Method, device and system for control of medical equipment

Abstract

A continuum robot having independently maneuverable bendable sections for advancing the robot through a passageway without contacting fragile elements in the passageway, the robot includes systems, methods and apparatus for transitions between modes for ease of use for a physician and transition park modes to ensure accurate operation of the continuum robot.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED PATENT APPLICATIONS This application claims priority from U.S. Provisional Patent Application No. 63 / 305,478, filed in the U.S. Patent and Trademark Office on February 1, 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 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. [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 with 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 surrounding elements.

[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] Examinations and surgeries using endoscopes have the problem that they require skill to operate the endoscope. One of the reasons for this is that doctors cannot directly observe the position of the insertion part of the endoscope, and it is not easy to recognize the relationship between the operation direction and the movement direction in the observed image. In particular, as the number of bendable parts increases, the position of the insertion part changes in a complex manner, making operation even more difficult. As a result, the time required for examinations and surgeries increases, which increases the burden on doctors and patients.

[0008] Various related art disclosures in the field include the following. International Publication No. 2020243285 (hereinafter "Related Art 1") discloses a method of a steerable medical instrument for controlling the driving force applied to the control wire under a passive control mode, and the amount of strain or displacement of the control wire is reduced so that the control wire conforms to the external force. Also, US Patent Application Publication No. 20180192854 (hereinafter "Related Art 2") provides a method and device for controlling a flexible manipulator including multiple bending mechanisms via a control device. The control device can select a specific viewing angle operation or a remote center operation among the operation modes of the bending operation. Finally, US Patent Application Publication No. 20180243900 (hereinafter "Related Art 3") discloses a mechanism for leading follow control (also known as follow the leader). The distal section is bent via a user command, the middle section advances a predetermined distance, and the proximal section is automatically bent based on the bending angle of the distal portion.

[0009] However, none of the known disclosures address the complexity resulting from the robotic catheter having many degrees of freedom required to control and complete various tasks intended by the application (Related Art 1, 2, 3). It would be too complicated and counterintuitive for a human operator to directly command such many degrees of freedom of the robotic catheter. In the motion modes shown in Related Art 2 and 3, the unique motion rules using such many degrees of freedom of the catheter can reduce the degrees of freedom that the human operator must control. However, when a robotic catheter system has multiple motion modes, it is very complicated and counterintuitive for an operator to select an appropriate motion mode from the multiple motion modes according to various situations using a conventional motion switch button.

[0010] Thus, the present invention provides a solution to this challenge. Summary of the Invention

[0011] Therefore, to address such typical needs in the industry, the apparatus of the present disclosure teaches a robotic device comprising: a continuum robot having at least a first curved section bent by a first wire; a driver for driving the wire; a base fixed to the driver and capable of moving the continuum robot in one axial direction; and an operation console for controlling the operation of the driver and the operation of the base. The operation console assigns different motion modes to the robotic device based on the forward or backward motion of the robotic device.

[0012] A robotic device comprising: a continuum robot having a first curved section bent by at least a first wire; a driver for driving the wire; a base fixed to the driver and capable of moving the continuum robot in one axial direction; and an operation console for controlling the operation of the driver and the operation of the base based on an input, wherein the operation console assigns different motion modes to the robotic device based on a forward or backward motion of the robotic device, and the motion modes are a mapping between the input and the motion of the driver and the motion of the base.

[0013] In a further embodiment, the continuum robot further comprises a second curved section proximal to the first curved section, the second curved section being bent by at least a second wire driven by the driver.

[0014] Additionally, the present invention provides a park mode that suspends operation of the base by the operator console. The park mode may be initiated when the robotic device is stationary.

[0015] In yet another embodiment, the robotic device remains stationary when there is no command for movement from the operator console.

[0016] In further embodiments, park mode is used as a transition from other modes such as FTL mode, rFTL mode, target mode, and BKD mode. Additionally, FTL mode is utilized for forward movement, rFTL mode is utilized for backward movement, and park mode is utilized between FTL mode and rFTL mode.

[0017] The present invention further contemplates comprising an insertion sensor in communication with the continuum robot and detecting forward, backward or stationary movement of the continuum robot within the cavity, hi some embodiments, the insertion sensor is located at the base.

[0018] In yet another embodiment, the present invention provides a pause mode that suspends movement of the base and at least the first wire by the operator console.

