Medical Device Safety Mode

Abstract

A continuum robot having at least two independently manipulable bendable sections for advancing the robot through a passageway without contacting fragile elements in the passageway, the robot including a system, method and device for rapid catheter removal in an emergency situation. The continuum robot includes a first bendable section having a distal end and a proximal end, the first bendable section being bent by at least one wire, a driver for driving the at least one wire, and a controller for controlling the amount of drive of the wire, the driver further comprising a safe mode for disengaging the driver from the at least one wire.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED PATENT APPLICATIONS This application claims priority from U.S. Provisional Patent Application No. 63 / 303,859, filed in the U.S. Patent and Trademark Office on January 27, 2022, the disclosure of which is incorporated herein by reference in its entirety.

[0002] The present disclosure relates generally to medical devices, and more particularly to steerable continuum robots (also referred to as "snakes" or "snake systems") applicable for guiding interventional tools and instruments, such as endoscopes and catheters, in medical procedures, and safety procedures and mechanisms associated with the steerable robots. [Background technology]

[0003] A steerable continuum robot, or snake, contains multiple curved sections with a flexible structure, and the shape of the continuum robot is controlled by deforming the curved sections. Snakes have two main advantages over robots containing rigid links. The first advantage is that snakes can navigate around curves in tight spaces and cluttered environments where rigid-linked robots would get stuck. The second advantage is that the snake's inherent flexibility allows it to be manipulated without damaging fragile elements in its surroundings.

[0004] Existing snake systems, as seen in U.S. Publication No. 2019 / 0015978, may include four modes of operation (follow-the-leader “FTL”, reverse FTL, targeting, and backdrive) that allow users to utilize the catheter in specific procedural situations, including insertion, navigation, tip placement, and drive wire relaxation for improved maneuverability.

[0005] Apart from the operating modes, there is a workflow for attaching the catheter to the actuation section. For example, the catheter hub is first attached to the base of the actuation section, and then the individual catheter drive wires are connected to their respective actuators in the actuation section. Once both connections are complete, the operating mode can be performed. To remove the catheter, the wires must first be disconnected, and then the hub.

[0006] However, in certain cases, the Snake procedure may require emergency removal of the steerable catheter attached to the working portion using the robotic controller. When the physician identifies a condition that prompts emergency removal, the physician may need to disconnect the driving force from the working portion from the steerable catheter as soon as possible to safely remove the steerable catheter from the patient.

[0007] However, a safe system procedure for achieving such emergency removal with a steerable catheter has not been disclosed in the existing literature, which is the purpose of the present disclosure.

[0008] The system requires certain inputs from the user and outputs to enable the user to perform an emergency extraction procedure.

[0009] Currently, the Snake system does not have such an emergency workflow. As it stands, there is no way for the system to know that there is an emergency, and emergency removal could harm the patient. The user could potentially operate the actuator even when the catheter is detached. Also, there is no convenient or safe mechanism for releasing the catheter drive wire, which must be released when removing the catheter from the cavity. Summary of the Invention

[0010] Therefore, to address such typical needs in the industry, the presently disclosed apparatus teaches a robotic device comprising a robotic device having a continuum robot including a plurality of curved sections including a distal curved section and a proximal curved section. Each of the curved sections is bent by at least one wire. The robotic device also includes a driver for driving the wire and a controller for controlling the amount of drive of the wire. The controller further includes a safe mode for disengaging the driver from the at least one wire.

[0011] In another embodiment, the present disclosure teaches a robotic device comprising a continuum robot having a plurality of curved sections including a distal curved section and a proximal curved section, each of the curved sections being bent by at least one wire. The robotic device also includes a driver for driving the wire, a controller for controlling the amount of drive of the wire, and a base fixed to the continuum robot and capable of moving the continuum robot. The controller further includes a safe mode for disengaging the driver from the at least one wire.

[0012] In yet another embodiment, the present invention teaches a continuum robot control means comprising a continuum robot, the continuum robot includes a plurality of curved sections including a distal curved section and a proximal curved section, each of the curved sections being driven by at least one wire. The continuum robot control means also includes a driving means for driving the wire, and a control means for controlling the wire drive amount based on the bending angle and rotation angle of the continuum robot. The control means includes a safe mode for disengaging a driver from the at least one wire.

