Method, device and system for operating a medical device - Patents.com

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 systems, methods and devices with a 'relaxed mode' that allows at least one of the bendable sections to relax and adapt the bendable section to the surrounding anatomy.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED PATENT APPLICATIONS This application claims priority from U.S. Provisional Patent Application No. 63 / 307398, filed in the U.S. Patent and Trademark Office on February 7, 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 a continuum robot (also referred to as a "snake" or "snake system") applicable for guiding interventional tools and instruments, such as endoscopes and other tools, in medical procedures. [Background technology]

[0003] A 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 existing robots that contain rigid joints. The first advantage is that snakes can navigate along curves in tight spaces and cluttered environments where rigid jointed robots get stuck. The second advantage is that the snake's inherent flexibility allows it to manipulate without damaging fragile elements in its surroundings.

[0004] In recent years, minimally invasive medical treatment has been attracting attention as it can reduce the burden on patients and improve their quality of life (QOL) after treatment or examination. Surgery and examinations using endoscopes are typical examples of minimally invasive medical treatment. For example, laparoscopic surgery requires smaller surgical incisions than conventional abdominal surgery, which has the advantage of shortening hospital stays and causing less cosmetic damage.

[0005] Endoscopes used in minimally invasive medical treatment are broadly divided into rigid endoscopes and flexible endoscopes. Rigid endoscopes can obtain clear images, but the direction in which the object can be observed is limited. Furthermore, when a rigid endoscope is inserted into a tortuous organ such as the esophagus, large intestine, or urethra, the insertion part of the rigid endoscope presses against the organ, causing pain to the patient. In contrast, the insertion part of a flexible endoscope is made of a bendable member, so that a wide area can be observed in detail by adjusting the bending angle of the distal end of the endoscope. Furthermore, the burden on the patient can be reduced by bending the insertion part along the insertion path. By increasing the number of bendable parts, the endoscope can be inserted deep inside the body without coming into contact with tissue, even if the insertion path has a complex and tortuous shape.

[0006] Therefore, flexible endoscopes having multiple bendable sections have been widely researched and developed.

[0007] However, while navigating the airway, the pose of the endoscope does not always match the shape of the passageway. This mismatch can lead to friction of the endoscope against the walls of the airway. This friction can cause the endoscope to twist or deviate, making navigation difficult or impossible. Furthermore, this can apply significant forces to the anatomical structures, causing trauma to the subject. This phenomenon is not unique to multisection robotic endoscopes, but it may occur more frequently as they can assume more complex shapes.

[0008] Various related art disclosures in the field include the following: US Patent Application Publication No. 2015 / 0142013 discloses releasing tension from the tension wires of a continuum robot using a button / command to make the shape of the continuum robot conform to the anatomical structure. However, there are problems with the disclosed method, such as: 1) when the insertion motion is combined with this release, the shape of the continuum robot may deviate from the anatomical structure shape more than desired; and 2) when the actuator pulls and pushes the wire at the same time, it is difficult to release both the compression and tension forces on the wire by simply releasing the tension on the wire.

[0009] Thus, the present invention provides a solution to this challenge. Summary of the Invention

[0010] Therefore, to address such typical needs in the industry, the apparatus of 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 driven by at least one wire, and an actuator for operating the at least one wire, and a controller for controlling the actuator based on a command from an end user, the actuator including at least one motor for operating the at least one wire and at least one sensor connected to the at least one wire for detecting a force on the at least one wire, the controller further comprising a relax mode for reducing a tension force on the at least one wire and relaxing at least one of the bendable sections by using a force feedback control of the at least one motor based on information from the at least one sensor.

[0011] In another embodiment, the relax mode further comprises reducing the compressive force on the at least one wire and relaxing at least one of the bendable sections. Still another embodiment comprises that reducing both the compressive and tensile forces is achieved by releasing the force on the at least one wire using force feedback control, without relying on the mechanical structure of the actuator.

[0012] In other embodiments, the relax mode is activated based on force measurement data for at least one wire. Additionally, the relax mode may be passively activated when at least one sensor reaches a threshold force measurement. Alternatively, the relax mode may be activated or deactivated by an end user. This may be accomplished when the end user operates a button to activate and / or deactivate the relax mode.

