixing can be achieved by engaging an engagement tab L 1B provided on the outer periphery of the hub cone 30 with an opening configured to have a corresponding size with a receiving tab L 1A provided on the outer periphery of the conical cover 29. As shown in FIG. 14, a plurality of engagement tabs L 1B and receiving tabs L 1A may be provided on the hub cone 30 and the conical cover 29, respectively. In this way, the conical cover 29 prevents the hub hypo tube 8 from moving or buckling when the wire is pushed, Conical Cover 29 inside Hub Cone 30 from being twisted. The conical cover 29 can be removed / replaced by reversible attachment to the hub cone. Using the conical cover, the hub hypo tube 8 can be held in place during the reflow process.

[0090] As shown in FIGS. 13A and 14, the outer shell 34 can surround the hub cone 30, the hub cone cover 29, and the plurality of hub hypo tubes 8. When the conical cover 29 is attached to the hub cone 30, it presses the hub hypo tube 8 against the outer surface 424 of the hub cone 30.

[0091] FIG. 15 is a cut-away side view of the hub cone 30, the conical cover 29, and the outer shell 34 according to the present disclosure.

[0092] FIG. 16 is an enlarged view of FIG. 15.

[0093] As shown in FIGS. 15 and 16, a plurality of hub guide channels 31a, 31b, … 31e may be provided on the outer surface 424 of the hub cone 30 surrounding the hollow portion 436. The plurality of hub guide channels 31a, 31b, … 31e are configured to receive the respective hub hypotenuse tubes 8a, 8b. The hub cone 30 may be provided with a plurality of recesses 460a, 460b, 460c extending along the longitudinal length of the outer surface 424 of the section 420. Each of the plurality of recesses 460a, 460b, 460c is disposed between a pair of guide channels among the plurality of hub guide channels 31a, 31b, … 31e.

[0094] The hub cone 30 may include a plurality of plateau portions 450a, 450b and a plurality of recesses 460a, 460b, 460c. Each of the plurality of recesses 460a, 460b, 460c and each of the plurality of plateau portions 450a, 450b extend along the longitudinal length of the outer surface 424. Each of the plurality of hub guide channels 31a, 31b, … 31e is disposed between a pair of plateau portions among the plurality of plateau portions 450a, 450b. Each of the plurality of recesses 460a, 460b, 460c is disposed between a pair of hub guide channels among the plurality of hub guide channels 31a, 31b, … 31e.

[0095] Each hub hypotenuse tube 8 may be disposed in a respective one of the plurality of guide channels 31a, 31b, … 31e. Thus, a part of the outer surface of each hub hypotenuse tube 8 protrudes from the outer surface 424 of the hub cone 30.

[0096] The conical cover 29 may be compressed by the assembled outer shell 34, which surrounds the entire hub body 6, the hub cone 30, and the connection region of the distal end of the hub body 6 and the catheter shaft 5. The conical cover 29 may be formed from a soft, compressible material, and the outer shell 34 may be designed to be slightly smaller so as to compress the outer surface of the conical cover 29 when assembled thereto. In such an assembly, by closing the outer shell 34 against the conical cover 29, all the hub hypo tubes 8 can be fixed to the hub cone 30, simplifying assembly and manufacture. Such an assembly also eliminates buckling of the hub hypo tubes 8. The 26TW available for the hub hypo tubes 8 can have a small diameter (e.g., 0.46 mm) with respect to the hub body 6. The conical cover 29 can cover the hub cone 30 and the proximal extruded portion of the catheter shaft 5. The conical cover 29 may at least partially extend onto the distal extruded portion of the catheter shaft 5. The conical cover 29 can be in close contact with the distal portion of the catheter shaft 5 and has a tapered distal end. The hub cover 29 may be formed from an elastomer, and the durometer scale of the elastomer is lower than the durometer scales of the plurality of hub hypo tubes 8 and the hub cone 30. When the hub conical cover 29 is wrapped around at least a part of the outer surface of the hub cone 30, the hub hypo tubes 8 are pressed against the hub cone 30 so as to seal the hub hypo tubes 8 within the hub cone 30 and the hub conical cover 29.

[0097] With the hub hypo tubes 8 assembled, the conical cover 29 is on the hub cone 30It can be slid on the proximal end or wound. When connected by reflow, the hub cone 30, the tool channel 20, the catheter shaft 5, and the hub hypo tube 8 are thermally bonded. The cone cover 29 may be formed of a thermoplastic material and may be reflowed and thermally bonded to the hub cone 30, the hub hypo tube 8, the tool channel, and the catheter shaft extrusion. The cone cover 29 does not need to be attached to the hub cone 30, which facilitates assembly and reduces the number of parts.

[0098] FIG. 17 is a side view of a hypo tube, a cone cover, a hub body, and a catheter shaft according to the present disclosure. The hub cone 30 may include a plurality of hub guide channels 31a, 31b,... 31e (FIG. 13B) extending along the longitudinal length of the outer surface 424 of the section 420. The plurality of hub guide channels 31a, 31b,... 31e may be located between the hub cone 30 and the cone cover 29. Each hub guide channel of the plurality of hub guide channels 31a, 31b,... 31e may be configured to accommodate at least a portion of the hub hypo tube.

[0099] As shown in FIG. 17, a plurality of hub hypo tubes 8 extend between the hub cone cover 29 and the hub cone 30. The hub cone cover 29 may be configured to cover a second section of the hub cone 30.