[0013] Finally, the present disclosure also teaches a continuum robot control means comprising a continuum robot. The continuum robot has a plurality of curved sections including a distal curved section and a proximal curved section, each of which is driven by at least one wire. The continuum robot control means also includes a driving means for driving the wire and a control means for controlling the wire driving amount from the bending angle and rotation angle of the continuum robot, and the control means also controls a base fixed to the continuum robot. The control means has a safe mode for disengaging a driver from at least one wire.

[0014] These and other objects, features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure, taken 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 taken in conjunction with the accompanying drawings illustrating embodiments of the present invention.

[0016] [Figure 1] FIG. 1 is a block diagram of an exemplary bendable medical device including various ancillary components in accordance with one or more embodiments of the present apparatus, methods or systems. [Diagram 2] FIG. 2 illustrates a kinematic model of the present continuum robot, according to one or more embodiments of the present apparatus, methods or systems. [Diagram 3] FIG. 3 provides a detailed illustration of the present continuum robot, in accordance with one or more embodiments of the present apparatus, methods, or systems. [Figure 4] FIG. 4 is a top perspective view of the present continuum robot in accordance with one or more embodiments of the present apparatus, methods or systems. [Diagram 5] FIG. 5 illustrates an example solenoid connector according to one or more embodiments of the present device, method, or system. [Figure 6]FIG. 6 is a top perspective view of the present continuum robot and actuator in accordance with one or more embodiments of the present apparatus, methods or systems. [Figure 7] 7A and 7B are top perspective views of the present continuum robot and actuators, with FIG. 7B providing an enlarged internal view, in accordance with one or more embodiments of the present apparatus, methods or systems. [Figure 8] FIG. 8 is a cutaway top perspective view of the present continuum robot and actuators according to one or more embodiments of the present apparatus, methods or systems. [Figure 9] 9A and 9B provide a top perspective view (9A) and an internal view of an actuator driver according to one or more embodiments of the present devices, methods or systems.

[0017] Throughout the figures, the same reference numerals and characters, unless otherwise stated, are used to denote like features, elements, components or portions of the illustrated embodiments. In addition, reference numerals including a designation "'" (e.g., 12' or 24') denote a secondary element and / or reference of the same nature and / or type. Moreover, while the present disclosure will now be described in detail with reference to the figures, it is done so in connection with the illustrated embodiments. It is intended that changes and modifications can be made to the described embodiments without departing from the true scope and spirit of the present disclosure as defined by the appended paragraphs. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] In this disclosure, applicants first detail the mechanics of the continuum robot, followed by a detailed description of the method of attachment / detachment functions of the continuum robot and systems and procedures associated with the continuum robot and functions.

[0019] 1 is a system block diagram of an exemplary bendable medical device system 10 that includes various auxiliary components intended to create a complete medical system. The bendable medical device system 10 includes an actuator or drive 12 (also referred to herein as a "driver") having a base stage 18 (also referred to herein as a "base stage 18") that drives wires, a bendable medical device 13, a positioning cart 14, an operating console 15 having push buttons, thumbsticks and / or joysticks, and navigation software 16. The exemplary bendable medical device system 10 can interact with external system components and clinical users to facilitate use with a patient.

[0020] FIG. 2 illustrates a continuum robot 100 capable of multiple bends, and FIG. 3 provides a close-up view of the proximal bend section 106 at the proximal end of the robot 100.

[0021] 2, the continuum robot 100 has wires 111b, 112b, 113b that connect to connectors 121, 122, 123 found on end disk 160b, respectively, for control of the intermediate bending section 104. Additional 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 end of each bendable section 102, 106.

[0022] Since each bending section operates in the same way, the mechanism will be described focusing on one bending section (here, the middle bending section 104). The posture of the bending section 104 is controlled by pushing and pulling the wires 111b-113b using actuators 130-132 provided on the robot base 140. (Note: for clarity, actuators for only three wires 111c, 112c, and 113c are shown in FIG. 3, but additional actuators for the remaining six wires are also contemplated in the present invention.)