[0013] In another embodiment, the end user can operate a button to activate the relax mode, which automatically deactivates after a predetermined time interval.

[0014] In yet an additional embodiment, the controller does not reflect the end user's bending commands to the bendable section in the relax mode.

[0015] In another exemplary embodiment, the apparatus further comprises an insertion stage for moving the continuum robot longitudinally relative to the continuum robot. Movement of the insertion stage is controlled by the controller via commands from an end user. It is further contemplated that the relax mode is activated only when the insertion stage is stationary.

[0016] In another embodiment, the relax mode can be activated to insert and / or remove multiple curved sections.

[0017] The present invention further teaches a continuum robot control system 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; an actuator for operating the at least one wire; and a controller for controlling the actuator based on commands from an end user, the actuator including at least one motor for operating the at least one wire and at least one sensor connected to the at least one wire for detecting a force on the at least one wire, the controller further comprising a relax mode for reducing a tension force on the at least one wire and relaxing at least one of the bendable sections by using force feedback control of the at least one motor based on information from the at least one sensor.

[0018] 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]

[0019] 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.

[0020] [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]4a and 4b are images of a target region within the lung associated with the path of the continuum robot according to one or more embodiments of the present device, method or system.

[0021] 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

[0022] In this disclosure, applicants first detail the mechanics of the continuum robot, followed by a 'relaxed' mode of the continuum robot and how it functions, and systems and procedures associated with the continuum robot and said 'relaxed' mode.

[0023] 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 that drives wires, a bendable medical device 13, a positioning cart 14, an operating console 15 (also referred to herein as a "controller 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.

[0024] FIG. 2 illustrates a continuum robot 100 capable of multiple bends, and FIG. 3 provides a close-up view of the proximal end of the robot 100.

[0025] 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.

[0026] 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.)

[0027] 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.

[0028] 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.

[0029] The continuum robot 100 includes a number of wire guides 161-164 positioned across each curved section, with the proximal curved section 106 shown in further 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.

[0030] 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.

[0031] As detailed above, the continuum robot 100 in this embodiment includes at least one distal curved section that involves robotic control of insertion and withdrawal of the continuum robot relative to a target.

[0032] At the most basic level, the present invention incorporates a 'relaxed' mode, which allows the shape of the continuum robot to adapt to the airway and other anatomical structures around the robot. This reduces the interaction of the continuum robot with the walls of the anatomy, thereby reducing the number and severity of kinks and deviations of the robot. It also reduces the forces exerted against the anatomy. The advantage of relaxing certain sections of the robot is that it allows for better conformity with the surrounding structures and reduces interaction with the anatomy along each section.

[0033] As described above, the continuum robot system 10 of the present disclosure includes a continuum robot 100, an actuator or drive 12, an insertion stage 18, and a controller 15. The continuum robot 100 includes a distal end and a proximal end with a tubular body, and at least one curved section 102. The curved sections 102, 104, 106 include drive wires 111-113 that terminate at the distal end of each curved section (typically at an end disk 160). The proximal ends of the drive wires 111-113 are connected to actuators 130-132. The actuators include motors and linear motion mechanisms. The linear motion mechanisms are connected to the motors at one end and to the proximal ends of the drive wires at the other end. Through the linear motion mechanisms, the actuators can push and pull the drive wires to bend the continuum robot via the motors. The motors are controlled by a controller 15 (also referred to herein as "operation console"). The continuum robot 100 and actuator 12 assembly is positioned on an insertion stage 18. The insertion stage 18 includes a linear motor for moving the continuum robot 100 and actuator 12 assembly in the insertion and removal directions in the clinical workflow. The insertion stage 18 is also controlled by the controller 15.

[0034] In the current implementation, force sensors 170 at the junctions between the robot drive wires 111-113 and the actuators 130-132 are used to measure the forces on the drive wires 111-113. Each drive wire 111-113 has its own sensor 170. To simultaneously reduce the compressive and tensile forces on the wires 111-113, the controller 15 uses force feedback control, which uses these sensors 170 to measure the forces on the wires 111-113 and generates motor commands with robot control response characteristics to reduce the forces on the wires 111-113. Specifically, in the current implementation, the controller 15 moves each wire independently in a relaxation mode to create each pose, without considering the kinematics of the catheter.

