Smoothing of a continuous robot's leader-following (FTL) function

Abstract

This specification provides one or more devices, systems, methods, and storage media for performing correction, adjustment, and / or smoothing of a continuum robot. Examples of such correction, adjustment, and / or smoothing include correction of one or more sections or parts of a continuum robot as it moves, leader-following smoothing, state transitions or changes, and path smoothing of a continuum robot. Examples of applications include imaging, evaluation, and diagnosis of biological objects such as the gastrointestinal tract, heart, bronchi, and / or eyes, and acquisition by one or more optical instruments such as optical probes, catheters, endoscopes, and bronchoscopes. Furthermore, the technologies provided herein enable devices, systems, methods, and storage media that achieve more accurate images while improving processing and imaging efficiency, and that reduce physical and mental burden and enhance ease of use.

Description

Technical Field

[0001] Cross - Reference to Related Applications This application is related to U.S. Provisional Patent Application No. 63 / 504,972, filed on May 30, 2023, claims priority thereto, and the disclosure thereof is incorporated herein by reference in its entirety.

[0002] The present disclosure generally relates to imaging, and more particularly, to a continuum robot device, method, and storage medium for implementing robotic control of all sections of a catheter or imaging device, apparatus, or system to match states when each section reaches or approaches the same or similar (or substantially the same or substantially similar) state of a first section of the catheter or imaging device, apparatus, or system. This specification discusses one or more endoscopes, medical, cameras, catheters, or imaging devices, systems, and methods, and / or storage media used in combination therewith. One or more devices, methods, or storage media may be used for medical applications, and more particularly, may be used for or in combination with steerable flexible medical devices (such as endoscopes, cameras, catheters) that can be used as guiding tools and devices in medical procedures.

Background Art

[0003] Endoscopy, bronchoscopy, catheter examination, and other medical procedures allow easy visualization of the inside of the body. In such procedures, flexible medical tools may be inserted into the patient's body, and instruments may be passed through the tools to examine or treat areas within the body. For example, a bronchoscope is an endoscopic instrument for viewing inside a patient's airway. Catheters and other medical tools can be inserted through the tool channel of the bronchoscope to provide a path to a target area within the patient for diagnosis, planning, medical procedures, treatment, etc.

[0004] Robotic bronchoscopes, robotic endoscopes, and other robotic imaging devices may be equipped with tool channels or cameras and biopsy tools, and such devices (or users of such devices) may insert and remove cameras and biopsy tools to replace those components. Robotic bronchoscopes, endoscopes, and other imaging devices may be used in conjunction with display and control systems.

[0005] To capture images of the inside of the patient and to assist in the control and operation of bronchoscopes, endoscopes, and other types of imaging equipment / systems, imaging devices such as cameras may be positioned within the bronchoscope, endoscope, or other imaging equipment / system. Displays or monitors may also be used to view the captured images. Endoscopic cameras that may be used for control may be positioned at the distal end (e.g., the tip section) of the catheter or probe.

[0006] The display system can display images captured by the camera on a monitor. The display system may also have display coordinates used for displaying the captured images. Furthermore, the control system can control the direction of movement of the tool channel or camera. For example, the tool channel or camera can bend according to the control system. The control system may have an operating controller (e.g., joystick, gamepad, controller, input device, etc.), allowing the physician to control the camera, probe, catheter, etc., by rotating or otherwise moving them. However, such control methods and systems have limited effectiveness. While information obtained from the endoscopic camera at the distal end or tip section can help determine the direction in which the distal end or tip section should move, such information does not provide details on how other curved sections or parts of the bronchoscope, endoscope, or other types of imaging equipment should move to most effectively assist navigation.

[0007] Furthermore, if the direction or position of the tip changes while the stage is stationary, discontinuous paths will be formed due to the change in the tip. Therefore, it is necessary to address and improve these discontinuous paths.

[0008] Therefore, in order to track the path of the leading edge of imaging equipment and imaging systems and to address any possible discontinuous paths, there is a need for equipment, systems, methods and / or storage media that provide features or details on how other curved sections or parts of such imaging equipment and imaging systems (e.g., endoscopes, bronchoscopes, and other types of imaging equipment / systems) should move to most effectively support navigation and / or their condition.

[0009] Therefore, it would be desirable to provide at least one imaging, optical, or control device, system, method, and storage medium for controlling one or more endoscopes or imaging devices or systems by, for example, implementing automatic control (e.g., robotic control) or manual control of each part or section of at least one imaging, optical, or control device, system, method, and storage medium, to track the state of a first part or section, match each part or section to the state of the first part or section when it reaches or approaches the same or similar (or nearly the same or nearly similar) state, and to address any discontinuous paths that may occur due to movement or changes in state. [Overview of the project]

[0010] Therefore, a broad object of this disclosure is to provide imaging devices, systems, methods, and storage media for using navigation and / or control methods (manual or automatic) in one or more devices or systems (e.g., imaging devices or systems, endoscopic imaging devices or systems, etc.) for imaging (e.g., computed tomography (CT), magnetic resonance imaging (MRI), etc.). Navigation and / or control may be employed so that a device or system having multiple parts or sections (e.g., multiple curved parts or sections) functions as follows: (i) tracking the path of each part (e.g., tip) or part or section of the device or system; (ii) each part or section being in the same, similar or substantially similar state as another part or section of one or more devices, systems, methods and / or storage media of the Disclosure (e.g., position or other state in a target, object or specimen; position or other state in a patient; position or state of a target in an image or frame; setting or predetermined position or state in an image or frame when a first part or section reaches or approaches a setting or predetermined position or state at some point in time and one or more other parts or sections of the part or section reach a setting or predetermined position or state at one or more other points in time; other states (iii) to address any discontinuous paths that may occur (e.g., due to a change in any part of the device or system (e.g., state), or other movement or change in state / transition) when reaching or approaching a state (e.g., orientation, position, posture, navigation, path (whether continuous or discontinuous), state transition, or other desired movement or combination of movement (e.g., one or more features of this disclosure may support navigation, orientation, or other types of movement described herein or desired by the user)), or any state and / or combination of movement described herein or desired by the user; and (iii) to address any discontinuous paths that may occur (e.g., due to a change in any part of the device or system (e.g., state) or other movement or change in state / transition). In one or more embodiments, the orientation or state may include one or more degrees of freedom.For example, in at least one orientation embodiment, two degrees of freedom may be used, which may include an angle representing the magnitude of the bend and a plane representing the direction of the bend. In one or more embodiments, matching states may involve matching, replicating, mimicking, or otherwise copying other characteristics (e.g., vectors relating to each section or part of one or more sections or parts of the probe or catheter) for different parts or sections of the catheter or probe. For example, a transition or change from a base angle / plane to a target angle / plane may be set or predetermined using transition values ​​(for example, but not limited to, the base orientation or state may have a stage of 0 mm, an angle of 0 degrees, and a plane of 0 degrees, while the target orientation or state may have a stage of 20 mm, an angle of 90 degrees, and a plane of 180 degrees. Intermediate values ​​for the stage, angle, and plane may be set depending on the number of transition orientations or states that may be used).

[0011] One or more embodiments of the present disclosure avoid the aforementioned problems by: (i) when each part or section of a plurality of parts or sections reaches (or approaches) the same, similar, or nearly the same or nearly similar state or location of another part or section of one or more devices, systems, methods and / or storage media of the present disclosure (e.g., setting or predetermined location or state, target location or state, imaged location or state, another state as described herein (e.g., orientation, position, posture, navigation, path (whether continuous or discontinuous), state transition, other desired motion or combination of motion (e.g., one or more features of the present disclosure may assist navigation, orientation, or other types of motion described herein or desired by the user)), any state described herein or desired by the user, and / or when the plurality of parts or sections reach (or approach) the state, navigation and / or orientation (or posture, or position, etc.) (ii) to provide a simple and fast method for standardizing the display or viewing of images and / or the control of the state, navigation and / or orientation (e.g., rotational direction, posture, state changes, etc.) of multiple parts or sections (e.g., multiple curved parts or sections) of a device or system (e.g., catheter, probe, endoscope, camera, etc.) to operate in accordance with state transitions / changes etc. as described herein; (ii) to perform robotic control of a catheter or probe by tracking a path of a part of the device or system (e.g., by mapping the path or device or system to a stage position or state, or other path-like information (e.g., a position sensor (e.g., an electromagnetic (EM) sensor), another type of sensor, etc.)); and / or (iii) to smooth out discontinuous path differences or inconsistencies across one or more stage positions / states, or across one or more positions / states relating to other path-like information or structures used for mapping path-like information.Any discussion of states, postures, positions, orientations, navigation, routes, and other types of states described herein is provided only as a non-limiting, non-exclusive set of examples, and any state described herein may be used interchangeably / substituting for, or additionally to, the types of states specifically mentioned. Thus, the navigation, control, and / or orientation (or posture, or position, etc.) features of this disclosure allow physicians and other users of the device or system to reduce or save effort and / or mental burden when using the device or system. Furthermore, one or more features of this disclosure can minimize or reduce interaction with anatomical structures, objects, or targets (e.g., tissues) (e.g., patients) during use, thereby reducing the physical and / or mental burden on the patient or target. In one or more embodiments of this disclosure, the effort of the user to control and / or navigate (e.g., rotate, move linearly, etc.) an imaging device or system, or a part thereof (e.g., one or more sections or parts of a catheter, probe, camera, etc.) is saved or reduced.

[0012] In one or more embodiments of an imaging device or system, or a part of an imaging device or system (e.g., a catheter, probe, etc.), the multiple sections or parts may be multiple curved sections or parts. In one or more embodiments, the imaging device or system may include manual and / or automatic navigation and / or control features. For example, the user of the imaging device or system may control each section or part, and / or the imaging device or system may function to automatically control each section or part (e.g., robotic control).

[0013] Navigation, control, and / or orientation features may include, for example: mapping the orientation (angular values, planar values, etc.) of a first part or section (e.g., a leading part or section, a distal part or section, a predetermined or set part or section, a user-selected or defined part or section, etc.) to a stage position / state (or the position / state of another structure used for mapping a path or path-like information); controlling the angular position of one or more parts or sections; controlling the rotational orientation or position of one or more parts or sections; and during navigation of an imaging device or system in or along a first direction, one or more other parts or sections (e.g., target) Controlling one or more other parts or sections of an imaging device or system to match the navigation / orientation / position / orientation of a first part or section when they reach the same location (e.g., within, within an object, within a sample, within a patient, within a frame or image, etc.) (e.g., reached later, reached at different times, etc.); controlling each section or part of an imaging device or system to return to match its previous position when the imaging device or system is moving or navigating in a second direction along a path (e.g., opposite direction along the path, return direction along the path, pull-back direction along the path, etc.), etc. For example, an imaging device or system (or a part thereof (e.g., probe, catheter, camera, etc.)) can enter a target along a path. In this case, the first section or part of the imaging device or system (or part of the device or system) is used to set the navigation or control route and position, and each subsequent section or part of the imaging device or system (or part of the device or system) is controlled to follow the first section or part so that each subsequent section or part matches the orientation and position of the first section or part at each point along the route. During retrieval, each section or part of the imaging device or system is controlled to match its previous orientation and position at each point along the route (for each section or part).Thus, imaging devices or systems (or catheters, probes, cameras, etc. of devices or systems) can enter and exit targets, objects, specimens, patients, etc. (e.g., the patient's lungs, the patient's esophagus, another part of the patient, another organ of the patient, a patient's tube, etc.) along the same path, using the same orientation for entry and exit, to achieve optimal navigation, orientation, and / or control paths. The navigation, control, and / or orientation features are not limited to these, and one or more devices or systems of this disclosure may include other desired navigation, control, and / or orientation specifications or details as appropriate, depending on the specific application or use. In one or more embodiments, but not limited to, the first part or section may be the distal or apical part or section of the imaging device or system. In one or more embodiments, the first part or section may be any predetermined or configured part or section of the imaging device or system, which may be manually predetermined or configured by the user of the imaging device or system, or may be automatically configured by the imaging device or system.

[0014] In one or more embodiments, an effective method of smoothing may be to direct a section (e.g., a distal or apical portion or section) to a direct path between orientations. In one or more embodiments, the direct path may be the shortest path, and the smallest possible volume may be used for efficiency. In one or more embodiments, an indirect path may be used. When an indirect path may be used, the movement (e.g., one section, a first portion or section, etc.) may also affect subsequent portions or sections of the catheter or probe. When a direct path may be used, the movement and resulting effects on subsequent portions or sections are reduced and / or minimized. Such reduction or minimization is important and useful to the user of the catheter or probe when the camera is at (or near) the very end or apical portion or section of the catheter or probe, or to a continuum robotic system or device that automatically controls the catheter or probe. To reduce and / or avoid undesirable movement (e.g., that may result from indirect movement affecting the tip section or other parts of the catheter or probe), the user may adjust the orientation of the tip section or section (e.g., manually), or the system or device may function to automatically adjust the orientation of the tip section or section (e.g., via one or more of its processors). In one or more embodiments, when the user moves the device or system (or a part of the device or system such as a stage, a structure used for mapping a path or path-like information, a probe, a catheter, etc.) forward, the imaging view or camera view may also move forward. In one or more embodiments, when an indirect path approaches its final orientation, the orientation of the catheter or probe moving along the indirect path may be adjusted (e.g., an adjustment to the orientation of the tip section or section). Additional adjustments may be used if the orientation adjustment (e.g., an adjustment to the orientation of the tip section or section) may be incomplete or eliminated by additional adjustments (e.g., if the original or initial orientation adjustment may have been avoided or was unnecessary).The orientation can be stored in a history (for example, in memory or other storage media such as the memory or storage medium described herein or memory known to those skilled in the art), so the orientation can be repeated for each tracking section (for example, each section after the leading section or part). Adjustments may also be made by the user (for example, manually) or through one or more processors of the device or system (for example, automatically) to consider unnecessary movements or movements that could be done more efficiently, or to adjust or correct such movements. In one or more embodiments, the adjustments can be stored in the history along with the orientation, so the system or device can perform adjustments for each tracking section, thereby potentially eliminating the need for the user to manually and repeatedly consider unnecessary movements as the system or device performs or provides this feature.

[0015] One or more embodiments of the present disclosure can achieve direct path smoothing by gradually directing each stage position / state information (or other structure-based path, or path-like state / position information) to a final orientation along a smoothing range. To gradually direct each stage position / state (or other path-like position / state) to a final orientation along a smoothing range, the system or apparatus can interpolate the “orientation change” occurring in a single stage position / state (or other structure-based mapping path-like position / state) in steps or between steps, with each step being closer to the final orientation than the previous step.