[0023] Furthermore, the robot base 140 of the continuum robot 100 is mounted on a base stage 18 (see FIG. 1) and can be moved longitudinally by the base stage 18. Thus, by advancing and retracting the base stage 18, the robot 100 can be advanced or retracted toward a target structure.

[0024] The operation console 15 (see FIG. 1) shows the drive amount for the base stage 18 and the drive amount for the actuators 130-132 separately. Throughout this disclosure, the operation console 15 may be described or avoided as a control system or controller. The operation console 15 may include dedicated hardware including a field programmable gate array ("FPGA") or the like, or may be a computer including a storage device, a work memory, and a central processing unit ("CPU"). When the operation console 15 is a computer, the storage device can store a software program corresponding to an algorithm of a control system (described below), and the central processing unit expands the program into the work memory and executes the program line by line, so that the computer functions as the operation console 15. In either case, the operation console 15 is communicatively connected to the base stage 18 and the actuators 130-132, and the operation console 15 transmits signals representing the drive amount and configuration transferred by the end user to these controlled objects via push buttons, joysticks, etc.

[0025] The continuum robot 100 includes a number of wire guides 161-164 spaced longitudinally across each curved section, with the proximal curved section 106 shown in more detail in FIG. 3. The wire guides 161-164 are shown here guiding the wires 111c, 112c, 113c and providing structural integrity to the curved section 106. As before, for redundancy, the components of the proximal curved section 106 have been shown in detail in FIG. 3, with the understanding that the remaining curved sections 102, 104 function similarly with similar elements. The wire guides 161-164 include wire penetrations 150-153 for each wire 111c-113c, respectively. For simplicity of illustration, FIG. 3 only depicts the wire penetrations 150-153 for a single wire 111c. Alternatively, a method of discretely arranging multiple wire guides, a continuum robot 100 having a bellows-like or mesh-like shape may be used, in which case wire guides 161-164 are fixed to the respective wires 111a-113a.

[0026] Alternatively, a method in which multiple wire guides 161-164 are discretely arranged, a continuum robot 100 having a bellows-like or mesh-like shape may be used, in which case the wire guides 161-164 are fixed to the respective wires 111-113.

[0027] With respect to Figures 2 and 3, the definitions of symbols are as follows: d θ = length of the central axis of the curved section; n = bending angle at the distal end; ζ n = distal end rotation angle; ρ n = radius of curvature of curved section.

[0028] As mentioned above, the wires 111 to 113 may be referred to as wires a, b, and c in a counterclockwise direction in the xy plane, and the driving displacement of the wires to drive the nth curved section is l pna , l pnb , l pncAs shown in FIG. 5, the wires 111 to 113 have sides with lengths of r s The phase angle ξ n is the angle that determines the wire arrangement for driving the nth curved section. In this embodiment, ξ1=0.

[0029] Continuum robot attachment / detachment The present continuum robot 100 utilizes two connection interfaces to attach the robot 100 to the actuator 200. The first connection interface (also referred to as the "body connector interface") is shown in detail in FIG. 6, in which the continuum robot 100 is removably mated to the actuator body 202 using a rotating locking collar 204. This is accomplished by inserting the catheter hub 206 into the actuator cavity 208. After insertion, the user rotates the locking collar 204 clockwise, which locks the catheter hub 206 into place by engaging the protrusions 210 of the catheter hub 206 with the respective slotted cavities 212 of the locking collar 204.

[0030] The first connection interface between the robot 100 and the actuator 200 can be disengaged by rotating the rotation lock collar 204 to separate the catheter hub 206 from the actuator cavity 208. As seen in Figures 6 and 7B, rotating the lock collar 204 disengages the prongs 210 of the catheter hub 206 from their respective slotted cavities 212, allowing for separation. The lock collar 204 may be biased when rotating clockwise or counterclockwise by incorporating an optional spring 218 (see Figure 5). The optional spring 218 may be beneficial to automate the rotation step for the end user and may further allow engagement / disengagement of the lock collar 204 with one hand rather than two.