[0019] The present invention also teaches a method for operating a robotic device. The robotic device includes a continuum robot having a first curved section bent by at least a first wire; a driver for driving the wire; a base fixed to the driver and capable of operating the continuum robot in one axial direction; and an operation console for controlling the operation of the driver and the operation of the base. The method includes the steps of: operating the operation console to send a signal to the driver; the driver moving the base forward or backward based on the signal from the operation console; and the driver moving the robotic device forward or backward based on the signal from the operation console. The operation console assigns different motion modes to the robotic device according to the forward or backward motion of the continuum robot.

[0020] 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]

[0021] 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.

[0022] [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 an image and close-up of a target area within the lung associated with the path of the continuum robot in accordance with one or more embodiments of the present device, method or system. [Diagram 5] FIG. 5 is a diagram of various drive and park modes according to one or more embodiments of the present apparatus, methods or systems. [Figure 6] FIG. 6 shows a diagram of various drive modes, park mode and target mode, according to one or more embodiments of the present apparatus, methods or systems. [Figure 7] FIG. 7 provides an illustration of various drive modes, park mode and target mode, according to one or more embodiments of the present apparatus, methods or systems. [Figure 8] FIG. 8 shows diagrams of various drive and target modes at different lung locations according to one or more embodiments of the present device, method or system.

[0023] 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

[0024] In this disclosure, applicants first detail the mechanics of the continuum robot, followed by a detailed description of the method of catheter attachment / detachment functions, and systems and procedures associated with the continuum robot and those functions.

[0025] 1 is a system block diagram of an exemplary bendable medical device system 10 including various auxiliary components intended to build a complete medical system. The bendable medical device system 10 includes an actuator or driver 12 (also referred to herein as a "driver") having a base stage 18 for driving wires, a bendable medical device 13, a positioning cart 14, an operator console 15 having push buttons, thumbsticks, and / or joysticks, and navigation software 16. The operator console 15 includes user input devices such as push buttons, thumbsticks, and / or joysticks. The operator console 15 also includes a processor for processing inputs from a user, inputs from sensors, and the like. The processor further processes the mapping between the inputs and the driver and base movements.

[0026] 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.

[0027] The exemplary bendable medical device system 10 can interact with external system components and clinical users to facilitate use with a patient.

[0028] 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.

[0029] 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.)

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] (Embodiment 1) As detailed above, the robotic catheter 100 of this embodiment includes at least one distal curved section 102 with robotically controlled insertion and removal of the catheter 100 relative to a target. This embodiment maps various motion modes as end-user active operation modes according to insertion and removal motion commands without the use of traditional motion toggle buttons.

[0035] [Design Example 1 - Latest design for lung use] Specifically, in a first design example, a robotic catheter 100 has three curved sections 102 (distal), 104 (middle), and 106 (proximal) and is inserted into a lung airway. In the workflow, a target lesion is located within the lung to be reached by the robotic catheter 100 (FIG. 4). The robotic catheter 100 is navigated through the airway to the target lesion and also provides a pathway (tool channel) for delivery of an appropriate tool, such as a biopsy tool or a therapeutic tool.

[0036] When navigating the catheter 100 to the lesion, the end user inserts and removes the robotic catheter 100. During insertion and removal, the operator requires different motion modes to steer the distal curved section 102, including: insertion - the operator needs to steer the distal curved section 102 to turn through the airway and select the bifurcation while minimizing interaction with the airway by synchronizing the insertion motion; and removal - the operator needs to retract the catheter 100 along the insertion path by synchronizing the removal motion.

[0037] The following motion modes reflect these needs: Insertion-Follow-the-Leader (FTL) mode allows the operator to control the orientation / trajectory of the distal curved section 102, which is the leading section in this mode, using the joystick of the operation console 15. In this operation console 15, the system calculates commands for the drive 12 based on input from the joystick using robot kinematics and servo control between the operation console 15 and the drive 12 via encoders. When the operator inserts the catheter 100 using the base stage 18 and the drive 15, the system uses the commands for the leading section to control the following intermediate curved section 104 and proximal curved section 106.

[0038] Removal: When utilizing the reverse follow-the-leader (rFTL) mode, the system stores the bending commands for all three curved sections 102, 104, 106 during the insertion mode, and when prompted by the operator via the operation console 15 to remove the catheter, the system executes the follow-the-leader mode in the reverse direction. At this time, the operator uses the operation console 15 to control only the insertion depth of the base stage 18. This simplifies the operator's control over the removal of the catheter 100 while minimizing interaction with the airway.