[0016] In one or more embodiments of this disclosure (but not limited to this definition), “change of orientation” may be defined in terms of direction and magnitude. For example, each interpolation step may have the same direction, and the magnitude of each interpolation step may increase as each step approaches the final orientation. By the kinematics of one or more embodiments, motion along a single direction may be an accumulation of small motions in that direction. Small motions may include a specific or predetermined series of wire position changes to achieve the change of orientation. Larger motions, or greater motions, in that direction can be achieved using a series of small motions. Dividing a large change into a series of small changes or predetermined / set changes can be used as one method for performing interpolation. In one or more embodiments, interpolation can be used to generate a desired or target motion, and at least one method for generating a desired or target motion may be interpolating wire position changes.

[0017] In one or more embodiments, when smoothing is performed, the interpolated orientation may be combined with a value previously mapped to the corresponding stage position / state (or the position / state of another structure used for mapping paths or path-like information) (e.g., simply by adding wire positions). Three points of the drive wire position / state function to define a plane, and the two orientations may include a specific drive wire position or state. Interpolation may be performed between two positions or states with respect to a transition (e.g., direct transition, direct orientation transition, direct position transition, constant relative orientation transition, etc.).

[0018] The kinematics of embodiments of robots, devices, or systems of this disclosure allow a difference between two separate orientations (e.g., a set difference, a predetermined difference, etc.) to be maintained by applying the same “change of position” to the two separate orientations. In one or more embodiments (other embodiments are not limited to these), the orientation difference may be defined as a difference in wire position, so that changing the wire positions of both sets by the same amount does not affect the orientation difference between the two separate orientations. In one or more embodiments, the drive wire (or other structural actuator used) may be in a position or state that does not conform to the kinematic model, and adjustments to return it to a position or state that conforms to the kinematic model may or may not be used (as needed) (such adjustments may be omitted in one or more embodiments).

[0019] There may be a specific orientation / state difference between orientations / states mapped to two subsequent stage positions / states (or positions / states of other structures used for mapping paths or path-like information). When smoothing is applied, the later (or second) stage position / state (or position / state of another structure used for mapping paths or path-like information) has the same orientation / state change as the previous (or first) stage position / state (or position / state of another structure used for mapping paths or path-like information), so that the orientation / state difference does not change. The smoothing process may include an additional step of a “small motion,” which functions to change the orientation / state difference by the amount of that small motion or state change. Since the “small motion” functions to produce the same orientation or state change regardless of the previous orientation or state, the small motion step also functions to orient the orientation in the table in the appropriate (e.g., set, desired, predetermined, selected) direction, while maintaining the outline or configuration of the path before the smoothing process was applied. Therefore, in one or more embodiments, it may be most efficient and effective to compare the wire position in combination with the previous orientation while maintaining the existing orientation / state change using a smoothing process.

[0020] In one or more embodiments, the catheter or probe may be transitioned, moved, or adjusted using the shortest possible volume. When a follow-up section or portion of the probe or catheter is transitioned, moved, or adjusted, using the shortest possible volume can reduce or minimize the impact on the position of one or more (or all) of the distal / follow-up section or portion of the catheter or probe. In one or more embodiments, the process or algorithm can perform the transition, move, or adjustment process more efficiently than calculating the deformation stackup of each section or portion of the catheter or probe. Preferably, each interpolation step points to the final orientation in the desired direction, so that any previous orientations to which the interpolation steps are combined will also point to the desired direction to achieve the final orientation.

[0021] In one or more embodiments of the present disclosure, the apparatus or system may include one or more processors that function as follows: command or instruct a distal curved section or portion of a catheter or probe of a continuum robot to achieve or position a bent posture or position, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base; store or retrieve the bent posture or position of the distal curved section or portion; and further, when one or more processors command or instruct the forward movement or setting or movement in a predetermined direction of an electric linear stage (or other predetermined or set structure used for mapping a path or path-like information) that functions to move the catheter or probe of the continuum robot, store or retrieve the position or state of the electric linear stage (or other predetermined or set structure used for mapping a path or path-like information); Generating a target or preferred bending posture or position for each corresponding section or section of a catheter or probe from a section or section, or based on a preceding curved section or section; generating an interpolated posture or position for each section or section of a catheter or probe between the respective target or preferred bending posture or position of each section or section of the catheter or probe and the current bending posture or position, such that the interpolated posture or position is generated such that the interpolated posture or position direction vector lies on a plane created or defined by the orientation vector of the respective target or preferred bending posture or position and the orientation vector of the respective current bending posture or position; and commanding or instructing each section or section of a catheter or probe to move or position to its respective interpolated posture or position during the forward movement of the preceding section or section of the catheter or probe, or during movement in a set or predetermined direction.

[0022] In one or more embodiments, the apparatus / device or system may have or generate one or more of the following: (i) the distal curved section or portion may be the furthest curved section or portion, which can be instructed or commanded automatically or based on input from a user of a continuum robot when the motorized linear stage (or other structure used for mapping paths or path-like information) is stable or stationary; (ii) a plurality of curved sections or portions may include a distal or furthest curved portion or section and the remainder of a plurality of curved sections or portions; (iii) one or more processors may further function to instruct or command the forward motion (or motion in a set or predetermined direction) of the motorized linear stage (or other structure used for mapping paths or path-like information) automatically or based on input from a user of a continuum robot; and / or (iv) a plane may be created or defined based on a base coordinate system or based on a system substantially close to the base coordinate system.

[0023] In one or more embodiments, the apparatus or system (e.g., of a continuum robot, or including a continuum robot) may further include: actuators that function to independently bend a plurality of curved sections or portions and to bend the base; and an electric linear stage (or other structure used for mapping paths or path-like information) that functions to move the continuum robot forward and / or in predetermined or set directions. One or more processors function to control the actuators and the electric linear stage (or other structure used for mapping paths or path-like information). One or more embodiments may include a user interface for the base, or a user interface located on or off the base, which functions to receive input from a user of the continuum robot to move one or more of the plurality of curved sections or portions and / or the electric linear stage (or other structure used for mapping paths or path-like information). One or more processors further function to receive input from the user interface, and one or more processors and / or the user interface function to use the base coordinate system.

[0024] In one or more embodiments, each of a plurality of curved sections or portions includes a drive wire that functions to bend each section or portion of the plurality of sections or portions, the drive wire is connected to an actuator, and the actuator functions to bend the plurality of curved sections or portions using the drive wire. One or more processors may further function to perform one or more of the following: generating an interpolated attitude or position by interpolating the position of the drive wire between the position of each target or object and the current position of each; obtaining the difference between the drive wire position and the new value stored in a table; and distributing adjustment, correction and / or smoothing over the entire distance traveled from the current position of the curved section or portion by: (i) the length of the section or portion and the table resolution (table (ii) calculate the number of steps by multiplying by (i) resolution; (ii) interpolate the values ​​from the table into equal parts equal to the calculated number of steps, starting from the total value and ending at zero; and (iii) work backward from the position in the table where the new value is stored and add the value of the interpolated position to the corresponding value stored in the table, where StagePosition[0] (or Position[0] of any other structure used for mapping paths or path-like information) is the position where the new value is stored, InterpolatedPosition[0] is the total difference in wire positions, StagePosition[-i] (or Position[-i] of any other structure used for mapping paths or path-like information) is the position where smoothing begins, and the difference in wire positions of InterpolatedPosition[i] is zero.

[0025] In one or more embodiments, adjustments, corrections, and / or smoothing may occur so that one or more arbitrary intermediate orientations of a plurality of curved sections or portions are guided toward their respective desired, predetermined, or set orientations.

[0026] In one or more embodiments, the catheter or probe of the continuum robot can be an operable catheter or probe that includes a plurality of curved sections or portions and an endoscope camera. One or more processors are further operative to receive one or more endoscope images from the endoscope camera, and the continuum robot further includes a display operative to display the one or more endoscope images.

[0027] One or more embodiments may include one or more of the following features: (i) the continuum robot may further include an operation controller or joystick operative to issue or input one or more instructions or commands as an input to one or more processors, the input including instructions or commands for moving one or more of the plurality of curved sections or portions and / or an electric linear stage (or other structure used for mapping a path or path-like information); (ii) the continuum robot may further include a display for displaying one or more images captured by the continuum robot; and / or (iii) the continuum robot may further include an operation controller or joystick operative to issue or input one or more instructions or commands to one or more processors, the input including instructions or commands for moving one or more of the plurality of curved sections or portions and / or an electric linear stage (or other structure used for mapping a path or path-like information), the operation controller or joystick being operative to be controlled by a user of the continuum robot.

[0028] In one or more embodiments of the present disclosure, the apparatus or system may include one or more processors operative as follows: receiving or acquiring an image indicating information about the posture or position of a tip section of a catheter or probe having a plurality of sections including at least the tip section; tracking a history of information about the posture or position of the tip section of the catheter or probe over a certain period of time; and using the history of information about the posture or position of the tip section to determine how to align or transition, move or adjust each of the plurality of sections of the catheter or probe (e.g., in robot control, manually, automatically, etc.).

[0029] In one or more embodiments, one or more additional images may be received or acquired to show the catheter or probe after each of several sections of the catheter or probe has been aligned or adjusted (e.g., by robotic control, manually, automatically, etc.) based on a history of orientation or position information of the tip section. In one or more embodiments, the device or system may include a display for displaying images showing the aligned or adjusted sections of the catheter or probe. In one or more embodiments, attitude or position information may include, for example, a target attitude or position or final attitude or position set to be reached by the tip section; an interpolated attitude or position of the tip section (e.g., interpolation of the tip section between two positions or attitudes (e.g., between attitude or position A and attitude or position B) when the device or system transmits attitude change information in steps based on desired, set or predetermined speed; interpolation of the tip section between attitudes or positions when each attitude or position of the catheter or probe is taken or positioned and tracked during a transition; etc.); and a measured attitude or position (e.g., using the tracked attitude or position, using the encoder position of each wire motor, etc.) when one or more processors can further function to calculate or derive the current position taken by a section of the probe or catheter (e.g., the tip section, one of several other sections of the probe or catheter, etc.). In addition to using one or more types of attitudes or positions, each attitude or position can be converted between drive wire positions and / or coordinate (three-dimensional (3D) position and orientation) (e.g., via one or more processors).

[0030] In one or more embodiments, the apparatus or system includes a camera disposed at the tip of a catheter or probe, which may be bent by the catheter or probe, and / or the camera may be removably attached to or removably inserted into an operable catheter or probe. In one or more embodiments, the apparatus or system may include a display control device, or one or more processors may display an image of a display target on a display. One or more embodiments may further include a display for displaying an adjusted, corrected, or smoothed path of a continuum robot.

[0031] In one or more embodiments, a method for performing correction, adjustment and / or smoothing (e.g., FTL smoothing, path smoothing, etc.) may include: commanding or instructing a distal curved section or portion of a catheter or probe of a continuum robot to achieve or position a bent posture or position, wherein the catheter or probe of the continuum robot has a base and multiple curved sections or portions; storing or acquiring the bent posture or position of the distal curved section or portion; and further storing or acquiring the position of an electric linear stage (or other structure used for mapping paths or path-like information) that functions to move the catheter or probe of the continuum robot if the electric linear stage is commanded or instructed to move forward, set or move in a predetermined direction; and the aforementioned curved section or A step of generating a target or preferred bending posture or position for each corresponding section or section of a catheter or probe, based on a portion or a preceding curved section or portion; a step of generating an interpolated posture or position for each section or section of a catheter or probe between the respective target or preferred bending posture or position of each section or section of the catheter or probe and the current bending posture or position, wherein the interpolated posture or position is generated such that the orientation vector of the interpolated posture or position lies on a plane created or defined by the orientation vector of the respective target or preferred bending posture or position and the orientation vector of the respective current bending posture or position; and a step of commanding or instructing each section or section of a catheter or probe to move or position to its respective interpolated posture or position during the forward movement of the preceding section or section of the catheter or probe, or during movement in a set or predetermined direction.

[0032] In one or more embodiments, a non-temporary computer-readable storage medium may store at least one program for causing a computer to perform a method for correcting, adjusting, and smoothing (e.g., FTL smoothing, path smoothing, etc.), the method comprising: commanding or instructing a distal curved section or portion of a catheter or probe of a continuum robot to achieve or position a bent posture or position, wherein the catheter or probe of the continuum robot has a base and a plurality of curved sections or portions; storing or retrieving the bent posture or position of the distal curved section or portion; and further, when an electric linear stage (or other structure used for mapping paths or path-like information) that functions to move the catheter or probe of the continuum robot is commanded or instructed to move forward, set or move in a predetermined direction, the electric linear stage (or other structure used for mapping paths or path-like information) Steps include: storing or acquiring the position of other structures (which may be moved); generating a target or preferred bending posture or position for each corresponding section or section of the catheter or probe from or based on a previous bending section or section; generating an interpolated posture or position for each section or section of the catheter or probe between the respective target or preferred bending posture or position of each section or section of the catheter or probe and the current bending posture or position, wherein the interpolated posture or position is generated such that the orientation vector of the interpolated posture or position lies on a plane created or defined by the orientation vector of the respective target or preferred bending posture or position and the orientation vector of the respective current bending posture or position; and commanding or instructing each section or section of the catheter or probe to move or position to its respective interpolated posture or position during the forward movement of the previous section or section of the catheter or probe, or during movement in a set or predetermined direction.