[0031] 6, 7A, and 7B, a push button 214 and slot 218 may be used on the locking collar 204 as a method of securing the catheter hub 206 to the actuator 200 so that the rotation locking collar 204 cannot be inadvertently rotated out. The slot 218 aligns with a key 216 on the catheter hub 206 to ensure that the catheter hub 206 is properly inserted into the locking collar 204, and also serves to lock the locking collar 204 with the catheter hub 206 when the locking collar 204 is rotated. Additionally, the push button may need to be depressed to allow the locking collar 204 to rotate, thereby allowing the actuator 200 to be removed from the robot 100.

[0032] The second connection interface (also referred to as the "wire connector interface") is shown in FIG. 8 with the outer cover of the locking collar 204 removed to reveal details of the catheter drive wires 220. Here, the second connection interface attaches the catheter drive wires 220 to actuator drivers 222. In this embodiment, nine drive wires 220 and their respective actuator drivers 222 are shown, although one of ordinary skill in the art will appreciate that more or fewer drive wires may be utilized depending on the application and degree of flexibility of the robot 100.

[0033] When the end user rotates the locking collar 204, each drive wire 220 attaches to a respective actuator driver 222. As seen in Figures 9A and 9B, when the user rotates the locking collar 204, the drive wires disengage from the clamps 224. This is accomplished by a cam mechanism 226 that is rotated by the locking collar 204, urging the clamps 224 to clamp the drive wires 220. The inner surface of the locking collar 204 has teeth that mate with the cam mechanism 226, causing the cam mechanism 224 to rotate as the locking collar rotates.

[0034] The locking collar 204 is never fully unlocked while still holding the catheter hub 206 in place because the amount of rotation is limited by the button 214. This is used in emergency release mode: when the button 214 is pressed, the locking collar 204 is allowed to rotate fully, releasing the hub and allowing the catheter 100 to be removed.

[0035] The two connection mechanisms may include sensors to detect the attachment / detachment of both interfaces. In this embodiment, these interfaces form a continuum robot-actuator connector, whose mechanical design comprises the following motion sequence:

[0036] Catheter Attachment - When the physician manipulates the catheter 100-actuator 200 connector to attach the catheter 100 to the actuator, the body connector interface mechanically actuates to connect the continuum robot 100, which in turn mechanically actuates the wire actuator driver 222 to connect to the drive wire 220. In another example, such actuation and connection at the body connector interface and wire connector interface may occur simultaneously.

[0037] Catheter Disengagement - When the physician manipulates the catheter 100-actuator 200 connector to disengage the catheter from the actuation portion, the wire actuator driver 222 is mechanically actuated to disengage the drive wire 220, which in turn mechanically actuates the body connector interface to disengage the continuum robot 100. Additionally, in another example, such actuation and disengagement at the body connector interface and the wire connector interface occur simultaneously.

[0038] An important technique for catheter attachment and detachment as normal operation is to have system indicators for the attachment of the continuum robot 100 to the actuator body and the attachment of the drive wire 220 to the motorized linear mechanism. This can be integrated using separate sensors that track the connection of the body connection interface and the wire connection interface separately. If one of these signals does not indicate a positive value for the connection, the user will not be able to proceed to the operational mode and will be prompted to complete the connection and / or troubleshooting. A further method of tracking the connection at the wire connection interface is to use force sensor readings. If no force reading is indicated when slight movements are induced, the system can detect a problem with the wire connection.

[0039] For removal of the catheter 100, the workflow is similar but reversed. First, the user is prompted to disengage the drive wire 220 while leaving the hub 204 connected. Once this condition is met, the system prompts the user to retract the base stage 18 to a position where removal is safe. Once this condition is met, the user is prompted to remove the catheter hub 204 from the actuator 200. Once this is completed and confirmed by sensors, power off will be permitted.

[0040] In another exemplary design, the system may have a specific position range for the base stage to allow the physician to perform catheter attachment / detachment as normal operation. The base stage has a position sensor for the system to detect the position of the base stage. After the system is powered on, the base stage is set to this position range. At this point, the system enters the attachment / detachment mode (described above). In this mode, the physician can attach or detach the catheter from the working section as normal operation. By combining the position sensor of the base stage with sensors of the body connection interface and the wire connection interface, the system can distinguish between normal attachment / detachment and irregular attachment / detachment.