[0100] FIG. 18 shows the change in the pitch diameter of the hub cone according to the present disclosure.

[0101] FIG. 18 is a partial side view of the hub cone 30, showing a first pitch diameter change portion and a second pitch diameter change portion that occur over the longitudinal length of the hub cone 30. The first pitch diameter change portion extends from the distal end 410 of the hub cone 30 along the first length 414 of the section 420 of the hub cone 30. The second pitch diameter change portion extends from the end of the first pitch diameter change portion along the second length 416 of the proximal end 430 of the hub cone 30. The first length 414 is longer than the second length 416. The first pitch diameter change portion defines a substantially concave curve. The second pitch diameter change portion defines a substantially convex curve.

[0102] The pitch diameter change portions shown in FIG. 18 generally conform to the natural path of the hub hypo tube 8 (26TW SS hypo tube) and taper from a 22 mm pitch diameter at the hub body 6 to a 0.1225” pitch diameter at the catheter shaft extrusion portions (5a and 5b, FIG. 35) over a 70 mm cone length. By lengthening the hub cone 30 and using the natural curved path of the hub hypo tube 8, the wire friction within the hub cone 30 can be reduced by smoothing the wire path such that the transition is more gradual. Further, the natural curved path facilitates assembly. When assembling all the components to be reflowed, the hub hypo tube 8 naturally fits, eliminating the need for fixtures.

[0103] As shown in FIGS. 17 and 18, the hub cone cover 29 can support the hub hypo tube 8 only along the substantially concave curve of the first length 414 of the hub cone 30. The hypo tubes extending from the proximal end 430 of the hub cone 30 are aligned with respective clamps 7 (FIG. 10) of the actuator 2 (FIG. 1), thereby eliminating the bend of the hypo tube 8 between the hub body and the actuator 2. The hypo tube 8 extending from the distal end 410 of the hub cone 30 is aligned with the catheter shaft 5. Thus, when the continuum robot is in the relaxation mode, the hypo tubes 8 within the shaft are substantially parallel to each other.

[0104] FIG. 19 is a cutaway view illustrating the positioning of hub hypo tubes within a catheter shaft according to the present disclosure.

[0105] As shown in FIG. 19, a plurality of hub guide channels 31a, 31b, 31c are provided that extend along the longitudinal length of the outer surface 424 of the hub body 6. Each of the plurality of hub guide channels 31a, 31b, 31c is configured to receive a respective hub hypo tube 8a, 8b, 8c. As shown in FIG. 19, the depth of each of the hub guide channels 31a, 31b, 31c may substantially correspond to the OD of the respective hub hypo tubes 8a, 8b, 8c such that the outer surfaces of the hub hypo tubes are flush with the outer surface 424 of the hub cone 30. For clarity, only three hub guide channels 31a, 31b, 31c and their respective hub hypo tubes 8a, 8b, 8c are shown in FIG. 19, but the present disclosure is not limited to three.

[0106] FIG. 20 is a perspective view illustrating the positioning of hub hypo tubes within a catheter shaft according to the present disclosure.

[0107] As shown in FIGS. 19 and 20, each of the plurality of hub hypo tubes 8 may be substantially circular. Each of the plurality of hub guide channels 31a, 31b,... 31e may be substantially circular and have a diameter equal to or greater than the diameter of the hub hypo tube received therein. The plurality of hub guide channels 31a, 31b,... 31e may be configured to receive respective hub hypo tubes 8. The plurality of hub guide channels 31a, 31b,... 31e and their respective hub hypo tubes 8 may be located between the hub cone 30 and the cone cover 29.

[0108] FIG. 21 is a cutaway view illustrating the positioning of hub hypo tubes within a catheter shaft according to another embodiment.

[0109] Compared with FIG. 19, in the embodiment of FIG. 21, the hub guide channels Le 31a, 31b,... 31e are shallow and can accommodate only a part of the hub hypo - tube. Thus, at least a part of the outer surface of each hub hypo - tube 8a, 8b, 8c protrudes from the outer surface 424 of the hub cone 30.

[0110] FIG. 22 is a cut - away view of the connection portion between the catheter and the hub according to the present disclosure.

[0111] As shown in FIG. 22, the hub body 6 may abut against the shaft 5.

[0112] As shown in FIG. 22, the proximal end 430 of the pitch - diameter transition portion 400 is included at the distal end of the hub cone 30, and the drive wire 4 and the tool channel 20 extend through the hub body 6 to the shaft 5. At the distal end 410, a flared end 522 of the proximal reinforcing member 520 is provided, and through which the support sleeve guide channel 514 extends.

[0113] FIG. 23 is a perspective view of an extended cone cover according to the present disclosure.

[0114] FIG. 23 is similar to FIG. 22, but the flared proximal end 522 extends beyond the proximal reinforcing member 520.

[0115] FIG. 24 is a perspective view of the hub hypo - tube sleeve connection with the shaft according to the present disclosure.

[0116] As shown in FIG. 24, the cone cover 29 is the hub cone 30It can extend to cover the whole, partially cover the proximal end of the catheter shaft 5, and extend to the proximal reinforcing member 520. The conical cover 29 may include a proximal portion 29a and a distal portion 29b. The proximal reinforcing member 520 may extend from the distal portion 29b of the conical cover 29. The drive wire 4 extends from the hub body 6 through the hub guide disc 19, the proximal portion 29a, the distal portion 29b, and the shaft protrusion 55 to the catheter shaft 5 and extends into each hypodermic tube. The shaft 5 may be a multi-lumen extrusion, and each lumen is provided for each drive wire 4.