[0033] In one or more embodiments, a continuum robot for performing correction, adjustment and / or smoothing may include one or more processors that function as follows: command or instruct a distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has multiple curved sections or portions and a base; store or retrieve the bent posture, position or state of the distal curved section or portion; and further, when one or more processors command or instruct an electric linear stage and / or sensor that functions to move the catheter or probe of the continuum robot to move forward, set or move in a predetermined direction, the electric linear stage and / or sensor Storing or retrieving the position or state of the probe; generating a target or target bending posture, position or state for each corresponding section or section of the catheter or probe from or based on a previous bending section or section; determining an interpolated posture, position or state for each corresponding section or section of the catheter or probe based on adjacent interpolated postures, positions or states such that all interpolated postures, positions or states include the same or similar displacement vectors between adjacent interpolated postures, positions or states based on end effector coordinates; and commanding or instructing each section or section of the catheter or probe to move or position to its respective interpolated posture, position or state during the forward movement of the previous section or section of the catheter or probe, or during movement in a set or predetermined direction. In one or more embodiments, the same or similar displacement vectors between adjacent interpolated postures, positions or states may be based on end effector coordinates from the viewpoint of the distal end of each section or section of the catheter or probe.In one or more embodiments, one or more processors may further function to perform one or more of the following: generating interpolated attitudes, positions, or states by interpolating the position or state of the drive wires between the attitude, position, or state of each target or object and the current attitude, position, or state; obtaining the difference in drive wire positions between values ​​stored in a table and new values; and distributing adjustments, corrections, and / or smoothing over the entire distance traveled from the current attitude, position, or state of the curved section or portion by: (i) calculating the number of steps by multiplying the length of the section or portion by the table resolution; and (ii) calculating (iii) Interpolating the values ​​from the table into equal numbers of equal steps, starting from the total value and ending at zero; and (iii) working backward from the position in the table where the new value is stored, adding the interpolated pose, position or state value to the corresponding value stored in the table, where StagePosition[0] is the position where the new value is stored, InterpolatedPosition[0] is the total difference of the wire pose, position or state, StagePosition[-i] is the pose, position or state where smoothing begins, and the difference of the wire pose, position or state in InterpolatedPosition[i] is zero.

[0034] In one or more embodiments, a method for performing correction, adjustment and / or smoothing of a continuum robot may include: commanding or instructing a distal curved section or portion of a catheter or probe of a continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a base and a plurality of curved sections or portions; storing or retrieving the bent posture, position or state of the distal curved section or portion; and further, when one or more processors command or instruct the forward movement of an electric linear stage and / or sensor that functions to move the catheter or probe of the continuum robot, setting or moving in a predetermined direction, the position or state of the electric linear stage and / or sensor Steps include: storing or acquiring; generating a target or target bending posture, position or state for each corresponding section or section of the catheter or probe from or based on a previous bending section or section; determining an interpolated posture, position or state for each corresponding section or section of the catheter or probe based on adjacent interpolated postures, positions or states such that all interpolated postures, positions or states include the same or similar displacement vectors between adjacent interpolated postures, positions or states based on end effector coordinates; and commanding or instructing each section or section of the catheter or probe to move or position to its respective interpolated posture, position or state during the forward movement of the previous section or section of the catheter or probe, or during movement in a set or predetermined direction.

[0035] In one or more embodiments, a non-temporary computer-readable storage medium may store at least one program causing a computer to perform a method for correcting, adjusting and / or smoothing a continuum robot, the method may include: commanding or instructing a distal curved section or portion of a catheter or probe of a continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a base and a plurality of curved sections or portions; storing or retrieving the bent posture, position or state of the distal curved section or portion; and further, commanding or instructing one or more processors to perform forward movement or movement in a set or predetermined direction of an electric linear stage and / or sensor that functions to move the catheter or probe of a continuum robot. Steps include: storing or acquiring the position or state of the motorized linear stage and / or sensor; generating a target or target bending posture, position or state for each corresponding section or section of the catheter or probe from or based on a previous bending section or section; determining an interpolated posture, position or state for each corresponding section or section of the catheter or probe based on adjacent interpolated postures, positions or states such that all interpolated postures, positions or states include the same or similar displacement vectors between adjacent interpolated postures, positions or states based on end effector coordinates; and commanding or instructing each section or section of the catheter or probe to move or position to its respective interpolated posture, position or state during the forward movement of the previous section or section of the catheter or probe, or during movement in a set or predetermined direction.

[0036] In one or more embodiments, a continuum robot for performing correction, adjustment and / or smoothing may include one or more processors that function as follows: command or instruct a distal curved section or portion of a catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has multiple curved sections or portions and a base; store or retrieve the bent posture, position or state of the distal curved section or portion; and further, when one or more processors command or instruct the forward movement, setting or movement in a predetermined direction of an electric linear stage and / or sensor that functions to move the catheter or probe of the continuum robot, the position or state of the electric linear stage and / or sensor To store or retrieve; generate a target or target bending posture, position or state for each corresponding section or section of the catheter or probe from or based on a previous bending section or section; determine an interpolated posture, position or state for each corresponding section or section of the catheter or probe based on the posture, position or state of the tip section or section of the catheter or probe that defines the starting posture, position or state, and based on the target or target posture, position or state for each corresponding section or section of the catheter or probe; and command or instruct each section or section of the catheter or probe to move or be positioned in its respective interpolated posture, position or state during the forward movement of the tip section or section of the catheter or probe, or during movement in a set or predetermined direction. In one or more embodiments, one or more processors may further function to determine the determined interpolated posture, position or state based on (i) the plane of the starting posture, position or state and the target or target posture, position or state, and / or (ii) the origin of the base coordinates.

[0037] In one or more embodiments, a method for performing correction, adjustment and / or smoothing of a continuum robot may include: commanding or instructing a distal curved section or portion of a catheter or probe of a continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a base and a plurality of curved sections or portions; storing or retrieving the bent posture, position or state of the distal curved section or portion; and further, storing or retrieving the position or state of an electric linear stage and / or sensor when one or more processors command or instruct an electric linear stage and / or sensor that functions to move the catheter or probe of the continuum robot to move forward, set or move in a predetermined direction. Steps: to generate a target or target bending posture, position or state for each corresponding section or section of the catheter or probe, based on or from a preceding curved section or section; to determine an interpolated posture, position or state for each corresponding section or section of the catheter or probe, based on the posture, position or state of the tip section or section of the catheter or probe that defines the starting posture, position or state, and based on the target or target posture, position or state for each corresponding section or section of the catheter or probe; and to command or instruct each section or section of the catheter or probe to move or position to its respective interpolated posture, position or state during the forward movement of the tip section or section of the catheter or probe, or during movement in a set or predetermined direction.

[0038] In one or more embodiments, a non-temporary computer-readable storage medium may store at least one program for causing a computer to perform a method for correcting, adjusting and / or smoothing a continuum robot, the method may include: commanding or instructing a distal curved section or portion of a catheter or probe of a continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a base and a plurality of curved sections or portions; storing or retrieving the bent posture, position or state of the distal curved section or portion; and further, when one or more processors command or instruct an electric linear stage and / or sensor that functions to move the catheter or probe of the continuum robot to move forward, set or move in a predetermined direction, the electric linear stage and / or sensor Steps include: storing or acquiring the position or state of the near stage and / or sensor; generating a target or target bending posture, position or state for each corresponding section or portion of the catheter or probe from or based on a previous bending section or portion; determining an interpolated posture, position or state for each corresponding section or portion of the catheter or probe based on the posture, position or state of the tip section or portion of the catheter or probe that defines the starting posture, position or state, and based on the target or target posture, position or state for each corresponding section or portion of the catheter or probe; and commanding or instructing each section or portion of the catheter or probe to move or position to its respective interpolated posture, position or state during the forward movement of the tip section or portion of the catheter or probe, or during movement in a set or predetermined direction.

[0039] According to one or more embodiments of the present disclosure, apparatuses and systems, methods and storage media for performing corrections and / or adjustments to direction or view and / or performing smoothing (e.g., direct FTL smoothing, path smoothing for continuum robots, etc.) may function to characterize biological objects such as blood, mucus, and tissue.

[0040] One or more embodiments of this disclosure may be used in clinical applications such as intervascular imaging, intravascular imaging, bronchoscopy, evaluation of atherosclerotic plaques, evaluation of cardiac stents, intracoronary imaging with blood clearing, balloon sinusoplasty, sinus stent placement, arthroscopy, ophthalmic and otological research, and veterinary use and research.

[0041] According to at least another aspect of this disclosure, one or more of the technologies described herein can be adopted, or used in conjunction with such technologies, as a feature to reduce the cost of manufacturing and maintaining at least one of the devices, equipment, systems and storage media by reducing or minimizing the number of optical components and / or processing components, and thanks to efficient technologies for reducing the cost of using / manufacturing one or more devices, equipment, systems and storage media (e.g., physical labor, mental burden, financial cost, time, complexity, etc.).

[0042] The following paragraphs describe specific descriptive embodiments. Other embodiments may include alternatives, equivalents, and modifications. Furthermore, descriptive embodiments may include some novel features, and certain features may not be essential to some embodiments of the apparatus, systems, and methods described herein.

[0043] In other aspects of this disclosure, this specification discusses one or more additional devices, one or more systems, one or more methods and one or more storage media using imaging adjustment or correction and / or other techniques. Further features of this disclosure will be partially understandable and partially apparent from the following description and with reference to the accompanying drawings. [Brief explanation of the drawing]

[0044] For the purpose of illustrating various aspects of this disclosure (similar figures indicate similar elements), the drawings show simplified forms that may be adopted. However, naturally, this disclosure is not limited to, or restricted by, the precise arrangements and means shown. Those skilled in the art should refer to the accompanying drawings and figures to assist in the preparation and use of the subject matter of this specification.

[0045] [Figure 1] Figure 1 illustrates at least one embodiment of an imaging, continuum robot, or endoscope device or system relating to one or more aspects of the present disclosure. [Figure 2] Figure 2 is a schematic diagram showing at least one embodiment of an imaging, continuum robot, or endoscope device or system relating to one or more aspects of the present disclosure. [Figure 3] Figure 3 is a schematic diagram showing at least one embodiment of a console or computer that can be used in conjunction with one or more correction, adjustment, or smoothing techniques relating to one or more aspects of the present disclosure. [Figure 4] Figures 4A to 4B illustrate at least one embodiment of a continuum robot and / or medical device that can be used in conjunction with one or more correction, adjustment, or smoothing techniques relating to one or more aspects of the present disclosure. [Figure 5] Figure 5 is a schematic diagram showing at least one embodiment of an imaging or continuum robot device or system relating to one or more aspects of the present disclosure. [Figure 6] Figure 6 is a flowchart of at least one embodiment of a method for planning the operation of at least one embodiment of a continuum robot device or system according to one or more aspects of the present disclosure. [Figure 7] Figure 7 illustrates a graph and related information of at least one embodiment of a method for performing one or more correction, adjustment, or smoothing techniques of at least one embodiment of a continuum robot device or system relating to one or more aspects of the present disclosure. [Figure 8]Figure 8 illustrates graphs and related information of at least one embodiment of Figure 7 for performing one or more correction, adjustment, or smoothing techniques compared to indirect paths or techniques of at least one embodiment of a continuous robotic device or system relating to one or more aspects of the present disclosure. [Figure 9] Figure 9 illustrates a graph and related information of at least one additional embodiment of a method for performing one or more correction, adjustment, or smoothing techniques of at least one embodiment of a continuum robotic device or system relating to one or more aspects of the present disclosure. [Figure 10] Figures 10A to 10C show, respectively, three orientation vector trajectory graphs (upper panel) of isometric information, lateral information, and top information for different paths relating to one or more embodiments of the present disclosure, and three end coordinate trajectory graphs (lower panel) of isometric information, lateral information, and top information. [Figure 11] Figures 11A to 11C show, respectively, three orientation vector trajectory graphs (upper panel) of isometric, lateral, and top-view information for the same or similar path relating to one or more aspects of the present disclosure, and three end-coordinate trajectory graphs (lower panel) of isometric, lateral, and top-view information. [Figure 12] Figure 12 illustrates one or more technical and / or structural features of correction, adjustment, or smoothing of at least one embodiment of a continuous robotic device or system relating to one or more aspects of the present disclosure. [Figure 13] Figure 13 illustrates one or more additional correction, adjustment, or smoothing technical and / or structural features of at least one embodiment of a continuous robotic device or system relating to one or more aspects of the present disclosure. [Figure 14] Figure 14 illustrates one or more technical and / or structural features for further correction, adjustment, or smoothing of at least one embodiment of a continuous robotic device or system relating to one or more aspects of the present disclosure. [Figure 15] Figure 15 is a flowchart of at least one embodiment of a method for performing adjustment, correction, or smoothing of a continuum robot according to one or more aspects of the present disclosure. [Figure 16] Figure 16 illustrates a continuum robot that may be used in conjunction with one or more adjustment, correction, or smoothing techniques or methods relating to one or more aspects of the present disclosure. [Figure 17] Figure 17 illustrates a block diagram of at least one embodiment of a continuum robot according to one or more aspects of the present disclosure. [Figure 18] Figure 18 illustrates a block diagram of at least one embodiment of a control device relating to one or more aspects of the present disclosure. [Figure 19] Figure 19 shows a schematic diagram of one or more embodiments of the apparatus or system described herein, or an embodiment of a computer that may be used in conjunction with one or more methods, relating to one or more aspects of this disclosure. [Figure 20] Figure 20 shows a schematic diagram of another embodiment of a computer that may be used in conjunction with one or more embodiments of the imaging apparatus, system, or method described herein, relating to one or more aspects of this disclosure. [Modes for carrying out the invention]

[0046] This specification discloses one or more instruments, systems, methods and storage media for displaying, imaging and / or characterizing tissue, objects or samples using one or more imaging techniques or modalities (e.g., computed tomography (CT), magnetic resonance imaging (MRI), and other imaging techniques or modalities (e.g., optical coherence tomography (OCT), near-infrared fluorescence (NIRF), near-infrared autofluorescence (NIRAF), spectral coding endoscopy (SEE))). Figures 1 to 20 schematically and visually illustrate some embodiments of the present disclosure (which may be carried out by one or more embodiments of the instruments, systems, methods and / or computer-readable storage media of the present disclosure).

[0047] One or more embodiments of this disclosure avoid the aforementioned problems by providing a simple and fast method for providing the adjustment, correction, and / or smoothing techniques described herein.

[0048] Therefore, a broad object of this disclosure is to provide imaging devices, systems, methods, and storage media for using navigation and / or control methods (manual or automatic) in one or more devices or systems (e.g., imaging devices or systems, endoscopic imaging devices or systems, continuum robots, etc.) for imaging (e.g., computed tomography (CT), magnetic resonance imaging (MRI), etc.).Navigation and / or control may be employed so that a device or system having multiple parts or sections (e.g., multiple curved parts or sections) functions as follows: (i) tracking the path of each part (e.g., tip) or part or section of the device or system; (ii) each part or section having the same or similar (or nearly the same or similar) state or location of another part or section of one or more devices, systems, methods and / or storage media of the present disclosure (e.g., location or state of a target, object or specimen; location or state within a patient; location or state of a target in an image or frame; setting or predetermined location or state in an image or frame; when a first part or section reaches or approaches a setting or predetermined location or state (or a location or state that is nearly the same as or similar to a setting or predetermined location or state) at some point in time, and one or more of the other parts or sections of the multiple parts or sections reach or approach a setting or predetermined location or state (or a location or state that is nearly the same as or similar to a setting or predetermined location or state) at one or more other points in time, the image or frame (iii) to match the navigation and / or orientation (or orientation) of each part or section to the navigation and / or orientation (or orientation) of the first part or section of the part or section when reaching or approaching a setting or predetermined position or state within the frame; other states (e.g., orientation, position, posture, navigation, path (whether continuous or discontinuous), state transition, other desired motion or combination of motion (e.g., one or more features of this disclosure may support navigation, orientation, or other types of motion described herein or desired by the user)), any state and / or combination of motion described herein or desired by the user); and (iii) to address any discontinuous paths that may occur (e.g., due to changes or movements of any part or state of the device or system) by smoothing any differences in discontinuous paths across one or more stage positions and / or states (or the positions and / or states of other structures used for mapping paths or path-like information).