[0041] In another example design, the attachment / detachment mode allows for a workflow that transitions from power on to operational mode (attachment) or from operational mode to power off (detachment). A catheter may be attached before power on. The system must be able to recognize such a connection at startup. For removal, the workflow is similar but reversed. First, the user is prompted to detach the drive wire while leaving the hub attached. Once this condition is met, the system prompts the user to retract the linear stage to a position where removal is safe. Once this condition is met, the user is prompted to remove the catheter hub from the actuator, which is confirmed by the sensor and power off is permitted (if other procedures are prompted outside of this MOI). A catheter may be attached before power on. The system must be able to recognize such a connection at startup.

[0042] Safe Hold Mode: In addition to the normal operation mode, the robotic steerable catheter system has at least one safe-hold mode. In the safe-hold mode, the system stops any obtrusive motion. For example, in this embodiment, when the system state enters the safe-hold mode, the system safely holds the position of the motorized linear motion mechanism of the actuator and the position of the linear motor of the base stage. Furthermore, until the system state leaves the safe-hold mode, the robot controller will not accept any operation commands from the operator, except for limited defined commands. The system will not exit the safe-hold mode until the physician confirms a safe state and issues a command to exit the safe-hold mode.

[0043] Emergency Catheter Removal: The catheter-to-actuator connector of the present disclosure provides a unique emergency release as follows: when a physician manipulates the catheter-to-actuator connector to release the steerable catheter using this emergency release, the wire connector interface is mechanically actuated to release the drive wire, but the body connector interface is not mechanically affected and the body of the catheter remains connected to the body of the actuation portion.

[0044] This method of emergency catheter detachment allows the physician to stop the catheter from bending and allow the catheter to soften by quickly and safely detaching the drive wire from the working section. By leaving the body of the catheter attached to the body of the working section, the physician would not be able to put himself in a more dangerous situation, such as dropping the catheter on the patient and creating further adverse interactions between the catheter and the patient.

[0045] In another design example, the catheter-actuator connector can include this catheter emergency detachment in the middle of the catheter detachment sequence. In this design, when the physician operates the catheter-actuator connector for catheter removal, the wire connector interface is first mechanically actuated to detach the drive wire. However, without an additional button action, the catheter-actuator connector does not actuate the body connector interface to disconnect the body of the catheter from the body of the working unit (corresponding to completion of catheter emergency detachment). When the physician detaches the continuum robot 100 from the working unit as a normal operation, the physician can perform an additional button action to actuate the body connector interface to detach the body of the catheter. Thus, the catheter is detached via the catheter emergency detachment.

[0046] This design allows doctors to have priority access to emergency detachment, minimizing the operational burden and time involved in emergency detachment. Furthermore, this reduces the possibility that doctors will be confused between normal detachment and emergency catheter detachment in an emergency because doctors only need to remember one detachment procedure, including emergency catheter detachment.

[0047] The system can distinguish between Safe-Hold mode and standard attachment / removal mode by receiving an external signal from the patient monitoring system or user input (i.e., emergency stop button or GUI input).

[0048] Embodiment #1: In the first exemplary embodiment, there are three states. The first state is the normal operating state, which can be any of the snake operating modes (FTL, rFTL, Target, BKD modes). In this state, if a problem occurs that causes an indication of the need for emergency removal (including an electrical signal from the patient monitoring system, a visual indication to the physician / user, or other indicators), the user can press the stop button or the monitor can send a signal to the snake system, which allows the system to enter the second state. The second state is "Enter Emergency Removal Mode". In this state, the snake system knows it needs to enter emergency removal mode, but to enter that state, the snake system must perform a certain action. In this case, the user can twist the connector (between the catheter and the actuator), which will release the wire and soften the catheter tip, allowing it to be safely removed. This action notifies the snake system to enter the third state, where the user has disconnected the catheter and allowed the catheter removal function. Specifically, in the third state, the software is signaled to limit forward motion while allowing the end user to pull back on the base stage to remove the catheter from the patient.