[0117] The hub body 6 transitions from a proximal wire pitch diameter that substantially coincides with the actuator clamp 7 to a distal wire pitch diameter that substantially coincides with the diameter of the catheter shaft 5. The change in the wire pitch diameter, i.e., the pitch diameter transition, is followed by the hypodermic tube 8 (i.e., the lumen) extending from the control device 50 to the catheter shaft 5 and the drive wire 4 slidably disposed therein.

[0118] FIG. 25 is a partial cutaway perspective view of the transition portion from the distal end of the hub cone to the proximal end of the catheter shaft according to the present disclosure.

[0119] As shown in FIG. 25, the hub hypodermic tube 8 extending from the distal end of the hub cone 30 may extend through the support sleeve guide channel 514, the support sleeve lumen 516, and the drive wire lumen 518.

[0120] FIG. 26A is a cutaway view of the transition portion between the support sleeve lumen and the drive wire lumen according to the present disclosure.

[0121] FIG. 26B is a rear view taken from FIG. 26A according to the present disclosure.

[0122] The drive wire 4 extends from the hub body 6 to the catheter shaft 5extends up to. As shown in FIGS. 26a and 26b, the hub hypo tube 8 on the hub body 6 side extends to the transition portion T, but does not extend over the entire catheter shaft 5. As shown in FIG. 26A, the support sleeve lumen 516 surrounds the hub hypo tube 8 from at least the distal portion of the hub body to the transition portion T. From the transition portion T towards the distal end of the catheter 5, the drive wires 4 are surrounded and protected by their respective drive wire lumens 518. As shown in FIGS. 25 and 26A, the proximal end of the support sleeve lumen 516 may be coupled to at least a portion of the transition portion T.

[0123] FIG. 27 is a partial cutaway perspective view of the transition portion from the distal end of the hub cone to the proximal end of the catheter shaft according to another embodiment.

[0124] As shown in FIG. 27, the flared proximal end 522 of the proximal reinforcement 520 is provided such that the distal end 410 fits therein.

[0125] FIG. 28 is a view of the components extending from the outer shell to the proximal end of the catheter shaft 5 according to the present disclosure.

[0126] As shown in FIG. 28, the hub body 6 extends from the distal end of the outer shell 34, and the flared proximal end 522 and the proximal reinforcement 520 terminate at the tapered distal end 530 of the proximal reinforcement 520.

[0127] FIG. 29 is a detailed view of the tapered distal end of the proximal reinforcement according to an embodiment.

[0128] As shown in FIG. 29, the distal end of the tapered distal end 530 of the proximal reinforcement 520 tightly surrounds and supports the catheter shaft 5.

[0129] FIGS. 30 and 31 are partial cutaway perspective views of the transition portion from the distal end of the hub cone to the proximal end of the catheter shaft according to another embodiment.

[0130] As shown in FIG. 30, the tube of the tool channel 20 may extend to the region distal to the transition portion T. FIG. 31 provides a rotating view of the tube of the tool channel 20 extending to the region distal to the transition portion T. For the sake of brevity, FIGS. 25, 26, 30, and 31 illustrate three drive wires 4. However, the present disclosure is not limited to only three drive wires and may include at least nine drive wires 4.

[0131] FIG. 32 is a perspective view of a reflowed proximal reinforcement according to an embodiment.

[0132] FIG. 33 is a cutaway view of a component adjacent to the support sleeve lumen 516 before reflow according to the present disclosure.

[0133] FIG. 34 is a cutaway view of a component adjacent to the support sleeve lumen 516 after reflow according to the present disclosure.

[0134] As shown in FIGS. 33 and 34, the hub hypo-tube 8, the proximal catheter shaft 5a, and the distal catheter shaft 5b are adjacent to the support sleeve lumen 516.

[0135] As shown in FIG. 32, there is a gap between the distal end of the hub hypo-tube 8 and the distal catheter shaft 5b before reflow. As shown in FIGS. 32 and 34, the gap disappears due to reflow.

[0136] FIGS. 35 and 36 are partial cutaway perspective views of the transition portion from the distal end of the hub cone to the proximal end of the catheter shaft according to another embodiment.

[0137] As shown in FIG. 35, there is a gap between the support sleeve guide channels 514 before reflow. As shown in FIG. 36, after reflow, an inner cone 30a is formed between the support sleeve guide channels 514 instead of the gap.

[0138] Figure 37 shows a proximal flare-shaped reinforcement disposed proximal to the proximal reinforcement according to the present disclosure.

[0139] As shown in Figure 37, the proximal flare-shaped reinforcement 522 Hub Cone 30 surrounds the drive wire 4 and the hypodermic tube 8 between it and the proximal reinforcement 520.

[0140] Figures 38A and 38B show an assembly of the inner cone 30a according to the present disclosure.

[0141] As shown in Figures 38A and 38B, the inner cone 30a may have a flare-shaped section that fits into the inner region between the hub hypodermic tubes 8, and a hollow portion for the tool channel 20 is provided in the section.

[0142] Figures 39A and 39B show the proximal flare-shaped reinforcement and the proximal reinforcement according to the present disclosure.