[0039] Park mode is a mode that is entered when the base comes to a stop, and can also be entered automatically when the base comes to a stop. In this mode, the operator has control over only the tip section. In some embodiments, the mid and proximal sections of the three-section robot cannot be moved by the joystick. The operator can exit park mode by starting either forward or reverse motion of the base stage 18. The advantage of park mode is that the user can stop during insertion or retraction to decide which direction or trajectory to follow. Another advantage of park mode is that it simplifies the transition between FTL and rFTL modes. Without park mode, the system must determine the previous state and switch appropriately. With rFTL, the user has no control over the tip once the base motion has stopped and rFTL mode remains, but such control is important, for example, for the user to see different directions within the lumen.

[0040] To activate these modes, the system of this embodiment utilizes insert and remove commands from the operator instead of a dedicated motion toggle button. As seen in FIG. 5, the clear boxes represent commands that can be operated by the operator, and the shaded boxes represent commands that are prohibited for the operator. The system includes two buttons, one for inserting and one for removing the catheter. The operator can command forward or backward motion from the operation console 15 (which in turn commands the base stage 18), and the catheter 100 can be advanced when the operator presses the insert button, and the catheter 100 can be retracted (backward) when the operator presses the remove button.

[0041] When the operator is not pressing either the insert or remove button, the catheter 100 idles in the insertion position (park mode, FIG. 5). The system activates FTL mode only while the insert button is pressed, and rFTL mode only while the remove button is pressed.

[0042] [Design example 2] By mapping different motion modes based on insertion and removal commands, the system can provide intuitive control to the operator without requiring additional operator judgment as to which motion mode is appropriate for the workflow, which can also reduce the chance of human error in selecting the wrong motion mode.

[0043] Since catheter 100 procedures generally involve insertion and removal movements and have different needs for catheter movement between insertion and removal movements, the present system, which maps various motion modes according to insertion and removal commands, would be beneficial in that it allows for combinations of motions different from the FTL and rFTL motion modes described above.

[0044] As a design example, the insertion and removal steps include different needs: Insertion: The operator needs to use a relatively stiff curved section to stabilize the base of the curved section. Removal: The operator needs to use a relatively flexible curved section to remove the catheter body along with the inserted hole with minimal interaction.

[0045] To vary the flexibility of the curved sections, a backdrivable (BKD) mode can be utilized. In this design example [2], the actuation section 12 and the actuators 130-132 for bending the curved sections 102, 104, 106 have at least one force sensor 170 that measures the force on the drive wires 111(a-c)-113(a-c) of the catheter 100, and the force sensor 170 of the actuation section provides a feedback force measurement. Such a force sensor 170 (see FIG. 3) can be incorporated immediately after the catheter-actuator connector and measure the force on the wire guides 160-164. The force sensor 170 and the actuators 130-132 form a feedback control loop. In this mode, the actuators 130-132 counteract the external force on the catheter 100, reducing the force on the wire guides 160-164, effectively making the catheter 100 flexible. The sensor 170 operates to detect the state of the drive wires. The state can be a force or a position that is sent back to the operator console 15 .

[0046] Overall, an important aspect of the present invention is the mapping of different motion modes according to insertion and removal commands.

[0047] (Embodiment 2) The robotic catheter 100 of the second embodiment has two motion modes for the insertion step and removal step of the first embodiment, and further provides an intuitive mode selection method for the motion modes.

[0048] As shown in the first embodiment, the robotic catheter 100 with the insertion and removal motions has specific needs when inserting and removing the catheter. These needs are exclusive to the insertion and removal steps in addition to being specific to the insertion and removal steps. The operator should not activate other modes than the intended motion mode in the insertion and removal steps. Considering this, in the system of this embodiment, when the catheter 100 is stopped (stable) for the insertion and removal motions, the operator can activate other motion modes, which will be referred to as park mode in this specification.

[0049] The park mode is proposed to be activated whenever the base stage 18 is stopped from moving and to aid in switching between all drive modes.

[0050] [Design Example 1 - Latest design for lung use] This design example is for the same pulmonary application as design example 1 of embodiment 1, but the system now includes a targeting mode in addition to the FTL and rFTL modes. In targeting mode, the base stage 18 is prohibited from moving, but the operator can command the distal curved section 102 of the robot, while the control algorithm commands the bending angles of the middle curved section 104 and the proximal curved section 106.