[0035] (Embodiment 1: Relaxed mode in normal navigation) In typical navigation through the anatomy, the operator uses a controller / joystick located on the controller to issue commands to bend the continuum robot and to insert or remove the continuum robot. The controller receives these commands and activates the actuators and inserts to perform the intended movements.

[0036] However, in some situations, the operator may insert the robot in a shape that does not fit the anatomy. If the operator continues to insert the robot, the robot may collide with the anatomy. In the process, the robot begins to deform the anatomy, and the robot itself is simultaneously deformed by the anatomy. This mutual deformation can lead to difficulties with robot navigation, reduced bending motion, and proximal robot deviation.

[0037] Reduction of the force on the wires by force feedback control (i.e., relaxed mode) reduces the geometric mismatch between the robot section and the anatomical structures, avoiding deformation of both the robot and the anatomical structures.

[0038] This force feedback controlled relax mode has the advantage that all control states are maintained compared to the conventional method of mechanically disconnecting the wires to release the force. In the relax mode of the present invention, the controller maintains the current position values ​​of all motors at the initial physical zero positions of the wires and motors. Therefore, the system can switch between the relax mode and the normal bending mode of operation accurately and easily.

[0039] The method can also be used to achieve a relaxed mode for both compressive and tensile forces on the wire, even if the actuator includes a linear motion mechanism that converts the rotational motion of the motor into a push-pull motion to move the wire. Such motion mechanisms typically cannot be backdriven due to internal friction and gear ratios in the motion conversion, even if the controller can reduce the holding torque of the motor.

[0040] This relaxation mode can be started / ended by pressing a button, upon user request. When the system starts the relaxation mode, the controller first pauses the motion of the insertion stage and pauses the acceptance of bending commands to the robot. The controller then performs a reduction of the wire forces using force feedback control. In the relaxation mode, it attempts to reduce the forces of all the drive wires by moving the actuator motors to which they are attached. Since each section connects three drive wires at the distal end, there is an optimal position for each wire, since the movement of one wire affects the forces of the other wires in that section. Also, since all sections are joined by inner and outer walls, this interaction extends to the other six wires. Each section of the robot undergoes an "auto-tune" procedure (once after manufacture) in which the interactions between each of the nine drive wires are measured to create a calibration file with parameters that improve the efficiency of the relaxation algorithm.

[0041] In another design, when the system detects this type of deformation by monitoring the change in force on the wire with a force sensor, the controller can prompt the user to initiate a relaxation mode, which can be accomplished using a user-defined force threshold or a predefined metric calculated from the force measurement data from the force sensor.

[0042] In another design, the user presses a button to activate the relax mode. The controller then remains in the relax mode for a predetermined time, either defined as a default value or by the user. After the predetermined time has elapsed, the controller automatically disables the relax mode and returns to normal operating mode.

[0043] In another design, the controller does not accept a user command to activate the relax mode while the insertion stage is moving.

[0044] As an example, Figures 4a and 4b partially show an exemplary navigation workflow, which may include: 1 - navigating within the airway using FTL; 2 - monitoring force measurements which indicate high force is being applied to a particular wire; 3 - stopping control / manipulation of the stage / catheter (see Figure 4a); 4 - pressing a button to enter relaxation mode; 5 - waiting until the force is reduced and stabilized (see Figure 4b); 6 - pressing a button to exit relaxation mode; and 7 - continuing navigation using FTL.

[0045] It is further contemplated that each section of the robot can be relaxed independently of the other, whether manually or automatically. For example, the tip can still be controlled while the mid and proximal sections are in a relaxed mode. In this case, there is no interaction with the anatomy from the FTL and these sections can be "pulled" towards the tip by crosstalk. Additionally, the user can define various degrees of compliance, which can be unique for each section of the robot.