[0143] As shown in Figures 39A and 39B, the proximal flare-shaped reinforcement 522 may have a shape that fits into the inner region between the hub hypodermic tubes 8 together with the hollow portion for the tool channel 20, and may be disposed between the hub hypodermic tubes 8 together with the hollow portion for the tool channel 20.

[0144] Figures 40 and 41 show a tool channel extending from the hub cone through the catheter shaft according to the present disclosure.

[0145] As shown in Figure 40, the inner cone 30a is disposed between the hub cone 30 and the proximal catheter shaft extrusion portion 5a. As shown in Figure 41, the hub hypodermic tube 8 extends from the distal end of the hub cone 30 through the support sleeve guide channel 514, the support sleeve lumen 516, and the drive wire lumen 518.

[0146] Figure 42 is a perspective view of a cone cover attached to a hub cone having a flared proximal end and a proximal reinforcement according to the present disclosure.

[0147] As shown in FIG. 42, the proximal reinforcement 520 is adjacent to a flared proximal end 522 that supports the hub cone, and within it is the inner cone 30a. The proximal portion of the hub cone 30 is surrounded by a cone cover 29.

[0148] FIG. 43 is a side view of a cone cover attached to a hub cone having a flared proximal end and a proximal reinforcement according to the present disclosure.

[0149] As shown in FIG. 43, the proximal reinforcement 520 is adjacent to a flared proximal end 522 that supports the hub cone. The proximal portion of the hub cone 30 is surrounded by the cone cover 29, and a support sleeve guide channel 514 extends from the proximal end of the hub cone 30.

[0150] Accordingly, aspects of the present disclosure provide a hub 30 for a continuum robot. The hub may include a distal end 410, a proximal end 430, a section 420 extending from the distal end 410 to the proximal end 430, and a plurality of guide channels 31a, 31b,... 31e. Each of the plurality of guide channels 31a, 31b,... 31e may extend along an outer surface 424 of the section 420. The outer surface 424 may include a distal pitch diameter change portion and a proximal pitch diameter change portion. The distal pitch diameter change portion may extend along a first length 414 of the hub 30 from the distal end 410. The proximal pitch diameter change portion may extend along a second length 416 of the hub 30 from the proximal end of the distal pitch diameter change portion.

[0151] The hub 30 may be substantially conical, and the distal end 410 may include a first face 412 having a first maximum length L max1 and the proximal end 430 may include a second face 432 having a second maximum length L max1 greater than the first maximum length L max2 and the first length 414 may be longer than the second length 416.

[0152] The distal pitch diameter change portion may be a substantially concave curve, and the proximal pitch diameter change portion may be a substantially convex curve.

[0153] Another aspect of the present disclosure provides a hub 30 for connecting a continuum robot to a control device, the hub including a distal end 410, a proximal end 430, and a section 420 between the proximal end 430 and the distal end 410. The distal end 410 may include a first face 412 having a first maximum length L max1 The proximal end 430 may include a second face 432 having a second maximum length L max1 greater than the first maximum length L max2 The second face 432 may have a second maximum length L

[0154] The first face 412 may be substantially circular or substantially elliptical, and the first maximum length L max1 is the first diameter. The second face 432 may be substantially circular or substantially elliptical. The second maximum length L max2 may be the second diameter.

[0155] The first face 412 may be substantially quadrilateral, and the first maximum length L max1 is the longest distance between the sides of the substantially quadrilateral along the first face 412. The second face 432 may be substantially quadrilateral, and the second maximum length L max2 is the longest distance between the sides of the substantially quadrilateral along the second face 432.

[0156] The hub 30 may include a plurality of hub guide channels 31a, 31b,... 31e extending along at least a portion of the length of the outer surface 424 of the section 420. Each of the plurality of hub guide channels 31a, 31b may be configured to receive a respective hub hypotenuse 8.

[0157] The hub 30 may include a plurality of recesses 460a, 460b, 460c. The hub hypo tubes 8 may be received in respective hub guide channels 31a. The outer surface of the hypo tube 8 may be flush with the outer surface 424 of the hub 30 or may be embedded in the outer surface 424. In a state where the hub hypo tubes 8 are received in the respective hub guide channels, a part of the outer surface of the hub hypo tube 8 may protrude from the outer surface 424 of the hub 30.

[0158] The hub 30 may include a plurality of recesses 460a, 460b, 460c and a plurality of plateau portions 450a, 450b. Each of the plurality of recesses 460a, 460b, 460c and each of the plurality of plateau portions 450a, 450b may extend along the length of the outer surface 424. Each of the plurality of hub guide channels 31a, 31b,... 31e may be disposed between a respective pair of plateau portions 450a, 450b. Each of the plurality of recesses 460a, 460b, 460c may be disposed between a respective pair of hub guide channels.

[0159] The hub 30 may include a plurality of hub hypo tubes 8 and a hub cover 29. The plurality of hub hypo tubes 8 may extend along the length of the outer surface 424 of the section 420. The hub cover 29 may be configured to surround at least a part of the outer surface 424 of the hub 30 with the plurality of hub hypo tubes 8 interposed therebetween.

[0160] The hub cover 29 may be configured to be fixed to the outer surface 424. By the fixing, longitudinal movement or torsion between the hub cover 29 and the hub 30 is prevented.

[0161] The hub cover 29 may be formed from an elastomer, and the durometer scale of the elastomer is lower than the durometer scales of the plurality of hub hypo tubes 8. The durometer scale of the hub cover 29 may be lower than the durometer scale of the hub 30. When surrounding at least a part of the outer surface of the hub 30, the hub cover 29 can press the plurality of hub hypo tubes 8 against the hub 30 so as to seal the plurality of hub hypo tubes 8 between the hub 30 and the hub cover 29.