[0049] To further explain the functional limitations, in the transition state (second state), the base stage cannot move in any direction because the drive wire is engaged, and any attempt to remove it would cause harm to the patient. In the third state, the base stage is free to remove the catheter. In both the transition and emergency states, all motion relative to the catheter drive wire is restricted. [Table 1]

[0050] Embodiment #2: The overall functionality of the second system embodiment is similar to that of the first embodiment, but the second embodiment only has two states, since it combines the second and third states of the first embodiment.

[0051] Therefore, when an emergency catheter detachment occurs, the system can detect the emergency catheter detachment using the sensors in the wire connector interface and the main body connector interface, and automatically transition to safe-hold mode. This link with the emergency catheter detachment can reduce the risk of a further dangerous situation occurring without the physician's action.

[0052] Specifically, even if the drive wire becomes detached, if the body of the catheter remains connected to the working portion, a safe-hold mode occurs, so the catheter will not come loose and the physician can safely remove the catheter from the patient.

[0053] This second embodiment has the advantage that there are fewer steps that the user needs to perform, and therefore less opportunity for human error: since wire disengagement is the first step required to remove the robotic catheter from the patient under any circumstances, the physician must remember to disengage the drive wire before manually removing the catheter from the patient.

[0054] Additionally, the physician can take advantage of this automatic transition to safe-hold mode in the event of an emergency by intentionally disengaging the drive wire.

[0055] In more detail, the action of the user twisting the connector automatically sends a signal to the snake system to enter catheter emergency detachment mode. To make this work, a sensor is integrated into the actuator side of the connector. When the catheter is twisted, the sensor is activated. This significantly reduces user confusion and errors that can occur during the transition state of the first embodiment, but requires a somewhat more complex design. [Table 2]

[0056] Embodiment #3: This embodiment has the same workflow as the second embodiment, but instead of relying on the user twisting the connector to transition to an emergency state, a built-in mechanism is triggered that automatically detaches the wires. As an example, the safe-hold mode is triggered by the user pressing a button (physical or software) or by input from a patient monitoring system.

[0057] As seen in Figure 5, the mechanism functions like a spring solenoid, exerting a force on the spring in the powered-on state and relaxing the spring in the powered-off state. The Snake system utilizes a torsion spring to allow the catheter connector to move naturally to an unlocked position where all drive wires are free. However, when the system is powered on and set in the operating mode, the motor turns on and exerts a torsional force that twists the catheter connector to the locked position. When the safe-hold mode is entered, the motor turns off and the catheter wires are automatically disconnected.

[0058] The advantage of this method is that the wires will automatically detach in the event of a power failure. [Table 3]

[0059] Embodiment #4: The overall functionality of System Embodiment #4 is similar to System Embodiment #2, however, the system in this embodiment includes a manual insertion operation using a manual slide stage.

[0060] The manual slide stage is mounted on the base stage 18 and has an actuation portion.

[0061] Thus, a robotic catheter on the actuator can be inserted or removed by moving either the manual slide stage or the base stage. In addition to the base stage position sensor, the manual slide stage also includes a secondary position sensor.

[0062] Before the system is powered on, the robotic catheter is not attached to the actuator. After the system is powered on, the system sets the position of the base stage to a starting position within the range of positions for normal catheter attachment / detachment. The system also prompts the operator to set the manual slide stage to a position for normal catheter attachment / detachment. At this point, the system enters attachment / detachment mode.

[0063] During the attachment / detachment mode, the operator attaches the robotic catheter by interacting with the catheter-to-actuator connector.

[0064] After attaching the robotic catheter to the working section, the physician instructs the robot controller to exit the attachment / detachment mode. The physician then inserts the robotic catheter from the patient's mouth to the tracheal bifurcation by manually sliding the manual slide stage. After this manual insertion step, the physician locks the position of the manual slide stage (manual insertion) and continues inserting the robotic catheter using the joystick to control the robotic steering with the base stage (robotic insertion).

[0065] During robot insertion, if the manual slide stage is moved (intentionally, accidentally, or mistakenly) from the position the manual slide stage was in at the start of robot insertion, the system automatically enters safe-hold mode.

[0066] In another exemplary design, the manual slide stage has a sensor that detects locking / unlocking of the manual slide stage, and if an unlocking (intentional, accidental, or incorrect) is detected during robot insertion, the system automatically enters safe-hold mode.