[0049] One or more embodiments of the present disclosure avoid the aforementioned problems by: (i) when each part or section of a plurality of parts or sections reaches or approaches the same or similar (or nearly the same or similar) location or state of another part or section of one or more devices, systems, methods and / or storage media of the present disclosure (e.g., setting or predetermined location or state, target location or state, imaging object location or state, other state (e.g., orientation, position, posture, navigation, path (whether continuous or discontinuous), state transition, other desired motion or combination of motion (e.g., one or more features of the present disclosure may assist navigation and orientation, or other types of motion described herein or desired by the user)), any state described herein or desired by the user and / or combination of motion, etc.), the plurality of parts or sections shall navigate and / or orientation (or posture or position, etc.) (ii) To provide a simple and fast method for standardizing the display or viewing of images and / or the navigation and / or orientation (e.g., rotation direction, posture, etc.) control of multiple parts or sections (e.g., multiple curved sections or sections) of a device or system (e.g., catheter, probe, continuum robot or part thereof, endoscope, camera, etc.) so that it operates in accordance with posture, position, etc.; (ii) To perform robotic control of a catheter or probe by tracking the path of a part of the device or system (e.g., by mapping the path or device or system to a stage position (or other path-like information such as a position sensor (e.g., EM sensor, another type of sensor) of the catheter or probe); and / or (iii) To smooth out discontinuous path differences or mismatches across one or more stage positions or across other path-like information (e.g., from a sensor, from an EM sensor, etc.).Therefore, the features of the states of the Disclosure (e.g., navigation, control and / or orientation (or posture and position, etc.)) or other states described herein (e.g., orientation, position, posture, navigation, path (whether continuous or discontinuous), state transitions, other desired movements or combinations of movements (e.g., one or more features of the Disclosure may assist navigation, orientation, or other types of movements described herein or desired by the user), any states and / or combinations of movements described herein or desired by the user, etc.) allow physicians and other users of the device or system to reduce or save effort and / or mental burden by using the device or system. In one or more embodiments of the Disclosure, the effort of the user to control and / or navigate (e.g., rotate, move linearly, etc.) an imaging device or system, or a part thereof (e.g., one or more sections or parts of a catheter, probe, continuum robot, camera, catheter / probe / continuum robot / camera, etc.) is saved or reduced.

[0050] In one or more embodiments of an imaging device or system, or a part of an imaging device or system (e.g., a catheter, probe, continuum robot, etc.), the multiple sections or parts may be multiple curved sections or parts. In one or more embodiments, the imaging device or system may include manual and / or automatic navigation and / or control features. For example, the user of the imaging device or system may control each section or part, and / or the imaging device or system may function to automatically control each section or part (e.g., robot control). In one or more embodiments, the device or system may provide a combination of automatic and manual control, the device or system may automatically control a part of a continuum robot, and the device or system may allow the user of the device or system to make manual adjustments to the control of the continuum robot (e.g., path).

[0051] Navigation, control, and / or orientation features may include, for example: mapping the orientation (angular values, planar values, etc.) of a first part or section (e.g., a tip section or section, a distal section or section, a predetermined or set section, a user-selected or defined section, etc.) to a stage position / state (or the position / state of another structure used for mapping a path or path-like information); controlling the angular position or state of one or more parts or sections; controlling the rotational orientation, position, or state of one or more parts or sections; and during navigation of an imaging device or system path in or along a first direction, one or more other parts or sections may be the same or similar (or...) (e.g., within a target, within an object, within a sample, within a patient, within a frame or image, etc.) Controlling one or more other parts or sections of an imaging device or system to match, substantially or substantially match (or be close to or similar to) the navigation / orientation / position / attitude / state of a first part or section (e.g., reached later, reached at a different time, etc.) when the first part or section reaches a position or state (e.g., nearly the same or similar); controlling each section or part of an imaging device or system to match (or substantially or substantially match, or be close to / similar to) the previous position of each section or part when the imaging device or system is moving or navigating in a second direction along a path (e.g., the opposite direction along the path, the return direction along the path, the pull-back direction along the path, etc.), etc. For example, an imaging device or system (or a part thereof (e.g., probe, catheter, camera)) can enter a target along a path. In this case, a first section or part of the imaging device or system (or part of the device or system) is used to set navigation, control, or state paths and states / positions, and each subsequent section or part of the imaging device or system (or part of the device or system) is controlled to follow the first section or part so that each subsequent section or part matches (or is similar to, approximates, substantially matches, etc.) the orientation, position, state, etc. of the first section or part at each point along the path.During retrieval, each section or part of the imaging device or system is controlled to match (or be similar to, approximate, substantially match, etc.) the previous orientation, position, state, etc. at each point along the path (for each section or part). That is, each section or part of the device or system can follow a leader (or multiple leaders), or one or more FTL techniques described herein can be used. Thus, the imaging or continuum robot device or system (or catheter, probe, camera, etc. of the device or system) can enter and exit a target, object, specimen, patient (e.g., the patient's lungs, the patient's esophagus, another part of the patient, another organ of the patient, a tube of the patient, etc.) along the same, similar, nearly identical, or similar path, using the same orientation, position, state, etc., to achieve an optimal navigation, orientation, control, and / or state path. The features of navigation, control, orientation, and / or state are not limited to these, and one or more devices or systems of this disclosure may include other desired navigation, control, orientation, and / or state specifications or details as appropriate, depending on a given application or use. In one or more embodiments, the first part or section may be the distal or distal part or section of the imaging or continuum robot equipment or system, but is not limited to these embodiments. In one or more embodiments, the first part or section may be any predetermined or configured part or section of the imaging or continuum robot equipment or system, which may be manually predetermined or configured by the user of the imaging or continuum robot equipment or system, and / or may be automatically configured by the imaging equipment or system (or by a combination of manual and automatic control).

[0052] As shown in Figures 1 to 4 of this disclosure, one or more embodiments of System 1000 for performing image adjustment, correction and / or smoothing (e.g., of a continuum robot) may include one or more of the following: display control device 100, display 101-1, display 101-2, control device 102, actuator 103, continuum device 104, operating part 105, EM tracking sensor 106, catheter tip position / orientation / attitude / state detector 107, and rail 108 (e.g., as shown in at least Figures 1 to 2). System 1000 may include one or more processors (e.g., display control device 100, control device 102, CPU 120, control device 50, CPU 51, console or computer 1200, 1200', CPU 1201, and other processors described herein) that execute a software program and function to control one or more adjustment, control and / or smoothing features described herein and to control the display of a navigation screen on one or more displays 101. One or more processors (e.g., display control unit 100, control unit 102, CPU 120, control unit 50, CPU 51, console or computer 1200, 1200', CPU 1201, or other processors described herein) can generate a three-dimensional (3D) model of a structure (e.g., a branched structure such as the airways of a patient's lungs, an object to be imaged, a tissue to be imaged, etc.) based on images such as CT images or MRI images. Alternatively, the 3D model may be received from another device by one or more processors (e.g., display control unit 100, control unit 102, CPU 120, control unit 50, CPU 51, console or computer 1200, 1200', CPU 1201, or other processors described herein). In one or more embodiments, a two-dimensional (2D) model may be used instead of a 3D model. The 2D or 3D model may be generated before the start of navigation. Alternatively, the 2D or 3D model may be generated in real time (in parallel with navigation). One or more embodiments described herein illustrate an example of model generation of a branched structure. However, the model may not be limited to a branched structure model.For example, instead of a branching structure, a model of a route leading to a target may be used. Alternatively, a model of a large space may be used, and the model may be a model of a place or space where observation or work is performed using the continuum robot 104 described later.

[0053] The display control device 100 is not limited to such a configuration, but it can acquire information on the position / orientation / navigation / attitude / state (or other state) of the continuum robot 104 from the control device 102. Alternatively, the display control device 100 can directly acquire information on the position / orientation / navigation / attitude / state (or other state) from the tip position / orientation / navigation / attitude / state (or other state) detector 107. The continuum robot 104 may be a catheter device (e.g., a controllable catheter or probe device). The continuum robot 104 may be detachable from the actuator 103. Furthermore, the continuum robot 104 may be disposable.

[0054] In one or more embodiments, one or more processors, such as a display control device 100, can generate a navigation screen based on a 2D / 3D model and position / orientation / navigation / posture / state (or other state) information by executing software, and output it to one or more displays 101-1, 101-2. The navigation screen displays the current position / orientation / navigation / posture / state (or other state) of the continuum robot 104 on the 2D / 3D model. By using the navigation screen, the user can recognize the current position / orientation / navigation / posture / state (or other state) of the continuum robot 104 in a branched structure.

[0055] In one or more embodiments, one or more processors (e.g., display control device 100 and / or control device 102) may include, as shown in Figure 3, at least one read-only memory (ROM) 110, at least one central processing unit (CPU) 120, at least one random access memory (RAM) 130, at least one input / output (I / O) interface 140, and at least one hard disk drive (HDD) 150 (see also data storage 150 in Figure 2, for example). A solid-state drive (SSD) may be used instead of the HDD 150 as data storage 150. In one or more additional embodiments, one or more processors and / or display control devices 100 and / or control device 102 may include structures as shown in Figures 17-18 and 19-20, described later.

[0056] In one or more embodiments, the ROM 110 and / or HDD 150 function to store software. The RAM 130 may be used as working memory. The CPU 120 can execute software programs stored in the RAM 130. The I / O 140 functions to input location (or other state) information to the display control device 100 (and / or other processors described herein) and to output information for display on the navigation screen to one or more displays 101-1, 101-2. In the following embodiments, the navigation screen may be generated by a software program. In one or more other embodiments, the navigation screen may be generated by firmware.

[0057] Figures 4A to 4B show at least one embodiment of a continuum robot 104 that may be used in System 1000 or other systems described herein. The continuum robot 104 may include a proximal section, an intermediate section, and a distal section, each section of which can be bent by a plurality of drive wires (drive linear members such as drive spine members). In one or more embodiments, the continuum robot may be a catheter device 104. The posture of the catheter device 104 may be supported by support wires (support linear members, e.g., passive sliding spine members). The drive wires may be connected to actuators 103. The actuators 103 may include one or more motors and drive units that push or pull the drive wires (drive spine members) for each section of the catheter 104. The actuator 103 can move forward or backward along a rail 108 (for example, for linearly moving the actuator 103, the continuum robot / catheter 104, etc.) which is moved by an electric linear stage, and the actuator 103 and the continuum robot 104 can move forward or backward in and out of the patient's body or other target, object, or specimen (e.g., tissue). As shown in Figure 4B, the catheter device 104 may include a plurality of drive vertebrae and a plurality of passive sliding vertebrae. In one or more embodiments, the catheter device 104 may include at least nine drive vertebrae and at least six passive sliding vertebrae. The catheter device 104 may include a non-traumatic tip at the distal end of the catheter device 104.

[0058] In some embodiments, the continuum robot 104 may comprise a distal curved section 104C, an intermediate curved section 104B, and a proximal curved section 104A. Embodiments comprising more curved sections (controlled by additional drive wires) and embodiments comprising only two curved sections are also envisioned. Control of the curved sections of the continuum robot 104 can be achieved by the use of drive wires. These drive wires (see, for example, 142 and 144 in Figure 4B) extend from the distal portion of the curved section (e.g., sections 104A, 104B, 104C, etc.) to actuators and / or motors (see, for example, those shown in the embodiment of Figure 5) and can control the orientation / attitude / position / state / any combination thereof / etc. of the curved section (e.g., sections 104A, 104B, 104C, etc.). As shown in Figure 4A, the distal curved section 104C may have three drive wires to control the orientation / attitude / position / state / any combination thereof, etc., of the curved section 104C, although not limited to the number of drive wires (also referred to herein as driving wires) shown. Similarly, the intermediate curved section 104B may have three drive wires to control the orientation / attitude / position / state / any combination thereof, etc., of the intermediate curved section 104B, in which case the guide ring may also have drive wires passing through this section from the distal curved section of the continuum robot 104. The proximal curved section 104A may have three additional drive wires to control the orientation / attitude / position / state / any combination thereof, etc., of the proximal curved section 104A.

[0059] One or more embodiments of the catheter / continuum robot 104 may include an electromagnetic (EM) tracking sensor 106. One or more other embodiments of the catheter / continuum robot 104 may include or not use the EM tracking sensor 106. The electromagnetic tracking sensor (EM tracking sensor) 106 may be mounted on the tip of the continuum robot 104. In this embodiment (as shown in Figures 4A to 4B), the robot 2000 may include the continuum robot 104 and the EM tracking sensor 106 (as also schematically shown in Figure 2), and the robot 2000 may be connected to the actuator 103.

[0060] One or more devices or systems (e.g., system 1000) may include a tip position / orientation / navigation / attitude / state (or other state) detector 107 which detects the position / orientation / navigation / attitude / state (or other state) of the EM tracking sensor 106 and functions to output the detected position (and / or other state) information to a control device 100 or 102 (e.g., shown in Figures 2-3) or other processor described herein.

[0061] The control unit 102 functions to receive information on the position (or other state) of the tip of the continuum robot 104 from the tip position / orientation / navigation / attitude / state (or other state as described herein) detector 107. The control units 100 and / or 102 function to control the actuator 103 in accordance with user operation (e.g., manually) and / or automatically via one or more operating parts or operating controllers 105 (e.g., joysticks shown in Figure 1 or 5; see also Figure 2) (e.g., by one or more processors using software, or by one or more processors using automatic operation combined with one or more manual operation or adjustments). One or more displays 101-1, 101-2 and / or operating parts or operating controllers 105 may be used as a user interface 3000 (also called receiving equipment) (e.g., as shown in Figure 2). In the embodiments shown in Figures 1 and 2 or Figure 5, the system 1000 may include, as an operating unit, a display 101-1 (e.g., a large-screen user interface with a touch panel, a first user interface unit, etc.), a display 101-2 (e.g., a small-screen user interface with a touch panel, a second user interface unit, etc.), and an operating unit 105 (e.g., a joystick-type user interface unit with a shift lever / button, a third user interface unit, a gamepad, or other input devices, etc.).