[0162] The hub 30 may include a shell 34 including at least two parts and a tool channel 20. By assembling at least two parts of the shell 34, the inner surface of the shell 34 can be pressed against at least a part of the outer surface of the hub cover 29, support the outlet port of the tool channel 20, and enclose the plurality of hub hypo tubes 8 between the hub 30 and the hub cover 29.

[0163] The hub 30 may include a plurality of hub guide channels 31a, 31b,... 31e extending along the length of the outer surface 424 of the section 420. Each hub guide channel of the plurality of hub guide channels 31a, 31b,... 31e may be configured to accommodate at least a part of the respective hub hypo tube 8. Each hub guide channel is substantially circular and has a diameter equal to or larger than the diameter of the hub hypo tube 8 accommodated therein.

[0164] The hub may include a hollow portion 436 extending from the first surface 412 to the second surface 432 through the section 420.

[0165] Another aspect of the present disclosure provides an access component for a continuum robot that may include a shaft 5 including at least nine drive wires 4, a proximal section, and a distal section. The access component may be a housing, a conduit, or other components for removably attaching the continuum robot to a control device. The access component may include a hub 30 configured to be fixedly connected to the shaft 5, the hub 30 being configured to removably attach the continuum robot 100 to a control device, and a hub cover 29. Each of the at least nine drive wires may extend from the proximal end 430 of the hub 30 through respective hub hypotenuses 8. At least one of the posture or pose of the distal section may change in response to at least one of a pushing force and a pulling force applied to the proximal end of one or more of the at least nine drive wires 4. The distal end 410 of the hub 30 may include a first surface 412 having a diameter with a first maximum length L max1 The proximal end 430 may include a second surface 432 having a diameter with a second maximum length L max1 greater than the first maximum length L max2 The hub hypotenuse 8 may extend from the proximal end 430 to the distal end 410 across the outside of the hub. The hub cover 29 may be able to surround at least a portion of the outer surface 424 of the hub 30 sandwiching a plurality of hub hypotenuses 8.

[0166] A pitch diameter transition may occur along the outer surface 424 from the proximal end 430 to the distal end 410. At the proximal end 430, the proximal pitch diameter may substantially match the diameter of the actuator clamp 7 of the control device 2. At the distal end 410, the distal pitch diameter may substantially match the diameter of at least nine drive wires 4 within the shaft 5.

[0167] The continuum robot may include a reinforcing member 520 extending along a part of the shaft 5 from the distal end 410, and a transition portion T provided within the reinforcing member adjacent to the distal end 410 of the hub 30. The reinforcing member 520 may include a flared end portion 522 configured to extend so as to cover a part of the hub 30, and the flared end portion refers to the inner diameter of the reinforcing member 520. The transition portion T may be configured to attach a hub hypo tube configured to support at least one drive wire 4 extending through the hub to the shaft.

[0168] A further aspect of the present disclosure provides a method of manufacturing a continuum robot including: a step of forming a hub body, which is performed by aligning a hub cone 30 with respect to a tool channel 20 extending through the hub body and a plurality of hub hypo tubes 8 extending along the outside of the hub body; a step of extending a first end of a mandrel among a plurality of mandrels to the hollow portion of each of the hub hypo tubes 8 among the plurality of hub hypo tubes 8; a step of extending a second end of the mandrel to the hollow portion of each of a plurality of support sleeve lumens 516 that coincide with the hollow portion of each of the hub hypo tubes 8; a step of thermally bonding the hub body to the plurality of support sleeve lumens 516; and a step of forming channels in each of the aligned support sleeve lumens and hub hypo tubes by pulling out each mandrel from each hollow portion. By thermally bonding the hub body to the plurality of support sleeve lumens 516, the tool channel 20 and the plurality of hub hypo tubes can be coupled to the hub body.

[0169] Aspects of the present disclosure provide a hub body formed by the following steps: aligning a hub cone 30 with respect to a tool channel 20 extending through the hub body and a plurality of hub hypo tubes 8 extending along an outer surface of the hub body; extending a first end of a mandrel of the plurality of mandrels to a hollow portion of each of the hub hypo tubes 8 of the plurality of hub hypo tubes 8; extending a second end of the mandrel to a hollow portion of each of a plurality of support sleeve lumens 516 that coincide with the hollow portion of each of the hub hypo tubes 8; thermally bonding the hub body to the plurality of support sleeve lumens 516; and forming channels in each aligned support sleeve lumen and hub hypo tube by pulling each mandrel of the plurality of mandrels out of its respective hollow portion. By thermally bonding the hub body to the plurality of support sleeve lumens 516, the tool channel 20 and the plurality of hub hypo tubes can be coupled to the hub body.

[0170] The cone cover can hold the plurality of hub hypo tubes 8 in place during thermal bonding. The plurality of support sleeve lumens 516 may extend within the catheter shaft 5, and a proximal end of the catheter shaft 5 may be adjacent to a distal end of the hub cone 30.

[0171] The tool channel 20 may extend through the center of the hub cone 30 and the center of the catheter shaft 5. A mandrel of the plurality of mandrels can maintain at least one opening in the tool channel 20 between the hub cone 30 and the catheter shaft 5.