[0046] (Embodiment 2: Automatic Relaxation Function) During navigation in embodiment 1, the system in this embodiment can automatically start the relaxation mode even if the button for the relaxation mode is not pressed by the operator. In this case, the sensor can monitor the input, and when a predetermined threshold / force condition is reached, the system automatically starts the relaxation mode. The predetermined threshold / force condition can be a threshold force value higher than the threshold force value for encouraging the user to use the relaxation mode. The predetermined threshold / force condition can also be based on the force change rate or the force difference between the measured force and the calculated force required for the push / pull amount with ideal kinematics of the catheter. When the system automatically starts the relaxation mode using the predetermined threshold / force condition, the system can also notify the operator that the relaxation mode has been automatically entered and limit the operation of the robot.

[0047] (Embodiment 3: Manual Insertion) The insertion stage of this third embodiment includes a motorized slider and a manual slider. The actuator is attached to the manual slider, and the manual slider is placed on the motorized slider. At the start of the procedure, the operator can manually set the position of the manual slider to an initial (zero) position. Then, the operator sets the position of the motorized slider to an initial (zero) position by commanding the controller. After initializing both the manual slider and the insertion slider, the operator attaches a catheter to the actuator of the manual slider. The operator also places an endoscopic camera in the tool channel of the robot. The controller asks the operator whether the controller can start the manual insertion mode.

[0048] Upon command from the operator, the controller starts the manual insertion mode. Here, the controller activates a relaxation mode that suspends the movement of the motorized slider and the acceptance of bending commands, and then performs a reduction in the force of the wire by force feedback control. At the same time, the controller displays to the operator an instruction for manual insertion using the manual slider. The operator manually inserts the robot using the manual slider. During this manual insertion, the operator checks the endoscopic image using the endoscopic camera. Furthermore, the controller monitors the position of the manual slider using the encoder of the manual slider. When the operator inserts the robot to a desired stage (i.e., the first bifurcation of the lung) by checking the endoscopic image, the operator commands the controller to end the manual insertion mode. Finally, the controller transitions the current state to the navigation mode.

[0049] An example of a typical illustrative workflow is as follows: the operator issues a command to enter manual insertion mode, followed by the controller activating the manual insertion mode, in which the controller activates the relaxation mode and continues to read the position of the manual slider using the encoder, and finally the operator inserts the robot using the manual slider.

[0050] (Embodiment 4: FTL Smoothing) Since the robot has multiple curved sections, a unique control mode called follow-the-leader (FTL) is employed. In this control mode, the user issues only the bending motion command for the most distal curved section, and all leading sections are automatically controlled by the controller to follow the path of the leader (the most distal curved section). During insertion, the controller guides the pose of the leading section to match the pose of its trailing section at that point on the insertion path. When the relax mode is used, the controller updates the FTL algorithm to guide the sections towards a new relaxed pose, resulting in a smoother motion transition during insertion.

[0051] When retracting the robot, another control mode is used called Reverse FTL (rFTL), where all sections are automatically controlled to retrace the pose from the same position during insertion. Again, when the relaxed mode is used, the rFTL algorithm updates the algorithm to reference the relaxed pose at a particular position and smooths the transition to that pose.

[0052] Further conditions that can benefit from the relaxed mode include:

[0053] Robot twisting - When a robot rubs along a wall, friction can cause it to rotate or twist around its longitudinal axis. When this happens, the robot becomes less controllable as it will no longer bend in the direction the system is telling it to. Relaxation here reduces interaction with the anatomy and allows the robot to naturally return to its initial orientation. To achieve this, the system needs to know that the robot is twisting. One way to do this is to have a sensor at the tip of the robot (a 6-DOF sensor). Alternatively, with a 5-DOF sensor, the system can detect if the robot is not bending in the expected direction.

[0054] Robot deviation - In some scenarios, collisions with anatomy may not show up as large forces along the drive wires if the interaction is "helping" the robot to bend in the intended direction. However, this is common when the desired bend angle is very large. Along with deviation, a situation can occur where a portion of the robot collapses. If this occurs, continuing to insert the robot will increase the severity of the deviation rather than advancing the tip. This scenario can be identified by the user as the robot's camera will no longer show any movement. It can also be detected by the system using the tip's position sensor. When this is detected, a deviation can be indicated to the user and relaxation can aid in the release of the robot by pulling it away from the wall and potentially helping to pull the deviation portion in the desired direction.