[0067] By automatically entering safe-hold mode upon manual slide stage movement or stage unlocking, the system is able to avoid atypical robot insertions in which the robotic catheter insertion position is unintentionally offset.

[0068] Embodiment #5: The overall functionality of System Embodiment #5 is similar to System Embodiment #2, however, the system in this embodiment includes an actuation section that is removably attached to the base stage.

[0069] The base stage has a sensor for detecting the attachment / detachment of the actuator, and the system enters the attachment / detachment mode only when the actuator is attached to the base stage in a specific workflow step (e.g., a setup step) managed by the robot controller.

[0070] During robot insertion, if the actuator disengages from the base stage (intentionally, accidentally, or by mistake), the system automatically enters safe-hold mode. By automatically entering safe-hold mode upon actuator disengagement, the system is able to avoid further dangerous situations following actuator disengagement.

[0071] Additionally, while the catheter is typically removed from the actuator during normal operation, it is contemplated that during emergency mode the actuator can be removed from the proximal stage (where the insertion stage is located) in order to withdraw the distal catheter body from the subject. The advantage of this configuration compared to removing the catheter is that no forward motion needs to occur. Removing the catheter from the actuator would require the catheter to be inserted further into the patient to disengage it from the actuator, which is dangerous. This workflow is similar to manually sliding the Z-stage positioner to a rearward position.

Claims

1. a continuum robot including a first curved section having a distal end and a proximal end, the first curved section being bent by at least one wire; a driver for driving the at least one wire; A controller for controlling the driving amount of the wire; A robot device comprising: the driver further comprising a safe mode that disengages the driver from the at least one wire. Device.

2. a mechanical locking collar on said driver for engaging and disengaging said driver from said at least one wire; The apparatus of claim 1 further comprising:

3. the locking collar maintains a mechanical connection with the first curved section during disengagement of the driver from the at least one wire.

3. The apparatus of claim 2.

4. a second curved section bent by a second wire; 2. The apparatus of claim 1.

5. The controller controls the driving amount of the second wire.

5. The apparatus of claim 4.

6. a base stage attached to said controller for advancing and retracting said controller and attached continuum robot; The apparatus of claim 1 further comprising:

7. a continuum robot including a curved section, the curved section being bent by at least one wire; A driver for driving the wire; a base stage fixed to the continuum robot and capable of moving the continuum robot; a controller that electrically communicates with the driver and the base stage and controls the driving amount of the wire and the base stage; a locking collar on the driver for engaging and disengaging the driver from the at least one wire; A robot device comprising: the controller further comprising a safe mode that restricts the driver from driving the at least one wire. Device.

8. the locking collar maintains a mechanical connection with the first curved section during disengagement of the driver from the at least one wire.

8. The apparatus of claim 7.

9. a second curved section bent by a second wire; 8. The apparatus of claim 7.

10. The controller controls the driving amount of the second wire.

10. The apparatus of claim 9.

11. 1. A method for operating a continuum robot, comprising: the continuum robot includes a first curved section having a distal end and a proximal end, the first curved section being bent by at least one wire; The method comprises: the driver driving the at least one wire; the controller controlling the amount of actuation of the wire to effect a bending angle and a rotation angle of the first curved section; Including, the controller having a safe mode that prohibits the driver from driving the at least one wire. method.

12. a locking collar on the driver for engaging and disengaging the driver from the at least one wire. The method of claim 11.

13. the locking collar maintains a mechanical connection with the first curved section during disengagement of the driver from the at least one wire. The method of claim 12.

14. a second curved section bent by a second wire; 12. The apparatus of claim 11.

15. The controller controls the driving amount of the second wire.

15. The apparatus of claim 14.

16. a base stage attached to the controller for advancing and retracting the controller and the attached continuum robot; 12. The apparatus of claim 11.

17. a continuum robot having a plurality of bending sections, including a distal bending section and a proximal bending section, each of the bending sections being driven by at least one wire; A driving means for driving the wire; a control means for controlling a wire driving amount based on a bending angle and a rotation angle of the continuum robot, the control means controlling a base portion fixed to the continuum robot; A continuum robot control means comprising: the control means having a safe mode for disengaging the driver from the at least one wire; Continuum robot control means.

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