[0172] A first portion of the catheter shaft 5 may surround the plurality of support sleeve lumens 516, and a second portion of the catheter shaft that is distal to the first portion may surround the plurality of drive wire lumens 518. In reflow, the PTFE-coated mandrel may extend through each of the drive wire lumens 518 to support each of the plurality of drive wire lumens.

[0173] The thermal bonding may be reflow soldering performed at about 180° C., and the plurality of mandrels may be coated with PTFE.

[0174] When referring to the description, specific details are set forth in order to enable a complete understanding of the disclosed examples. In other instances, well-known methods, procedures, components, and circuits are not described in detail so as not to unnecessarily lengthen the present disclosure.

[0175] Of course, when an element or component is referred to as being "on," "against," "connected to," or "coupled to" another element or component, it may be directly on, against, connected to, or coupled to the other element or component, or intervening elements or components may be present. In contrast, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element or component, there are no intervening elements or components. When used, the phrase "and / or" includes any and all combinations of one or more of the associated listed items, as so provided.

[0176] To simplify the description for explaining the relationship between one element or feature and another element or feature as shown in various figures, in this specification, spatial relative terms such as "below", "directly below", "downward", "lower", "above", "up", "proximal", "distal", etc. may be used. However, of course, the spatial relative terms are intended to include various orientations of the device during use or operation in addition to the orientation shown in the figure. For example, an element described as being "below" or "directly below" another element or feature will be oriented "above" the other element or feature when the device in the figure is turned over. Thus, relative spatial terms such as "below" can encompass both upward and downward orientations. The device may be oriented in other ways (rotated 90 degrees or in other directions), and the spatial relative descriptors used in this specification should be interpreted accordingly. Similarly, the relative spatial terms "proximal" and "distal" may also be interchangeable where applicable.

[0177] As used herein, the term "about" means, for example, within 10%, within 5% or less. In some embodiments, the term "about" may mean within the measurement error.

[0178] In this specification, terms such as first, second, third, etc. may be used to describe various elements, components, regions, parts and / or sections. Of course, such elements, components, regions, parts and / or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, part or section from another region, part or section. Thus, a first element, component, region, part or section described hereinafter may be referred to as a second element, component, region, part or section without departing from the teachings of this specification.

[0179] The terms used in this specification are for the purpose of describing particular embodiments only and are not intended to be limiting. The use of the terms “a,” “an,” and “the” and similar referents in the context of describing the present disclosure (in particular, the context of the following claims) are to be construed to include both the singular and the plural unless otherwise indicated herein or clearly contradicted by context. The terms “comprising,” “having,” “including,” and “containing” are to be construed as open-ended terms (i.e., meaning “including, but not limited to”) unless otherwise noted. Specifically, when used in this specification, these terms specify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof not expressly recited. The recitation of a range of values herein is merely intended to serve as a shorthand method of referring individually to each separate value falling within the range unless otherwise indicated herein, and each separate value is incorporated herein as if it were individually recited herein. For example, if a range of 10-15 is disclosed, then 11, 12, 13, and 14 are also disclosed. All of the methods described herein can be performed in any suitable order unless otherwise indicated herein or clearly contradicted by context. The use of any and all examples, or exemplary language (e.g., “such as”) provided herein is merely intended to better illuminate the present disclosure and does not limit the scope of the present disclosure unless otherwise claimed. No language in this specification should be construed as indicating any non-claimed element as essential to the practice of the present disclosure.

[0180] Of course, the methods and compositions of the present disclosure can be incorporated in various forms of embodiments, only some of which are disclosed herein. Variations of such embodiments will be apparent to those skilled in the art upon reading the foregoing description. Those skilled in the art can appropriately adopt such variations, and the present disclosure may be implemented in a manner different from that specifically described herein. Therefore, the present disclosure includes all changes and equivalents of the subject matter described in the claims appended hereto to the extent permitted by applicable law. Further, unless otherwise indicated herein or unless clearly inconsistent in context, the present disclosure includes any combination of the above elements in all possible variations.

Explanation of Reference Numerals

[0181] 2 Actuator 4, 111b, 112b, 113b Push-pull drive wire 5 Catheter shaft 5a Proximal catheter shaft extrusion section 5b Distal catheter shaft extrusion section 6 Hub body 6a Proximal hub body 6b Distal hub body 7 Actuator clamp 8 Hub hypo tube 9 Pusher rod 10 Pusher hypo tube 13 Hub guide hypo tube 15 Elastic member 19 Hub guide disc 20 Tool channel 21 Hub extrusion section 23 Clamp rod 24 Hypo tube clamp sleeve 28 Proximal catheter shaft lumen guide 29 Cone cover 30 Hub cone 30a Inner cone 31a, … 31h Hub guide channel 32 Linear hub channel 33 Support spring for hub hypotenuse 34 Outer shell 40 Medical device system 44 Positioning cart 46 Navigation software 50 Operation console 52 Base stage 100 Continuum robot 102 Distal bending section 104 Intermediate bending section 106 Proximal bending section 121, 122, 123 Connection parts 400 Pitch diameter transition part 410 Distal end of hub cone 414 First section 412 Distal end face 416 Second section 420 Hub cone section 424 Outer surface of conical section 430 Proximal end of hub cone 432 Proximal end face 436 Hollow part passing through substantially conical section 450a, 450b Plateau parts 460a, 460b Concave parts 510 Guide channel hub body 514 Guide channel hub cone 516 Support sleeve lumen 518 Drive wire lumen 520 Reinforcement 522 Flared proximal end 530 Tapered distal end L 1B Engagement tab L 1A Receiving tab

Claims

1. A hub for a continuum robot, comprising: a distal end; a proximal end; a section extending from the distal end to the proximal end; a plurality of guide channels; wherein each of the plurality of guide channels extends along the surface of the section, the surface includes a distal pitch diameter changing portion and a proximal pitch diameter changing portion, the distal pitch diameter changing portion extends along a first length of the hub from the distal end, the proximal pitch diameter changing portion extends along a second length of the hub from the proximal end of the distal pitch diameter changing portion. Hub.