[0062] Control device 100 and / or control device 102 (and / or other processors described herein) can control the continuum robot 104 based on an algorithm known as the follow-the-leader (FTL) algorithm. By applying the FTL algorithm, the intermediate and proximal sections (following sections) of the continuum robot 104 can move in the first position (or other state) in the same or similar manner as the distal section moved in the first position (or other state) or a second position (or state) near the first position (or state) (e.g., during insertion of the continuum robot / catheter 104). Similarly, the intermediate and distal sections of the continuum robot 104 can move in the first position or state in the same / similar / approximately similar manner as the proximal section moved in the first position or state or a second position or state near the first position (e.g., during withdrawal of the continuum robot / catheter 104). Alternatively, the continuum robot / catheter 104 may be withdrawn by moving automatically and / or manually along the same or similar (or nearly the same or similar) path used when the continuum robot / catheter 104 entered the target (e.g., the patient's body, an object, a specimen (e.g., tissue), etc.) using the FTL algorithm (e.g., using FTL together with one or more adjustment, correction, state and / or smoothing techniques described herein).

[0063] During the navigation of the continuum robot 104 using the FTL algorithm, in one or more embodiments, the operator or user can use the control unit 105 to control the orientation of the continuum robot 104 in the distal section and the insertion depth in the rail 108. The operator's control or process may include the following two steps: (1) Insertion step: In one or more embodiments, an operator or user can move the rail 108 to insert the continuum robot 104 (for example, into an object, target or sample; into patient P; into patient P's tube; into patient P's airway or lung; into another part of patient P; etc.). During the insertion motion, the FTL algorithm can control the intermediate and proximal sections and cause the intermediate and proximal sections to follow the leader sections (for example, the tip, distal section, tip of the distal section, another leader section as described herein, etc.). (2) Exploration step: In one or more embodiments, the operator or user can move the distal section, tip, tip of the distal section, or other leader section as described herein to determine the final orientation for the operator or user to insert the continuous robot 104 (for example into an object, target or sample; into patient P; etc.) at one position on the rail 108 or along one position on the rail 108.

[0064] In a typical workflow for navigating the continuum robot 104 (e.g., within an object, target, or sample; within patient P; within patient P's tube; within patient P's airway or lungs; within another part of patient P; etc.), the operator or user can use the insertion step to insert the continuum robot 104 to the next branching point of the object, target, or sample (e.g., the object, target, or sample described herein; patient P; patient P's tube; patient P's airway or lungs; another part of patient P; etc.). The operator or user can then stop the rail 108 and proceed to or advance to the exploration step. In one or more embodiments, the insertion step and the exploration step may be performed simultaneously or occur simultaneously. In the exploration step, the operator or user can use the endoscopic view to move the leader / distal section (or other leader sections or parts of the leader or distal section described herein (e.g., its tip)) to explore orientations that can be used for insertion of the continuum robot 104 and determine the orientation of the leader / distal section relative to the target airway (when the continuum robot 104 is inserted into the airway or lung of patient P) or other predetermined or desired object, target or sample (e.g., object, target or sample described herein; patient P; patient P's tube; patient P's airway or lung; another part of patient P; etc.). The operator or user can then restart or repeat the insertion step to reach the next branching point.

[0065] In this workflow, in one or more embodiments, the system or apparatus, its one or more processors, etc., can execute the flowchart in Figure 15. The starting state in Figure 15 may be the start of the search step in at least one embodiment of the workflow. The system receives a command to bend the distal section (or, in one or more embodiments, the leader section) and executes the bend (see, for example, step S1300 in Figure 15). Next, the operator or user can start the insertion step after determining the orientation / attitude / state / any combination thereof / etc. of the distal (or leader) section. At this time, the system, its one or more processors, etc., can store the orientation / attitude / state / any combination thereof / etc. of the bend of the distal (or leader) section while starting to move the rail 108 according to the command of the operator or user (see, for example, step S1301 in Figure 15). In one or more embodiments, the system or apparatus, its one or more processors, etc., can update the lookup table whenever, or each time, the distal section or part is bent (regardless of whether the rail 108 or linear stage is moving). After S1301, the system can generate the bending orientation / orientation / state / any combination thereof for each of the intermediate and proximal sections (see, for example, step S1302 in Figure 15). This bending orientation / orientation / state / any combination thereof for the target can be used in the FTL algorithm and may also be the same orientation / orientation / state / any combination thereof as the leader section of each intermediate and proximal section after being inserted for the respective section length of the intermediate and proximal sections. For example, if, during insertion using the FTL algorithm, the intermediate section reaches an insertion position beyond the distal (or leader) section, the intermediate section can achieve the same orientation / orientation / state / any combination thereof as the distal (or leader) section.

[0066] Next, the system or apparatus, or one or more of its processors, etc., can generate interpolated orientations, orientations, states, or any combinations thereof between the current and target bending orientations, orientations, states, or any combinations thereof for each of the intermediate and proximal sections (see, for example, step S1303 in Figure 15). Since embodiments of the system, apparatus, etc. of the present disclosure have an internal minimal insertion interval as the insertion control resolution, embodiments of the system, apparatus, etc. of the present disclosure can generate these interpolated orientations, orientations, states, or any combinations thereof by the minimum insertion interval. Next, by step S1304 in Figure 15, embodiments of the system, apparatus, etc. of the present disclosure, or one or more of its processors, etc., can smoothly control all sections in accordance with the FTL algorithm through insertion by the minimum insertion length.

[0067] In one or more embodiments, the system, apparatus, and one or more processors thereof can use the drive wire positions to represent the bending direction / attitude / state / any combination thereof, etc. In one or more embodiments, the current and target bending direction, attitude, state, and any combination thereof can be converted into the corresponding drive wire positions for each section. The system, apparatus, and one or more processors thereof can then interpolate the drive wire positions between the current drive wire positions and the target drive wire positions. As illustrated with Figures 4A and 4B, each section may have three drive wires terminating at the distal end of each section. As shown in Figure 4B, in each section, the three drive wires may be located at fixed positions of the sub-flumen along the circumference of the guide ring. In step S1301, the system, apparatus, and one or more processors thereof can store the three drive wire positions of the distal section. Next, in step S1302, the system, apparatus, or one or more of its processors can calculate the target drive wire position of the intermediate section or portion (or proximal section or portion) from or based on the recorded drive wire position of the distal section.In one or more embodiments, a system or apparatus, one or more processors thereof, etc., may perform the following: (i) convert the current bending posture, position or state and the target bending posture, position or state for each section or part of a catheter or probe to the corresponding drive wire position; (ii) determine the drive wire position for the distal bending section or part, the intermediate bending section or part, and / or the proximal bending section or part; and (iii) (a) calculate the target drive wire position for at least the intermediate and proximal sections or parts of the catheter or probe from or based on the drive wire position of the distal bending section or part, or (b) the distal bending section or part and the intermediate bending section or part. One of a section or portion and a proximal curved section or portion is selected, and the target drive wire position for the other two sections or portions of the catheter or probe is calculated from or based on the selected distal curved section or portion, intermediate curved section or portion and / or proximal curved section or portion (i.e., any section or portion of the catheter or probe can be selected and used to calculate the target drive wire position for any of the other sections or portions of the catheter or probe, thereby allowing the distal, intermediate and / or proximal sections or portions (or other sections or portions) of the catheter or probe to be swapped or interchangeable in such calculation / determination). As a further example, the orientation of the distal section / position of the distal wire can be calculated from the orientation of the intermediate section / position of the intermediate wire (and / or from the orientation of the proximal section / position of the proximal wire). For this calculation, the system, device, one or more of its processors, etc., can use the difference in the cross-sectional positions of the three drive wires between the distal and intermediate sections. This is because the positions of the three drive wires with respect to the bending direction, orientation, state, and any combination thereof can be covered by or converted to the positions of three other drive wires at different cross-sectional positions and / or using different cross-sectional positions. In step S1303, the system, apparatus, and one or more of its processors can create a linear interpolation of the drive wire positions between the current drive wire positions in the intermediate section and the target drive wire positions for each minimum insertion interval.In one or more embodiments, the difference between the current drive wire position and the target drive wire position mapped to the target stage position can be taken, a linear interpolation of the difference can be created, and the result can be added to the corresponding value already stored for each minimal insertion level.

[0068] By generating the interpolated drive wire position for insertion using the FTL algorithm, the change in drive wire position from one minimum insertion interval to another adjacent minimum insertion interval may be constant, or always constant (as required in certain system or device embodiments, etc.) in one or more embodiments, allowing each section to bend at a constant rate during insertion. The constant rate of change in orientation / posture / state, etc., of each section allows the operator or user to change the endoscopic view at a constant rate for intuitive control. In one or more embodiments, the same or constant rate of change (or substantially the same / similar or constant rate of change) of the drive wire position may correspond to the same or constant (or substantially the same / similar or constant) speed or velocity of the distal / leader section or part (or tip of the distal / leader section or part) of the catheter or probe 104. Furthermore, since each section can approach the target orientation / posture / position / state, etc., at a constant rate from its current orientation / posture / position / state, etc., the trajectory of the distal (or leader) section during insertion can be determined along a shorter path. This feature allows one or more embodiments of the continuum robot 104 to reduce or avoid interaction with a given part of a target, object, or sample (for example, in the case of a lung or airway, interaction with the airway wall can be reduced or avoided). Furthermore, if the difference between the current drive wire position and the target drive wire position mapped to the target stage position is taken, a linear interpolation of this difference can be created and added to a corresponding value already stored for each minimum insertion level, an additional feature can be realized that includes adding a portion of the difference of the total wire position for each point along the interpolation range, so that as the attitude, position, state, etc. approaches the target, the attitude, position, state, etc. of the target gradually directs towards the final target while maintaining the previously mapped attitude, position, state, etc. This feature can ensure that the section or part further follows any necessary, desired, or target bending as it approaches the target position. The feature also functions to minimize interaction with an object, target, or sample (for example, if the object, target, or sample is an airway or lung, it minimizes interaction with the airway or airway wall at that position).

[0069] Any one or more processors, such as the control unit 102 or the display control unit 100, may be configured separately. As described above, the control unit 102 may similarly include a CPU 120, RAM 130, I / O 140, ROM 110, and HDD 150, as schematically shown in Figure 3. Alternatively, any one or more processors, such as the control unit 102 or the display control unit 100, may be configured as a single device (for example, the structural attributes of the control unit 100 and the control unit 102 may be combined with a single control unit or processor (for example, one or more other processors described herein (e.g., a computer, console, or processor 1200, 1200', etc.))).

[0070] System 1000 may include tool channels for cameras, biopsy tools, and other types of medical tools (as shown in Figure 1 or Figure 5). For example, the tools may be medical tools such as endoscopes, forceps, needles, and other biopsy tools. In one or more embodiments, the tools may be described as surgical tools or working tools. Working tools can be inserted and removed through the working tool insertion slot 501 (as shown in Figure 5). Any feature of this disclosure may be used in combination with any feature disclosed in U.S. Provisional Patent Application No. 63 / 378,017 (filed September 30, 2022, the disclosure of which is incorporated herein by reference in whole) (e.g., the tool insertion slot 501), and / or any feature described in U.S. Provisional Patent Application No. 63 / 377,983 (filed September 30, 2022, the disclosure of which is incorporated herein by reference in whole).

[0071] One or more of the features described herein may be used in a planning procedure. As an example of one or more embodiments, Figure 6 is a flowchart showing the steps of at least one planning procedure for the operation of the continuum robot / catheter device 104. One or more of the processors described herein may perform the steps shown in Figure 6, and these steps may be performed by executing a software program read from a storage medium (e.g., ROM 110 or HDD 150) by the CPU 120 or other processor described herein. One or more methods of planning using the continuum robot / catheter device 104 may include one or more of the following steps: (i) in step s601, one or more images such as CT images or MRI images may be acquired; (ii) in step s602, a three-dimensional model of the branching structure (e.g., a model of the airway of the lung, or a model of an object, specimen or other part of the body) may be generated based on the acquired one or more images; (iii) in step s603, a target on the branching structure may be determined (e.g., based on a user instruction, based on preset or stored information, etc.); (iv) step s604 In this way, a route for the continuum robot / catheter device 104 to reach a target (e.g., on a branched structure) can be determined (e.g., based on a user command, based on preset or stored information, based on a combination of a user command and stored or preset information, etc.); (v) In step s605, the generated model (e.g., a generated 2D or 3D model) and the determined route on the model can be saved (e.g., in RAM 130 or HDD or data storage 150, in other storage media described herein, in other storage media known to those skilled in the art, etc.). Thus, a model of the branched structure (e.g., a 2D or 3D model) can be generated, and the target and route on the model can be determined and saved before the operation of the continuum robot 104 begins.

[0072] One or more of the following embodiments describe embodiments using the catheter device / continuum robot 104, and feature for performing techniques such as adjustment, correction and / or smoothing (e.g., direct FTL smoothing, continuum robot smoothing, pathway smoothing, and other smoothing described herein).

[0073] In one or more embodiments, an effective method of smoothing may be to direct a section (e.g., a distal or distal portion or section) to a direct path between orientations. In one or more embodiments, the direct path may be the shortest path (see, for example, path 700 shown in Figures 7-9), and the smallest possible volume may be used for efficiency. In one or more embodiments, the shortest path may lie on a plane defined by two vectors (e.g., a plane defined by a start vector 701 and an end vector 701 shown in Figure 7, a plane defined by a base coordinate system having two vectors in the plane such that the shortest path 700 arises from or is defined by two other vectors 701, 701). The shortest path 700 is preferably employed to streamline the use and control of equipment or systems of a continuum robot (e.g., continuum robot 104).