[0051] In this targeting mode, the system provides fine adjustment of the translational position and orientation of the tip 172. The system disables the insertion and removal motions and provides joystick control of the distal curved section 102 for the translational position of the tip 172 and the orientation of the tip 172. In one design embodiment, the joystick may be provided with two thumbsticks to allow separate control of the translational position and orientation of the tip 172. When the operator manipulates one of the thumbsticks to change the translational position of the tip 172, the system simultaneously controls the distal curved section 106 and the middle curved section 104 based on robot kinematic calculations and servo control by the actuators 130-132.

[0052] The clinical workflow requires this targeting mode when the catheter 100 reaches a position near the target. To include this targeting mode, the park mode can act as a hub for three drive modes (FIG. 6). As in design example 1 of embodiment 1, the FTL mode is activated by an insert (forward) command, allowing both the base stage 18 and the steering tip 172 to be under user control, and the rFTL mode is activated by a remove (reverse) command.

[0053] The targeting mode can be activated using a dedicated mode switch button only when the system is in park mode, i.e., when the system has actuated / executed both insertion and extraction commands. Furthermore, in park mode, the system allows the operator to control the tip 172 without moving the base stage 18 back and forth. Such mode switching allows the system to reduce the human factor error of accidentally activating the targeting mode during insertion and extraction while providing an intuitive mode selection for the insertion and extraction steps.

[0054] In further embodiments, the system may include additional conditions for activating the targeting mode from the park mode or for stopping the targeting mode and returning to the park mode. For example, the system may include a threshold distance between the catheter tip 172 and the target lesion that the operator may define using the navigation system during the planning step. When the catheter 100 reaches the target lesion within the threshold distance (e.g., 25 mm), the system allows the operator to use the targeting mode. With this design, the system further reduces human error.

[0055] Furthermore, when the system exits the targeting mode, the system can have an additional operation to confirm the shape of the catheter 100. The system can provide the operator with a "shape homing" function, which returns the shape of the catheter 100 when the system enters the targeting mode from the park mode, and requires the operator to execute this shape homing function before the operator can exit the targeting mode and return to the park mode. After the shape homing function is used, the system allows the operator to exit the targeting mode when a dedicated mode switching button is pressed. This design allows the system to maintain the continuity of the catheter shape in the FTL and rFTL modes after the targeting mode.

[0056] [Design Example 2 - Advanced design for pulmonary use with additional peripheral motion modes] This design example includes additional motion modes from design example 1 of this embodiment. In addition to the previous three motion modes, this design example includes a calibration mode and a rest mode (FIG. 7). Both of these motion modes are related to the park mode.

[0057] In calibration mode, the system checks performance consistency between the catheter 100 and the proximal stage 18 in both disabled and enabled states. In calibration mode, the system also establishes the sensor 170 origin for the catheter curved sections 102, 104, 106 and the proximal stage 18. After calibration mode, the system activates park mode. From park mode, the operator cannot freely activate calibration mode.

[0058] In the pause mode, the system fixes the attitude and insertion position of the catheter 100. The operator can use this mode to maintain the current attitude and insertion position of the catheter 100 when he or she wants to take his or her hands off the joystick operation console 15 or when he or she wants to interrupt the procedure for any reason.

[0059] The transition from calibration mode to park mode may be event-driven by the navigation software. After the system verifies the alignment of the catheter 100, the proximal stage 18, and the sensor 170 origin, the navigation software may ask the operator whether the system can proceed to the navigation procedure. With the operator's approval, the system may initiate park mode.

[0060] The transition between sleep and park modes can be implemented using a dedicated mode-switch button, foot switch, or the like.

[0061] An advantage of the present invention is that by mapping different motion modes based on the insertion and removal commands, the system can provide intuitive robotic control to use the appropriate motion mode for the procedure among multiple motion modes. The proposed configuration reduces the dependency on operator judgment in mode selection compared to traditional mode switching buttons, which will reduce human factor errors in selecting the wrong motion mode.

[0062] A further advantage is that by mapping additional motion modes to the park mode in addition to those mapped to the insert and remove commands, the system can provide various combinations of the motion modes mapped to the insert and remove commands with other modes using intuitive robotic control. In this configuration, the system eliminates the risk of using such additional motion modes during the insert and remove steps, thus reducing the mental burden on the operator.