2. The hub is substantially conical, the distal end includes a first surface having a first maximum length, the proximal end includes a second surface having a second maximum length greater than the first maximum length. The hub according to claim 1.

3. The distal pitch diameter changing portion is substantially concave, the proximal pitch diameter changing portion is substantially convex. The hub according to claim 1.

4. A hub for connecting a continuum robot to a control device, comprising: a distal end; a proximal end; a section between the proximal end and the distal end; wherein the distal end includes a first surface having a first maximum length, the proximal end includes a second surface having a second maximum length greater than the first maximum length. Hub.

5. The first surface is substantially circular or substantially elliptical, the first maximum length is a first diameter, the second surface is substantially circular or substantially elliptical, the second maximum length is a second diameter. The hub according to claim 4.

6. The first surface is substantially quadrilateral, the first maximum length is the maximum distance between the sides of the substantially quadrilateral along the first surface, the second surface is substantially quadrilateral, the second maximum length is the maximum distance between the sides of the substantially quadrilateral along the second surface. The hub according to claim 4.

7. The hub according to claim 4, further comprising a plurality of hub guide channels extending along at least a part of the length of the surface of the section.

8. Each of the plurality of hub guide channels is configured to receive a respective hub hypotenuse. The hub according to claim 7.

9. Further comprising a plurality of recesses. wherein the plurality of recesses are configured to receive a respective cable or wire. The hub according to claim 8.

10. The hub according to claim 9, further comprising a plurality of openings formed in the surface of the section, wherein each opening is configured to receive a respective cable or wire.

11. The hub according to claim 10, wherein the plurality of openings are arranged in a pattern on the surface of the section.

12. The hub according to claim 11, wherein the pattern is a regular pattern.

13. The hub according to claim 12, wherein the regular pattern is a grid pattern.

14. The hub according to claim 13, wherein the grid pattern has a uniform pitch.

15. The hub according to claim 14, wherein the uniform pitch is configured to match the pitch of a cable or wire to be received.

16. The hub according to claim 15, further comprising a plurality of locking mechanisms configured to secure the cable or wire in the respective opening.

17. The hub according to claim 16, wherein each locking mechanism includes a resilient member configured to engage the cable or wire.

18. The hub according to claim 17, wherein the resilient member is a spring.

19. The hub according to claim 18, wherein the spring is a compression spring.

20. The hub according to claim 19, further comprising a housing enclosing the section and the plurality of guide channels.

21. The hub according to claim 20, wherein the housing is made of a rigid material.

22. The hub according to claim 21, wherein the rigid material is a plastic or a metal.

23. The hub according to claim 22, further comprising a cover configured to protect the cable or wire received in the opening.

24. The hub according to claim 23, wherein the cover is made of a flexible material.

25. The hub according to claim 24, wherein the flexible material is a rubber or a silicone.

26. The hub according to claim 25, further comprising a seal configured to prevent the entry of dust or moisture into the housing.

27. The hub according to claim 26, wherein the seal is a gasket.

28. The hub according to claim 27, further comprising a label attached to the housing indicating the function or the specifications of the hub.

29. The hub according to claim 28, wherein the label is a barcode or a QR code.

30. The hub according to claim 29, further comprising a connector configured to connect the hub to the control device or the continuum robot.

31. The hub according to claim 30, wherein the connector is a plug or a socket.

32. The hub according to claim 31, further comprising a locking mechanism configured to secure the connector to the control device or the continuum robot.

33. The hub according to claim 32, wherein the locking mechanism includes a latch or a screw.

34. The hub according to claim 33, further comprising a release mechanism configured to release the locking of the connector.

35. The hub according to claim 34, wherein the release mechanism includes a button or a lever.

36. The hub according to claim 35, further comprising a status indicator configured to indicate the connection status of the hub to the control device or the continuum robot.

37. The hub according to claim 36, wherein the status indicator is a light-emitting diode (LED).

38. The hub according to claim 37, wherein the LED is configured to emit a green light when the connection is established and a red light when the connection is lost.

39. The hub according to claim 38, further comprising a power supply configured to power the LED.

40. The hub according to claim 39, wherein the power supply is a battery or a power adapter.

41. The hub according to claim 40, further comprising a charging port configured to charge the battery.

42. The hub according to claim 41, wherein the charging port is a USB port or a wireless charging port.

43. The hub according to claim 42, further comprising a communication interface configured to communicate with the control device or the continuum robot.

44. The hub according to claim 43, wherein the communication interface is a wired interface or a wireless interface.

45. The hub according to claim 44, wherein the wired interface is an Ethernet interface or a serial interface.

46. The hub according to claim 45, wherein the wireless interface is a Wi-Fi interface or a Bluetooth interface.

47. The hub according to claim 46, further comprising a memory configured to store data related to the hub or the connected devices.