[0074] In contrast, path 700 is shorter (or considered to be the shortest) than another path 800 (shown in Figure 8) which may be used in one or more other continuum robotic embodiments. As shown in Figure 8, path 800 lies outside the plane of the two vectors 701, is longer than path 700, and in one or more embodiments of the present disclosure, an indirect path 800 may be employed which may be used instead of path 700 or which may be adjusted to reach path 700 (e.g., by deforming or adjusting path 800 to match path 700). In one or more embodiments, orientation or state may include one or more degrees of freedom. For example, in at least one orientation embodiment, two degrees of freedom may be used, which may include an angle representing the magnitude of the bend and a plane representing the direction of the bend. In one or more embodiments, matching a state may include matching, duplicating, mimicking or otherwise copying other characteristics (e.g., vectors relating to each section or part of one or more sections or parts of the probe or catheter) for different parts or sections of the catheter or probe. For example, the transition or change from the base angle / plane to the target angle / plane can be set or predetermined using transition values ​​(for example, but not limited to, the base orientation or state may have a stage of 0 mm, an angle of 0 degrees, and a plane of 0 degrees, while the target orientation or state may have a stage of 20 mm, an angle of 90 degrees, and a plane of 180 degrees. Intermediate values ​​for the stage, angle, and plane can be set depending on the number of transition orientations or states that can be used). As at least one example, if five transition orientations or states can be used, as described above, the base orientation or state may have a stage of 0 mm, an angle of 0 degrees, and a plane of 0 degrees, while the target orientation or state may have a stage of 20 mm, an angle of 90 degrees, and a plane of 180 degrees. For the three intermediate orientations or states, the following values ​​are possible: (i) for the 25% orientation or state, the stage may be 5 mm, the angle 22.5 degrees, and the plane 45 degrees; (ii) for the 50% orientation or state, the stage may be 10 mm, the angle 45 degrees, and the plane 90 degrees; and (iii) for the 75% orientation or state, the stage may be 15 mm, the angle 67.5 degrees, and the plane 135 degrees.One or more features of the present disclosure reduce or minimize out-of-plane motion and surface area for operations performed by the probe or catheter device or system in one or more embodiments.

[0075] In one or more embodiments, motion along a path (e.g., path 700) may occur in a continuous direction as shown by vector 900 in Figure 9.

[0076] In one or more embodiments, an indirect route may be used. When an indirect route may be used, the motion (e.g., of a part or section, of a first part or section, etc.) may also affect subsequent parts or sections of the catheter or probe of the device or continuum robot (e.g., device / continuum robot 104, etc.). When a direct route may be used, the motion and its consequent impact on subsequent parts or sections are reduced and / or minimized. Such reductions or minimizations are important and useful for users of catheters or probes in devices or continuum robots (e.g., device / continuum robot 104), or for continuum robot systems or devices (e.g., continuum robot 104, system or device 1000 in Figures 1-2, system or device 100 described later, system or device 100' described later, system or device 100") described later, etc., that automatically control (partially (e.g., manual control features may be included or provided)) the catheter or probe when the camera is at (or near the terminal or tip portion or section) of the catheter or probe. To reduce and / or avoid undesirable movements (e.g., those that may be caused by indirect movements that may affect the tip portion or other parts of the catheter or probe), The user may adjust the orientation of the tip or section (e.g., manually), or the system or device may function to automatically adjust the orientation of the tip or section (e.g., via one or more of its processors). In one or more embodiments, as the indirect path approaches the final orientation, the orientation of the catheter or probe moving along the indirect path may be adjusted (e.g., adjustment for the orientation of the tip or section, adjustment for the orientation of another predetermined or set section, etc.). Additional adjustments may be used if the orientation adjustment (e.g., adjustment for the orientation of the tip or section, adjustment for the orientation of another predetermined or set section, etc.) may be incomplete or eliminated by additional adjustments (e.g., if the original or initial orientation adjustment may have been avoided or was unnecessary, etc.).The orientation can be stored in a history (for example, in memory or other storage media such as the memory or storage medium described herein or memory known to those skilled in the art), so the orientation can be repeated for each follow-up section (for example, each section after the leading section or part, each section after a predetermined or set part or section, etc.). Adjustments may also be made by the user (e.g., manually) and / or via one or more processors of the device or system (e.g., automatically) to consider, adjust, or correct unnecessary movements or movements that could be done more efficiently. In one or more embodiments, the adjustment or correction may be performed automatically (e.g., by the device or system) or manually (e.g., by allowing manual adjustment by the user in addition to automatic correction or adjustment). In one or more embodiments, the adjustment can be stored in a history along with the orientation, so the system or device can perform the adjustment for each subsequent section, thereby potentially eliminating the need for the user to manually and repeatedly consider unnecessary movements as the system or device performs or provides this feature.

[0077] One or more embodiments of this disclosure can implement direct path smoothing by gradually directing each stage position / state (or the position / state of another structure used for mapping a path or path-like information) along a smoothing range to a final orientation. To gradually direct each stage position / state (or the position / state of another structure used for mapping a path or path-like information) along a smoothing range to a final orientation, the system or apparatus can interpolate the “orientation change” occurring at a single stage position (or the position / state of another structure used for mapping a path or path-like information) in steps or between steps, with each step being closer to the final orientation than the previous step. For example, in one or more non-limiting, non-exclusive embodiments, the orientation change may be represented by a small vector change of 900 such that the motion follows the continuous direction as described above, as shown in Figure 9.

[0078] In one or more embodiments of this disclosure (but not limited to this definition), a “change of orientation” or “change of state” (or transition of state) may be defined in terms of direction and magnitude. For example, each interpolation step may have the same direction, and the magnitude of each interpolation step may increase as each step approaches the final orientation. By the kinematics of one or more embodiments, motion along a single direction may be an accumulation of small motions in that direction. Small motions may be a specific or predetermined set of wire position or state changes to achieve a change of orientation. Small motions may include a specific or predetermined set of wire position or state changes to achieve a change of orientation. Larger motions, or greater motions, in that direction can be achieved using a plurality of small motions. Dividing a large change into a series of changes of small changes or predetermined / set changes can be used as one method for performing interpolation. In one or more embodiments, interpolation can be used to generate a desired or target motion, and at least one method for generating a desired or target motion may be interpolating wire position or state changes.

[0079] In one or more embodiments, when smoothing is performed, the interpolated orientation may be combined with a value previously mapped to the corresponding stage position / state (or the position / state of another structure used for mapping paths or path-like information) (for example, by simply adding wire positions or states).

[0080] The kinematics of embodiments of robots, devices, or systems of this disclosure allow a difference (e.g., a set difference, a predetermined difference, etc.) between two separate orientations / states to be maintained by applying the same “change in position” or “change in state” to both. In one or more embodiments (other embodiments are not limited to these), the difference in orientation / state may be defined as a difference in wire position / state, so that changing the wire position or state of both sets by the same amount does not affect the difference in orientation or state between the two separate orientations or states.

[0081] There may be a specific orientation difference between orientations mapped to two subsequent stage positions / states (or positions / states of other structures used for mapping paths or path-like information). When smoothing is applied, the later (or second) stage position / state (or position / state of another structure) has the same orientation change as the previous (or first) stage position / state (or position / state of another structure) received, so as not to change the orientation / state difference. The smoothing process may include an additional step of “small motion,” which functions to change the orientation / state difference by the amount of that small motion. Since the “small motion” functions to produce the same orientation / state change regardless of the previous orientation / state, the small motion step also functions to orient the orientation / state in the table in the appropriate (e.g., set, desired, predetermined, selected) direction, while maintaining the outline or configuration of the path / state before the smoothing process was applied. Therefore, in one or more embodiments, it may be most efficient and effective to compare wire positions or states in combination with previous orientations while maintaining existing orientation changes using a smoothing process.

[0082] In one or more embodiments, the catheter or probe may transition, move, or adjust using the shortest possible volume. When a follow section or portion of the probe or catheter is transitioning, moving, or adjusting, using the shortest possible volume can reduce or minimize the impact on the position or state of one or more (or all) of the distal / follow section or portion of the catheter or probe. In one or more embodiments, the process or algorithm can perform the transition, move, or adjust process more efficiently than calculating the deformation stackup of each section or portion of the catheter or probe. Preferably, each interpolation step points to the final orientation in the desired direction, so that any previous orientations into which the interpolation steps are combined will also point to the desired direction to achieve the final orientation.

[0083] In one or more embodiments of the present disclosure, the apparatus or system may include one or more processors that: receive or acquire images showing information about the orientation or position (or other state) of a tip section of a catheter or probe having multiple sections, including at least a tip section; track a history of information about the orientation or position (or other state) of the tip section of the catheter or probe over a period of time; and use the history of information about the orientation or position (or other state) of the tip section to determine how each of the multiple sections of the catheter or probe should be aligned or transitioned, moved or adjusted (e.g., by robotic control, manually, automatically, etc.).

[0084] In one or more embodiments, one or more additional images may be received or acquired to show the catheter or probe after each of several sections of the catheter or probe has been aligned or adjusted (e.g., by robotic control, manually, automatically, etc.) based on a history of information on the posture or position (or other state) of the tip section. In one or more embodiments, the device or system may include a display for displaying images showing the aligned or adjusted sections of the catheter or probe. In one or more embodiments, the posture or position (or other state) information may include, for example, a target posture or position (or other state) or final posture or position (or other state) set to be reached by the tip section, and interpolated posture or position (or other state) of the tip section (e.g., interpolation of the tip section between two positions or postures (or other states) (e.g., between posture or position (or other state) A and posture or position (or other state) B) when the device or system transmits posture (or other state) change information in steps based on desired, set or predetermined speed; the catheter or This may include interpolation of tip segments between each attitude or position (or other state) that the probe takes or is positioned and tracked; and measured attitudes or positions (or other states) (e.g., using tracked attitudes or positions (or other states) and encoder positions (or other states) of each wire motor, etc.) if one or more processors can further function to calculate or derive the current position (or state) taken by a segment of the probe or catheter (e.g., tip segment, one of the other segments of multiple segments of the probe or catheter, etc.). In addition to using one or more types of attitudes or positions (or other states), each attitude or position (or state) may be converted between drive wire positions (or states) and / or coordinates (3D position and orientation (or other states)) (e.g., via one or more processors).

[0085] In one or more embodiments, the device or system includes a camera positioned at the tip of a catheter or probe, which may be bent by the catheter or probe, and / or the camera may be detachably attached to or removablely inserted into a maneuverable catheter or probe. In one or more embodiments, the device or system may include a display control device, or one or more processors may display the image to be displayed on a display.

[0086] Figures 10A to 10C show, respectively, three orientation vector trajectory graphs (upper row) for isometric, lateral, and top information for different paths, and three end coordinate trajectory graphs (lower row) for isometric, lateral, and top information, relating to one or more embodiments of the present disclosure. As shown in each figure, reference numeral 1010 indicates a path 1010 for interpolating between wire positions. The orientation transition maintains the end coordinates on the same coordinate plane 1020 defined by the base of the section or portion of the catheter or probe and the end coordinates of the start and end orientations / positions / states / etc. A numerical interpolation curve 1030 (which may correspond to the curve or path 800 described above in one or more embodiments) may function to use a transition based on numerical interpolation between the start and end orientation planes and angular values. A curve of orientation plane 1040 may show how the orientation transition maintains the orientation vectors on the same plane defined by the orientation vectors of the start and end orientations / positions / states / etc. Figures 10A to 10C illustrate scenarios in which one or more methods, processes, or algorithms of this disclosure may create different trajectories. The upper figures or graphs in Figures 10A to 10C show the trajectories of each orientation vector during attitude / position / state transitions. The lower figures or graphs in Figures 10A to 10C show the trajectories of each end coordinate during attitude / position / state transitions.

[0087] Figures 11A to 11C show, respectively, three orientation vector trajectory graphs (upper graphs) for isometric, lateral, and top-view information for the same or similar path, and three end-coordinate trajectory graphs (lower graphs) for isometric, lateral, and top-view information for the same or similar path, relating to one or more embodiments of the present disclosure. As shown in each figure, reference numeral 1010 indicates a path 1010 for interpolating between wire positions. The orientation transition maintains the end coordinates on the same coordinate plane 1020 defined by the base of the section or portion of the catheter or probe and the end coordinates of the start and end orientations / positions / states / etc. A numerical interpolation curve 1030 (which may correspond to the curve or path 800 described above in one or more embodiments) may function to use a transition based on numerical interpolation between the start and end orientation planes and angular values. A curve of orientation plane 1040 may show how the orientation transition maintains the orientation vectors on the same plane defined by the orientation vectors of the start and end orientations / positions / states / etc. Figures 11A to 11C illustrate scenarios in which one or more methods, processes, or algorithms of the present disclosure may create the same or similar trajectories or paths for paths 1010, 1020, and 1040. The upper diagrams or graphs in Figures 11A to 11C show the trajectories of each orientation vector during attitude / position / state transitions. The lower diagrams or graphs in Figures 11A to 11C show the trajectories of each end coordinate during attitude / position / state transitions.

[0088] One or more embodiments of the present disclosure can perform one or more workflows using one or more features, for example, as shown in the embodiments in Figures 12 to 14. For example, one or more embodiments can store information in a lookup table (for example, an intermediate interval lookup table 1100 shown in Figures 12 to 14) or retrieve information from a lookup table.

[0089] As shown in Figure 12, the apparatus, system, method, or storage medium in the present disclosure can acquire or determine the plane / angle of a leading section and the current stage position / state (or the position / state of another structure used for mapping a path or path-like information), and this information (e.g., section or part state information, section or part orientation or position information, stage position / state information, position / state information of another structure, etc.) can be stored in a table. By performing calculations or summations based on intermediate section length data, future (or other identical / similar / approximate / corresponding) stage positions or states can be determined from the current stage position or state, and the determined future (or other identical / similar / approximate / corresponding) stage positions or states can be stored in a table. For example, when an intermediate (or other) section or part reaches a future (or other identical / similar / approximate / corresponding) stage position or state (or the position or state of another structure used for mapping a path or path-like information), the intermediate (or other) section or part can duplicate or copy the orientation or state of a predetermined or set section or part (e.g., a leading section or part, another selected section or part, etc.). Features or steps may be performed by one or more processors reading and writing information to a data store. The data store can map stage positions / states (positions / states of other structures used for mapping a path or path-like information) to target orientations or positions (or other states). One or more embodiments can determine a method for adjusting one or more wire positions (e.g., for drive wires such as wires 142, 144, 146 described above) based on the planar shift of the intermediate section and based on planar / angle information, so that the wire positions or states of the intermediate section can be determined, and such information can be transmitted to a motor (e.g., a wire-driven motor) to perform adjustment, modification, state, or smoothing operations. In one or more embodiments, the position or state of the drive wire may not be used to perform interpolation, and / or other means (e.g., pneumatic actuators) for controlling the orientation, position, state, etc., of a section or portion of the catheter or probe may be used in conjunction with other techniques described herein.