[0063] In conclusion, the present invention provides many advantages, including, among others: the rFTL control algorithm automatically controls the tip 172 section, but the user has no control over it; to allow control of the tip 172 after reverse travel, the system enters a park mode when the rFTL is stopped, eliminating the need for short distance travel; the system allows transition from the backdrivable mode to the park mode, which allows transition to all other alternative drive modes, such as reverse rFTL; in the forward FTL mode, only commands are received for the tip 172 or distal curved section 102, but not for the middle curved section 104 or the proximal curved section 106; whereas, the target mode is recognizable within the DSP robot control software as a distinct drive mode for receiving commands for both the tip 172 or distal curved section 102 and the middle curved section 104.

[0064] 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 first curved section bent by at least a first wire; A driver for driving the wire; a base portion fixed to the driver and capable of moving the continuum robot in one axial direction; an operator console for controlling operation of the driver and operation of the base based on input; A robot device comprising: the operation console assigns different motion modes to the robotic device based on a forward motion or a backward motion of the robotic device; The motion mode is a mapping between the input and the motion of the driver and the motion of the base. Device.

2. the continuum robot further comprises a second bending section proximal to the first bending section, the second bending section being bent by at least a second wire driven by the driver; 2. The apparatus of claim 1.

3. a park mode based on stopping a forward or backward movement of the robotic device; the mapping between inputs and motion of the base is suspended and the mapping between inputs and motion of the driver is allowed; 2. The apparatus of claim 1.

4. The operation console includes: Assigning an FTL operating mode based on forward motion; assigning an rFTL mode of operation or a relaxed mode of operation based on the backward motion; assigning the park mode based on a cessation of forward or reverse motion; 4. The apparatus of claim 3.

5. Park mode is used as a transition from other modes, including but not limited to FTL mode, rFTL mode, target mode, rest mode, and relax mode; 2. The apparatus of claim 1.

6. A sensor for detecting a state of the drive wire is further provided. The state is a force or a position.

2. The apparatus of claim 1.

7. an insertion sensor in communication with the continuum robot and detecting forward, backward or stationary movement of the continuum robot within a cavity; The apparatus of claim 1 further comprising:

8. and a pause mode for suspending operation of the base and the at least first wire by the operator console.

2. The apparatus of claim 1.

9. and a relaxation mode for releasing the force on the at least first wire.

2. The apparatus of claim 1.

10. A method for operating a robotic device, comprising: The robot device includes: a continuum robot having a first curved section bent by at least a first wire; A driver for driving the wire; a base portion fixed to the driver and capable of moving the continuum robot in one axial direction; an operator console for controlling operation of the driver and operation of the base based on input; Equipped with The method comprises: receiving input from a user or a sensor into the operations console; sending a signal from the operator console to the driver and / or the base, the operator console being configured to assign different motion modes to the robotic device based on a forward or backward motion of the robotic device and the signal sent from the operator console, the motion modes being a mapping between inputs and movements of the driver and movements of the base; advancing or retracting the base based on a signal from the operator console; moving the robot device forward or backward based on a signal from the operation console; The method includes:

11. the continuum robot further comprises a second bending section proximal to the first bending section, the second bending section being bent by at least a second wire driven by the driver; The method of claim 10.

12. a park mode based on stopping a forward or backward movement of the robotic device; the mapping between inputs and motion of the base is suspended and the mapping between inputs and motion of the driver is allowed; The method of claim 10.

13. The operation console includes: Assigning an FTL operating mode based on forward motion; assigning an rFTL mode of operation or a relaxed mode of operation based on the backward motion; assigning the park mode based on a cessation of forward or reverse motion; The method of claim 12.

14. Park mode is used as a transition from other modes, including but not limited to FTL mode, rFTL mode, target mode, rest mode, and relax mode; The method of claim 10.

15. A sensor for detecting a state of the drive wire is further provided. The state is a force or a position. The method of claim 10.

16. an insertion sensor in communication with the continuum robot to detect forward, backward or stationary movement of the continuum robot within a cavity; The method of claim 10.

17. and a pause mode for suspending operation of the base and the at least first wire by the operator console. The method of claim 10.

18. and a relaxation mode for releasing the force on the at least first wire. The method of claim 10.

Images