[0055] An example workflow covering the first two scenarios would be: navigate through the airway with FTL; the software detects that the tip position is not changing in the way the controller expects; the software indicates to the user that they need to relax; the user agrees; the controller relaxes the robot; the user exits relax mode; and continue navigation with FTL.

[0056] Robot Retraction - Currently, the system uses the rFTL algorithm to retract the path taken by the robot tool during insertion. However, even with the rFTL algorithm, collisions with anatomical structures can occur due to changes in the shape of the anatomical structures due to respiratory motion, or simply because the path taken during insertion was not ideal. If a relaxed mode is used during retraction, the collision with the anatomical structure will be detected and the robot's posture can be adjusted immediately to minimize further impact.

[0057] Respiratory Cycle Phase - At the extremes of the respiratory cycle, the shape of the airway may appear quite different. In such a scenario, the robot may exert large forces on the anatomy if the shape no longer matches the initial shape. If the respiratory cycle can be detected, the system can enter a relaxation mode where large interactions are expected (or previously detected) and exit the relaxation mode after the phase is completed. One possible way the robot can detect the respiratory cycle is by using a position sensor on the tip to track its displacement.

[0058] Tool exchange - When the robot has a large curvature, it can be difficult to remove / insert a tool through the tool channel. In this scenario, relaxation allows the system to detect the force exerted by the tool and relax its posture to accommodate the passage. The system can store the posture before relaxation and return to it after the tool exchange is completed.

[0059] Longitudinal force on tip (head-on collision with anatomy) / compression - The robot may collide head-on with anatomy at its tip. One scenario where this may occur is during stage insertion. This can be detected by contact and / or force sensors at the tip. This will compress the robot, so sensors at other positions may be able to identify this collision. For example, without this implementation, a compression force will generate a delta force in the same direction for all sensors in that section, which can be detected.

[0060] In some cases, the compressive force may be too great and changing the robot's position may not release it from the collision, in which case another way to reduce interaction with the anatomy may be to retract (or in some circumstances insert) the stage.

[0061] Entering an alternate mode: In addition to the buttons on the controller or user interface, the relaxed mode can be triggered by a separate "emergency button."

[0062] Instead of toggling relaxed mode on and off, the user can hold down a button and relaxed mode will only be active while the button is held down.

[0063] The force threshold for command or automatic relaxation may differ based on the state of the robot and the scenario. For example, if the robot's output angle is large, a large force is expected. In another scenario, the robot may need to intentionally push the airway to orient in a particular direction (e.g., to aim at a lesion in targeting mode).

[0064] As above, the force thresholds may be different for each section of the robot. In one scenario, a user may want to set the threshold higher for the tip section since they have more control over it.

[0065] Continuing that train of thought, each actuation wire can have its own threshold based on state. For example, the force threshold can be lower when the wire is being pushed, since the wire is more likely to break in compression than in tension. Additionally, each wire can enter a relaxation mode independently.

[0066] Because the force sensors are on the proximal portion of the drive wires, they can detect forces applied anywhere along the length of the robot, but cannot know its location. By using other sensors along the length of the body (shape, tactile, position, etc.), it is possible to more precisely pinpoint where the force is occurring.

[0067] The system can also automatically exit the relax mode based on certain criteria, such as when the force drops below a threshold, when the robot reaches a desired posture, or after a certain amount of time.

[0068] The system can analyze medical images (e.g. pre-operative planning CT) or endoscopic images to pre-emptively identify difficult areas where relaxation is likely to be effective. It can then notify the user of the need for relaxation when they approach or enter this area. Its position relative to the airway challenge can be determined using a position sensor or by measuring the insertion distance so far (via the insertion stage). One possible way the software could assess the airway is by using a 'difficulty score' (see PCT / US21 / 44787). Similarly, by comparing the shape of the robot to the segmented airway (e.g. using shape sensors and forward kinematics), the system can actively prepare the robot pose to match the airway.