[0090] In one or more embodiments, the intermediate orientation can be aligned to the tip orientation, as shown in Figure 13. The apparatus, system, method, or storage medium in the present disclosure can acquire or determine the plane / angle of the tip section and the current stage position or state, and this information (e.g., information on the orientation or position (or other state) of the section or part, stage position or other state information, etc.) can be stored in a table. By performing a summation based on the length data of the intermediate section, a future stage position or state (or other identical / similar / approximate / corresponding position or state) can be determined from the current stage position or state, and the determined future stage position or state (or other identical / similar / approximate / corresponding position or state) can be stored in a table. One or more embodiments can determine a method for adjusting one or more wire positions (for example, for drive wires such as wires 142, 144, 146 described above) based on a planar shift of an intermediate section and based on planar / angle (or other state) information, so that the wire positions of the intermediate section can be determined, and such information can be transmitted to a motor (e.g., a wire-driven motor, a pneumatic motor, etc.) to perform adjustment, modification, state transition, or smoothing operations to align the intermediate attitude or position (or state) to the end section or part (or other predetermined or selected section or part). In one or more embodiments, the calculation of the sum of future stage positions or states (or other same / similar / approximate / corresponding stage positions or states) shown in Figure 10 may be omitted, and the features of the system stage (or other structure used for mapping paths or path-like information) and the data store may be omitted. In one or more embodiments, the state of a part or section may be stored as a reference and / or may originate from user-initiated state changes occurring during pull-out in addition to insertion and stopping.

[0091] One or more additional embodiments of the present disclosure allow for alignment of an intermediate position or state to a tip position or state, as shown in Figure 14. As shown in Figure 14, the position or state of an intermediate section wire can be determined and / or adjusted based on the plane and / or angle information of the tip section (or other predetermined or selected portion or section), based on the plane shift of the intermediate section, and based on applying the plane and / or angle (and / or other state) information to the wire position or state. The wire position or state of the intermediate section may also be stored in a table or section of the intermediate section lookup table 1100. By performing a summation based on the intermediate section length data, future stage positions or states (or other identical / similar / approximate / corresponding positions or states) can be determined from the current stage position or state (or the position or state of another structure used for mapping a path or path-like information). Information about the current stage (or other structure) location or state, and / or information about the determined future stage (or other structure) location or state (or other same / similar / approximate / corresponding location or state), may be stored in a table (or different section) of the intermediate section lookup table 1100. In one or more embodiments, when an intermediate (or other) section or part reaches a future stage location or state (or the location or state of another structure used for mapping a path or path-like information; other same / similar / approximate / corresponding location or state; etc.), the intermediate (or other) section or part may duplicate or copy the orientation or state of a predetermined or set section or part (e.g., a leading section or part, another selected section or part, etc.).Position or state information (e.g., information on the position or state of the current and / or future stages (or other structures), information on other identical / similar / approximate / corresponding position or state, information on the position or state of the intermediate section wire, or other states described herein) may be obtained from the intermediate section lookup table 1100 and transmitted to a motor (e.g., a wire-driven motor) to perform adjustment, change, state transition or smoothing operations to align the intermediate posture or position (or other state) to the tip section or portion (or other predetermined or selected section or portion). In one or more embodiments, as described above, any other predetermined or selected portion or section (e.g., other than the tip section or portion) can be used as a source of target state for another portion or section of the catheter or probe. This is particularly useful in targeting mode, in which case the user or one or more processors can change the posture or state of the intermediate section or portion and operate to include that change in the motion or state change / transition of the proximal or tip section or portion (or other desired or selected section or portion) of the catheter or probe. As an addition or alternative, different parts or sections may use different parts or sections as the source for making such changes (for example, an intermediate part or section may use the leading section or part, and a subsequent part or section may use the intermediate part or section). In one or more embodiments, the source may be changed throughout or during the execution of the procedure or technique for such changes. The change in the source may be due to one or more factors, such as different modes or scenarios or settings.

[0092] As an alternative or addition, in addition to finding direct (or approximate) orientation or state transitions, one or more embodiments may include direct (or approximate) end-effector positions or state transitions and / or continuous (or specific) local orientation or state changes during the transition. In one or more embodiments using drive wire interpolation, the device, system, method or storage medium may use such transition techniques as needed. For example, a user may command or execute a state transition or change using a joystick (e.g., by holding the joystick in a certain direction) as described herein, or one or more processors may automatically control (or control in response to a request) such state transition or change.

[0093] One or more features described herein may be used to perform correction, adjustment, and / or smoothing (e.g., direct FTL smoothing, pathway smoothing, continuum robot smoothing, etc.). Figure 15 is a flowchart showing the steps of at least one procedure for performing correction, adjustment, and / or smoothing of a continuum robot / catheter device (e.g., continuum robot / catheter device 104). One or more processors described herein may perform the steps shown in Figure 15, and these steps may be performed by executing a software program read from a storage medium (e.g., ROM 110 or HDD 150) by the CPU 120 or other processor described herein.One or more methods for correcting, adjusting and / or smoothing (e.g., direct FTL smoothing) a catheter or probe of a continuum robotic device or system may include one or more of the following steps: (i) in step S1300, command the distal curved section or portion of the catheter or probe of the continuum robot to achieve or position the curved posture or position; (ii) in step S1301, store or acquire the curved posture or position of the distal curved section or portion, and further, if the forward movement or setting or movement in a predetermined direction of the motorized linear stage that functions to move the catheter or probe of the continuum robot is commanded or instructed, store or acquire the position of the motorized linear stage; (iii) in step S1302, the corresponding curved section or probe of the catheter or probe based on (or on) the preceding curved section or portion, or based on the preceding posture or state of the distal curved section or portion. (iv) In step S1303, generate a target or bending posture or position (or other state) for each section or part of the catheter or probe between the target or bending posture or position for each section or part of the catheter or probe and the current bending posture or position, wherein the interpolated posture or position is generated such that the orientation vector of the interpolated posture or position lies on a plane created or defined by the orientation vector of the target or bending posture or position and the orientation vector of the current bending posture or position; and / or (v) In step S1304, command or instruct each section or part of the catheter or probe to move or position to its respective interpolated posture or position during the forward movement of the tip section or part of the catheter or probe, or during movement in a set or predetermined direction (see Figure 15).

[0094] In one or more embodiments, a non-temporary computer-readable storage medium may store at least one program for causing a computer to perform a method for correcting, adjusting and / or smoothing (e.g., direct FTL smoothing), the method comprising one or more of the following steps: (i) in step S1300, command a distal curved section or portion of a catheter or probe of a continuum robot to achieve or position the distal curved section or portion; (ii) in step S1301, store or acquire the curved position or position of the distal curved section or portion, and further store or acquire the position of an electric linear stage that functions to move the catheter or probe of a continuum robot if an advance movement or setting or movement in a predetermined direction of the electric linear stage is commanded or instructed; (iii) in step S1302, from or based on the previous curved section or portion, the catheter (iv) In step S1303, generate a target or object bending posture or position for each corresponding section or part of the catheter or probe between the current bending posture or position and the target or object bending posture or position for each section or part of the catheter or probe, wherein the interpolated posture or position is generated such that the orientation vector of the interpolated posture or position lies on a plane created or defined by the orientation vector of the respective target or object bending posture or position and the orientation vector of the respective current bending posture or position; and / or (v) In step S1304, command or instruct each section or part of the catheter or probe to move or position to its respective interpolated posture or position during the forward movement of the tip section or part of the catheter or probe, or during movement in a set or predetermined direction (see Figure 15).

[0095] One or more of the features described above can be used in conjunction with the continuum robot and related features disclosed in U.S. Provisional Patent Application No. 63 / 150,859 (filed February 18, 2021), which is incorporated herein by reference in whole. For example, Figures 16 to 18 illustrate features of at least one embodiment of the configuration of the continuum robot device 10 for performing automatic correction of the direction in which a tool channel or camera moves or bends when a displayed image rotates. The continuum robot device 10 makes it possible to maintain a correspondence between the direction on the monitor (up, down, left, right of the monitor) and the direction in which the tool channel or camera moves on the monitor according to a specific direction command (up, down, left, right), even when the displayed image rotates.

[0096] As shown in Figures 16 and 17, the continuum robot device 10 may include one or more of the following: a continuum robot 11, an imaging unit 20, an input unit 30, a guide unit 40, a control device 50, and a display 60. The imaging unit 20 may be a camera or other imaging device. The continuum robot 11 may include one or more flexible parts 12 connected to one or more of each other, and one or more flexible parts 12 may be configured to bend or rotate in different directions. The continuum robot 11 may include a drive unit 13, a motion drive unit 14, and a linear drive or guide 15. The motion drive unit 14 functions to move the drive unit 13 along the linear drive or guide 15.

[0097] The input unit 30 has an input element 32 and is configured to allow the user to positionally adjust the flexible portion 12 of the continuum robot 11. The input unit 30 may be configured as a mouse, keyboard, joystick, lever, or another shape that facilitates user interaction. The user can provide operational input via the input element 32, and the continuum robot device 10 can receive information from the input element 32 and one or more input / output devices (e.g., receiver, transmitter, speaker, display, imaging sensor, user input device (e.g., keyboard, keypad, mouse, position-tracking stylus, position-tracking probe, foot switch, microphone, etc.)). The guide unit 40 is a device including one or more buttons, knobs, switches, etc. 42, 44, which the user can use to adjust various parameters of the continuum robot 10 (e.g., speed (e.g., rotational speed, linear speed, etc.), angle or plane, and other parameters).

[0098] Figure 18 illustrates at least one embodiment of a control device 50 relating to one or more features of the present disclosure. The control device 50 can be configured to control elements of a continuum robot device 10 and has one or more of the following: a CPU 51, memory 52, storage 53, input / output (I / O) interface 54, and communication interface 55. The continuum robot device 10 can be interconnected with medical instruments and various other devices and can be controlled independently, externally, or remotely by the control device 50. In one or more embodiments of the present disclosure, one or more features of the continuum robot device 10 and one or more features of the continuum robot or catheter or probe system 1000 may be used in combination or as substitutes for each other.

[0099] Memory 52 may be used as working memory or may include any memory described herein. Storage 53 stores software or computer instructions and may be any type of storage, data storage 150, or other memory or storage described herein. CPU 51 (which may include one or more processors, circuit configurations, or combinations thereof) executes software stored in memory 52 (or other memory described herein). I / O interface 54 functions to input information from the continuum robot device 10 to the control device 50 and output information to be displayed to display 60 (or other displays described herein, such as display 1209 described later).

[0100] The communication interface 55 may be configured as a component included in the device 10, or as a circuit or other device for communicating with various external devices connected to the device via a network. For example, the communication interface 55 can store information to be output in a transfer packet, and output the transfer packet to an external device via a network using a communication technology such as the Transmission Control Protocol / Internet Protocol (TCP / IP). The device may include multiple communication circuits depending on the desired communication mode.

[0101] The control device 50 may be interconnected or interfaced with one or more external devices, such as one or more data storage devices (e.g., data storage 150, SSD or memory drive 1207 described later, or other storage devices as specified herein) or one or more external user input / output devices, in a communicative manner. The control device 50 may also interface with other elements, such as one or more of the following: external storage, display, keyboard, mouse, sensor, microphone, speaker, projector, scanner, display, lighting equipment, etc.

[0102] The display 60 may be, for example, a display device configured as a monitor, LCD (liquid crystal panel display), LED display, OLED (organic LED) display, plasma display, organic electroluminescent panel, or other display as described herein. Based on the control of the device, a screen showing one or more images (for example, one or more images being captured, captured images, captured video recorded in a storage device, etc.) may be displayed on the display 60.

[0103] The components may be connected to each other by a bus 56 so that they can communicate with one another. The bus 56 sends and receives data between these connected hardware components. Alternatively, the bus 56 transmits commands from the CPU 51 to other hardware components. The components may be implemented by one or more physical devices that can be coupled to the processor 51 through a communication channel. For example, the control unit 50 may be implemented using an ASIC (Application-Specific Integrated Circuit) or other similar circuit as described herein. Alternatively, the control unit 50 may be implemented as a combination of hardware and software, in which case the software is loaded to the processor from memory or via a network connection. The functions of the control unit 50 may be stored in a storage medium such as RAM (Random Access Memory), a magnetic drive or optical drive, a diskette, or cloud storage.

[0104] The units described throughout this disclosure are exemplary and / or preferred modules for implementing the processes described herein. However, one or more embodiments of this disclosure are not limited to them. As used herein, the term “unit” may generally refer to firmware, software, hardware, or other components (e.g., circuit configurations) or combinations thereof used to achieve a goal. Modules may be hardware units (e.g., circuit configurations, firmware, field-programmable gate arrays, digital signal processors, application-specific integrated circuits, etc.) and / or software modules (e.g., computer-readable programs, instructions stored in memory or storage media, etc.). Modules for performing various steps are not exhaustively described above. However, where there are steps for performing a particular process, there may be corresponding functional modules or units (implemented by hardware and / or software) for performing that process. This disclosure includes technical solutions for all combinations of the steps described and the units corresponding to those steps.

[0105] One or more adjustment, correction, and / or smoothing features of this disclosure may be used in combination with one or more image correction or adjustment features in one or more embodiments. One or more adjustment, correction, or smoothing features of a catheter or probe device and / or continuum robot can adjust the path of one or more sections or portions of the catheter or probe device and / or continuum robot (e.g., continuum robot 104, continuum robot device 10, etc.), and one or more embodiments can perform the corresponding adjustment or correction on the image view. For example, in one or more embodiments, the medical tool may be a bronchoscope.

[0106] While one or more features of this disclosure have been described with reference to exemplary embodiments, this disclosure is, of course, not limited to the exemplary embodiments disclosed. The claims should be given the broadest possible interpretation to encompass all modifications and equivalent structures and functions.

[0107] A computer (e.g., a console or computer 1200, 1200') can perform the steps, processes, and / or techniques described herein with respect to any device and / or system manufactured or used, any embodiment shown in Figures 1 to 20, or any other device or system described herein.

[0108] There are numerous digital and analog methods for controlling a continuum robot, correcting or adjusting an image or path (or one or more segments or parts) of a continuum robot (or other probe or catheter device or system), performing other measurements or processes described herein, executing a continuum robot method or algorithm, and / or controlling at least one continuum robot device / apparatus, system and / or storage medium. In at least one embodiment, a console or computer such as computer 1200, 1200' may be dedicated to controlling and / or using the continuum robot device, system, method and / or storage medium used in conjunction therewith as described herein.