48. The hub according to claim 47, wherein the memory is a flash memory or a random access memory (RAM).

49. The hub according to claim 48, further comprising a processor configured to process the data stored in the memory.

50. The hub according to claim 49, wherein the processor is a microcontroller or a digital signal processor (DSP). In a state where each of the hub hypo tubes is received in each of the hub guide channels, the outer surface of the hypo tube is either flush with the surface of the hub or embedded in the surface of the hub. The hub according to claim 8.

10. In a state where each of the hub hypo tubes is received in each of the hub guide channels, a part of the outer surface of the hub hypo tube protrudes from the surface of the hub. The hub according to claim 8.

11. A plurality of concave portions, A plurality of plateau portions, Further comprising, Each concave portion of the plurality of concave portions and each plateau portion of the plurality of plateau portions extend along the length of the surface, Each hub guide channel of the plurality of hub guide channels is disposed between a pair of plateau portions, Each concave portion of the plurality of concave portions is disposed between a pair of hub guide channels, The hub according to claim 7.

12. A plurality of hub hypo tubes, A hub cover, Further comprising, The plurality of hub hypo tubes extend along the length of the surface of the section, The hub cover is configured to surround at least a part of the surface of the hub with the plurality of hub hypo tubes interposed therebetween. The hub 30 according to claim 4.

13. The hub cover is formed of an elastomer, and the durometer scale of the elastomer is lower than the durometer scale of the plurality of hub hypo tubes, The durometer scale of the hub cover is lower than the durometer scale of the hub, When the hub cover surrounds the at least a part of the surface, the hub cover presses the plurality of hub hypo tubes against the hub so as to seal the plurality of hub hypo tubes between the hub and the hub cover. The hub according to claim 12.

14. A shell including at least two parts, The hub according to claim 12, further comprising.

15. A tool channel, Further comprising, By assembling the at least two parts of the shell, the inner surface of the shell is pressed against at least a part of the outer surface of the hub cover, the outlet port of the tool channel is supported, and the plurality of hub hypo tubes are surrounded between the hub and the hub cover. The hub 30 according to claim 14.

16. The at least two parts of the shell are configured to be fixed together to surround the surface, By the fixing, the movement or torsion of the hub cover and the hub in the longitudinal direction thereof are prevented. The hub according to claim 14.

17. A shell, further comprising wherein the hub cover is formed of an elastomer, and the durometer scale of the elastomer is lower than the durometer scale of the plurality of hub hypo tubes and lower than the durometer scale of the hub; wherein the shell is formed of an elastomer, and the durometer scale of the elastomer is higher than the durometer scale of the hub cover; when surrounding at least a part of the surface, the shell presses the hub cover against the hub, and the hub cover presses the plurality of hub hypo tubes against the hub; The hub according to claim 12.

18. By pressing the plurality of hub hypo tubes against the hub, the plurality of hub hypo tubes are sealed between the hub and the hub cover. The hub according to claim 17.

19. A plurality of hub guide channels extending along the length of the surface of the section, further comprising wherein each hub guide channel of the plurality of hub guide channels is configured to accommodate at least a part of a respective hub hypo tube; The hub according to claim 12.

20. Each hub guide channel has a diameter substantially equal to or larger than the diameter of the hub hypo tube accommodated therein. The hub according to claim 19.

21. A hollow portion extending from the first surface to the second surface through the section, further comprising the hub according to claim 4.

22. An access component for a continuum robot, a hub configured to be fixedly connected to a shaft of the continuum robot and configured to attach the continuum robot to a control device, a hub cover, comprising wherein a distal end of the hub includes a first surface having a diameter with a first maximum length; wherein a proximal end of the hub includes a second surface having a diameter with a second maximum length greater than the first maximum length; hub hypo tubes extending from the proximal end to the distal end across the hub, an access component.

23. A pitch diameter transition occurs along the surface from the proximal end to the distal end. At the proximal end, the proximal pitch diameter substantially matches the diameter of the actuator clamp of the control device. At the distal end, the distal pitch diameter substantially matches the diameter of at least two drive wires extending through the shaft. The access component according to claim 22.

24. A reinforcing member extending from the distal end along a part of the shaft, A transition portion provided in the reinforcing member adjacent to the distal end of the hub, and further comprising the reinforcing member includes a flared end extending to cover a part of the hub, the transition portion is configured to attach the hub hypo tube configured to support at least one drive wire extending through the hub to the shaft. The access component according to claim 22.

25. The hub cover surrounds at least the proximal part of the surface of the hub with the plurality of hub hypo tubes sandwiched therebetween. The access component according to claim 22.

26. The shaft is configured to accommodate at least two drive wires, each of the at least two drive wires extends from the proximal end of the hub through its respective hub hypo tube, at least one of the posture or pose of the continuum robot changes in response to at least one of a pushing force and a pulling force on the proximal end of one or more of the at least two drive wires. The access component according to claim 22.

27. A shell, and further comprising the hub cover is formed of an elastomer, and the durometer scale of the elastomer is lower than the durometer scale of the hub hypo tube and lower than the durometer scale of the hub, the shell is formed of an elastomer, and the durometer scale of the elastomer is higher than the durometer scale of the hub cover, when surrounding at least a part of the hub, the shell presses the hub cover against the hub, and the hub cover presses the plurality of hub hypo tubes against the hub. The access component according to claim 22.

Images