[0069] Alternative methods for fitting the airway: Release the drive wire and let the catheter relax naturally - for navigation continuity, the controller needs to know the robot pose at each step of advancement. This is necessary for FTL function (as each section follows the pose of the subsequent distal section) and for rFTL (as the pose of the catheter pose retracts during retraction). Additionally, the algorithm includes a "smoothing" function to reduce large movements during activation.

[0070] Since this method is performed passively, the system needs to determine the post-relaxation orientation. One way is to have shape or position sensors on each section, and the orientation can be measured from these means. Another way is to have relative or absolute encoders on the drive wires, and measure the position of the drive wires.

[0071] Complementary embodiments: As you relax, continue bending in a direction that moves you away from the wall, rather than simply leaning into it.

[0072] Although the present disclosure has been described with reference to exemplary embodiments, it will be understood that the present disclosure is not limited to the described exemplary embodiments.

Claims

1. 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; A driver for driving the wire; an operation console for controlling operation of the driver based on input; A robot device comprising: the operation console includes at least one motor for operating the at least one wire, and at least one sensor connected to the at least one wire for detecting a force applied to the at least one wire; the operation console further comprises a relax mode for reducing a tensile or compressive force of the at least one wire to relax at least one of the bendable sections by using force feedback control of the at least one motor based on information from the at least one sensor. Device.

2. and the relax mode further comprises reducing tension or compression on the at least one wire to relax at least one of the bendable sections.

2. The apparatus of claim 1.

3. Reducing both the compressive and tensile forces is achieved by releasing the force on the at least one wire using the force feedback control, without relying on the mechanical structure of the actuator.

3. The apparatus of claim 2.

4. the relax mode is initiated based on force measurement data for the at least one wire.

2. The apparatus of claim 1.

5. The relaxation mode may be passively activated when the at least one sensor reaches a threshold force measurement.

5. The apparatus of claim 4.

6. The relaxation mode can be activated or deactivated by the end user.

2. The apparatus of claim 1.

7. the end user operates a button to activate and / or deactivate the relaxation mode; 7. The apparatus of claim 6.

8. the end user operates a button to activate the relax mode, which automatically deactivates after a predetermined time interval; 7. The apparatus of claim 6.

9. the operating console does not reflect the end user's bending commands to the bendable section in a relaxed mode; 2. The apparatus of claim 1.

10. a base stage for longitudinally moving the continuum robot and the drive; Further comprising: The operation of the base stage is controlled by the operation console by commands from the end user.

2. The apparatus of claim 1.

11. The relaxation mode is activated only when the base stage is stationary.

11. The apparatus of claim 10.

12. A relax mode can be activated to insert and / or remove the plurality of curved sections.

2. The apparatus of claim 1.

13. A method for operating a robotic device, comprising: The robot device includes: 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; a driver for driving the at least one wire; an operator console for controlling operation of the drive based on inputs; a sensor connected to the at least one wire for detecting a force on the at least one wire; Equipped with The method comprises: receiving input from a user to the operations console; sending a signal from the operator console to the driver for driving the at least one wire to operate the continuum robot; monitoring the sensor to detect a force applied to the sensor; activating a relaxation mode for reducing tension or compression of the at least one wire to relax at least one of the bendable sections by using force feedback control of the at least one motor based on information from the sensor; A method comprising:

14. and the relax mode further comprises reducing tension and compression of the at least one wire to relax at least one of the bendable sections.

14. The control system of claim 13.

15. Reducing both the compressive and tensile forces is achieved by releasing the force on the at least one wire using the force feedback control, without relying on the mechanical structure of the actuator.

15. The control system of claim 14.

16. the relax mode is initiated based on force measurement data for the at least one wire.

14. The control system of claim 13.

17. The relaxation mode can be activated or deactivated by the end user.

14. The control system of claim 13.

18. the end user operates a button to activate the relax mode, which automatically deactivates after a predetermined time interval; 20. The control system of claim 17.

19. the controller does not reflect the end user's bending commands to the bendable section in a relaxed mode.

14. The control system of claim 13.

20. an insertion stage for moving the continuum robot longitudinally relative to the continuum robot; the operation of the insertion stage is controlled by the controller in response to commands from the end user; 14. The control system of claim 13.

21. A relax mode can be activated to insert and / or remove the plurality of curved sections.

14. The control system of claim 13.

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