[0109] One or more detectors, sensors, cameras, or other components of an apparatus or system embodiment (e.g., system 1000 in Figure 1, or other systems described herein) may transmit digital or analog signals to a processor or computer (e.g., image processor or display control device 100, control device 102, CPU 120, control device 50, CPU 51, processor or computer 1200, 1200' (see at least Figures 1-5, 16-18, and 19-20), or combinations thereof). The image processor may be a dedicated image processor or a general-purpose processor configured to process images. In at least one embodiment, computers 1200, 1200' may be used as a substitute or addition to the image processor or display control device 100 and / or control device 102 (or other processors or control devices described herein, such as control device 50 or CPU 51). In an alternative embodiment, the image processor may include an ADC and receive analog signals from one or more detectors or sensors of system 1000 (or other systems described herein). The image processor may include one or more of the following: a CPU, DSP, FPGA, ASIC, or any other processing circuit. The image processor may include memory for storing images, data, and instructions. The image processor can generate one or more images based on information provided by one or more detectors, sensors, or cameras. The computers or processors described herein (e.g., the processors of the devices, apparatus, or systems in Figures 1-5 and 16-18, computer 1200, computer 1200', image processor, etc.) may include one or more components described later herein (see, for example, Figures 19-20).

[0110] Electrical analog signals obtained from the output of system 1000 or its components (and / or from the equipment, devices, or systems shown in Figures 1 to 5 and Figures 16 to 18) can be converted into digital signals and analyzed by a computer (e.g., computer or control device 100, 102, computer 1200, 1200', etc. in Figure 1).

[0111] As described above, there are numerous digital and analog methods for controlling a continuum robot, correcting or adjusting images, correcting, adjusting or smoothing the path (or section or portion) of a continuum robot, or performing other measurements or processes described herein, executing continuum robot methods or algorithms, and / or controlling at least one continuum robot instrument / device, system and / or storage medium. As a further example, in at least one embodiment, a computer (e.g., computer or control device 100, 102, console or computer 1200, 1200' in Figure 1, etc.) may be dedicated to controlling and monitoring the continuum robot instrument, system, method and / or storage medium described herein.

[0112] The electrical signals used for imaging may be transmitted via cables or wires (e.g., cable or wire 113 (see Figure 19)) to one or more processors (e.g., processors or control devices 100, 102 in Figures 1 to 5, computer 1200 (e.g., see Figure 19), computer 1200' (e.g., see Figure 20) described later, etc.). In addition or alternatively, the computers or processors described herein are interchangeable and can function to perform any of the features and methods described herein.

[0113] Figure 19 provides various components of a computer system 1200 (see, for example, a console or computer 1200 which may be used as one embodiment of the computers, processors, or control devices 100, 102 shown in Figure 1). The computer system 1200 may include a central processing unit ("CPU") 1201, ROM 1202, RAM 1203, a communication interface 1205, a hard disk (and / or other storage device) 1204, a screen (or monitor interface) 1209, a keyboard (or input interface; which may also include a mouse or other input device in addition to the keyboard) 1210, and a BUS (or "bus") or other connecting lines (e.g., connecting line 1213) between one or more of the aforementioned components (e.g., shown in Figure 19). Furthermore, the computer system 1200 may have one or more of the aforementioned components. For example, computer system 1200 may include a CPU 1201, RAM 1203, an input / output (I / O) interface (e.g., a communication interface 1205), and a bus (which may include one or more wires 1213 as a communication system between components of computer system 1200; in one or more embodiments, computer system 1200 and at least its CPU 1201 may communicate via one or more wires 1213 with one or more of the aforementioned components of a continuous robotic device or system that uses the bus (e.g., system 1000 described herein, the devices / systems in Figures 1 to 5, and / or the systems / devices in Figures 16 to 18)). One or more other computer systems 1200 may include one or more combinations of other aforementioned components (e.g., one or more wires 1213 of computer 1200 may be connected to other components via wires 113). The CPU 1201 is configured to read and execute computer executable instructions stored in a storage medium. Computer executable instructions may include instructions for performing the methods and / or calculations described herein. The computer system 1200 may include one or more additional processors in addition to the CPU 1201.Such a processor, such as CPU 1201, may be used to control and / or manufacture equipment, systems, or storage media used in conjunction with it, or equipment, systems, or storage media used in conjunction with any continuum robotics technology and / or image correction or adjustment technology described herein. System 1200 may further include one or more processors connected via a network connection (e.g., via network 1206). CPU 1201 and the additional processors used by System 1200 may be located on the same telecom network or on different telecom networks (e.g., the execution, manufacture, control, calculation, and / or use of the technology may be remotely controlled).

[0114] The I / O or communication interface 1205 provides a communication interface to input / output devices. These input / output devices may include one or more of the aforementioned components of any of the systems described herein (e.g., control unit 100, control unit 102, displays 101-1, 101-2, actuator 103, continuum device 104, operating part or controller 105, EM tracking sensor 106, position detector 107, rail 108, etc.), microphones, communication cables and networks (whether wired or wireless), keyboard 1210, mouse (e.g., mouse 1211 shown in Figure 20), touch screen or screen 1209, light pen, etc.). The communication interface of computer 1200 can be connected to other components described herein via wiring 113 (as schematically shown in Figure 19). The monitor interface or screen 1209 provides a communication interface to it.

[0115] Any method and / or data of this disclosure (e.g., methods of using and / or controlling a continuum robot or catheter device, system or a storage medium used in conjunction with it, as described herein, and / or methods of performing imaging, characterizing or analyzing tissue or samples, performing diagnostic, planning and / or examination, performing adjustment, correction or smoothing techniques (e.g., on the path, posture or position of a continuum robot, catheter or probe, or on one or more sections or parts), and / or methods of performing image correction or adjustment techniques) may be stored on a computer-readable storage medium. To cause a processor (e.g., the processor or CPU 1201 of the aforementioned computer system 1200) to perform the steps of the methods disclosed herein, any commonly used computer-readable and / or writable storage medium may be used (e.g., hard disks (e.g., hard disk 1204, magnetic disks, etc.), flash memory, CDs, optical disks (e.g., compact discs ("CD"), digital versatile discs ("DVD"), Blu-ray® discs, etc.), magneto-optical disks, random access memory ("RAM") (e.g., RAM 1203), DRAM, read-only memory ("ROM"), storage for distributed computer systems, memory cards or similar (e.g., non-volatile memory cards, solid-state drives (SSDs) (see SSD 1207 in Figure 20), other semiconductor memories such as SRAM), any combination thereof, servers / databases, etc.). The computer-readable storage medium may be a non-temporary computer-readable medium and / or may include all computer-readable media, with the sole exception being temporary and signal-propagating in one or more embodiments. Computer-readable storage media may include random access memory (RAM), register memory, processor cache, and other media that store information for a predetermined period, a limited period, or a short period, and / or only in the presence of power.Furthermore, embodiments of the present disclosure may also be implemented by a computer in a system or device that reads and executes computer-executable instructions (e.g., one or more programs) recorded on a storage medium (which may be more entirely referred to as a “non-temporary computer-readable storage medium”) and performs one or more functions of the embodiments described above, and / or by a computer in a system or device that includes one or more circuits (e.g., application-specific integrated circuits (ASICs)) for performing one or more functions of the embodiments described above, or by a method performed by a computer in a system or device (e.g., by reading and executing computer-executable instructions from a storage medium to perform one or more functions of the embodiments described above, and / or by controlling one or more circuits to perform one or more functions of the embodiments described above).

[0116] According to at least one aspect of this disclosure, the aforementioned methods, apparatus, systems and computer-readable storage media relating to a processor (e.g., the processor of computer 1200, the processor of computer 1200', control unit 100, control unit 102, etc.) can be implemented using appropriate hardware as illustrated. The functions of one or more aspects of this disclosure can be achieved using appropriate hardware (e.g., as illustrated in Figure 19). Such hardware can be implemented using any known technology (e.g., a standard digital circuit configuration, any known processor capable of running software and / or firmware programs, one or more programmable digital devices or systems such as programmable read-only memory (PROM) or programmable array logic devices (PAL)). CPU 1201 (as shown in Figure 19 or Figure 20, and / or included in the computer, processor, control device and / or CPU 120 of Figures 1 to 5), CPU 51 and / or CPU 120 may include and / or consist of one or more microprocessors, nanoprocessors, one or more graphics processing units ("GPU"; also called visual processing units ("VPU")), one or more field-programmable gate arrays ("FPGA"), or other types of processing components (e.g., application-specific integrated circuits (ASICs)). Furthermore, various aspects of this disclosure can be implemented by software and / or programs and stored in suitable storage media (e.g., computer-readable storage media, hard drives, etc.) or media suitable for transport and / or distribution (e.g., floppy disks, memory chips, etc.). The computer may include a network of separate computers or separate processors for reading and executing computer executable instructions. Computer executable instructions may be provided to the computer from, for example, a network or storage media. A computer or processor (e.g., 100, 102, 120, 50, 51, 1200, 1200', etc.) may include the aforementioned CPU structure, or may be connected to the CPU structure for communication with it.

[0117] As mentioned above, Figure 20 shows the hardware structure of an alternative embodiment of the computer or console 1200'. The computer 1200' includes a central processing unit (CPU) 1201, a graphics processing unit (GPU) 1215, random access memory (RAM) 1203, a network interface device 1212, an operating interface 1214 such as a universal serial bus (USB), and memory such as a hard disk drive or solid state drive (SSD) 1207. Preferably, the computer or console 1200' includes a display 1209 (and / or displays 101-1, 101-2). The computer 1200' may be connected to one or more components of a system (e.g., the systems / devices in Figures 1 to 5, 16 to 18, etc.) via the operating interface 1214 or the network interface 1212. The operating interface 1214 is connected to an operating unit such as a mouse device 1211, a keyboard 1210, or a touch panel device. Computer 1200' may include two or more of each component. Alternatively, the CPU 1201 or GPU 1215 may be replaced by a field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), or other processing unit, depending on the design of the computer (computer 1200, computer 1200', etc.).

[0118] At least one computer program is stored in the SSD1207 (or other storage device or memory drive as described herein). The CPU1201 loads at least one program into the RAM1203 and executes instructions from at least one program to perform one or more processes as described herein, as well as basic input, output, calculation, memory write and memory read processes.

[0119] A computer (e.g., computer 1200, 1200', the computer, processor, and / or control device of Figures 1-5 and / or 16-18, etc.) communicates with one or more components of the system devices / systems described herein to perform imaging and reconstruct an image from the acquired intensity data. A monitor or display 1209 displays the reconstructed image. The monitor or display 1209 can also display other information regarding imaging conditions or the object being imaged. The monitor 1209 also provides a graphical user interface for the user to operate the system, for example, when performing CT, MRI, or other imaging techniques (e.g., when controlling a continuum robotic device / system), and / or when performing correction, adjustment, and / or smoothing techniques. An operation signal is input from the operating unit (e.g., mouse device 1211, keyboard 1210, touch panel device, etc.) to the operating interface 1214 of computer 1200', and in response to the operation signal, computer 1200' commands the system (e.g., system 1000, the systems / devices in Figures 1 to 5, the systems / devices in Figures 16 to 18, and other systems / devices described herein, etc.) to start or stop imaging and / or to start or stop the execution of continuum robot control and / or correction, adjustment and / or smoothing techniques. The aforementioned camera or imaging device may have an interface for communicating with computers 1200 and 1200' to send and receive status information and control signals.

[0120] The present disclosure, and / or one or more components of the devices, systems, and storage media of the present disclosure, and / or methods, can be used in conjunction with devices, systems, methods, and / or storage media for continuum robots and / or for endoscopes. Such continuum robot devices, systems, methods, and / or storage media are disclosed in at least U.S. Provisional Patent Application No. 63 / 150,859 (filed February 18, 2021), which is incorporated herein by reference in whole. Such endoscopic devices, systems, methods and / or storage media are disclosed in at least U.S. Patent Application No. 17 / 565,319 (filed December 29, 2021, its disclosure incorporated herein by reference in whole), U.S. Patent Application No. 63 / 132,320 (filed December 30, 2020, its disclosure incorporated herein by reference in whole), U.S. Patent Application No. 17 / 564,534 (filed December 29, 2021, its disclosure incorporated herein by reference in whole), and U.S. Patent Application No. 63 / 131,485 (filed December 29, 2020, its disclosure incorporated herein by reference in whole). Any feature of this disclosure may be used in combination with any feature disclosed in U.S. Provisional Patent Application No. 63 / 378,017 (filed September 30, 2022, the disclosure of which is incorporated herein by reference in whole) and / or any feature disclosed in U.S. Provisional Patent Application No. 63 / 377,983 (filed September 30, 2022, the disclosure of which is incorporated herein by reference in whole). Any feature of this disclosure may be used in combination with any feature disclosed in U.S. Patent Publication No. 2023 / 0131269 (published April 26, 2023, the disclosure of which is incorporated herein by reference in whole).

[0121] While the disclosure herein has been described with reference to specific embodiments, these embodiments are, of course, merely illustrative of (but not limited to) the principles and uses of the disclosure, and the present invention is not limited to the embodiments disclosed. Therefore, naturally, many modifications can be made to the exemplary embodiments, and other configurations can be devised without departing from the spirit and scope of the disclosure. The following claims should be given the broadest possible interpretation to encompass all such modifications and equivalent structures and functions.

Claims

1. A continuum robot for performing correction, adjustment and / or smoothing, Commanding or instructing the distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position, or state, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base. The system stores or acquires the bending posture, position, or state of the distal curved section or portion, and further stores or acquires the position or state of the electric linear stage, the position or state of the rail moved by the electric linear stage, and / or the position or state of the sensor when one or more processors command or instruct the electric linear stage and / or sensor to move forward or in a set or predetermined direction, which functions to move the catheter or probe of the continuum robot. To generate a target or bending posture, position, or state for each corresponding section or portion of the catheter or probe, from or based on the aforementioned curved section or portion, Determining the interpolated posture, position, or state for each corresponding section or portion of the catheter or probe based on the adjacent interpolated posture, position, or state, such that all interpolated postures, positions, or states include the same or similar displacement vectors between adjacent interpolated postures, positions, or states based on the end effector coordinates, Commanding or instructing each of the sections or parts of the catheter or probe to move or be positioned in the respective interpolated posture, position, or state during the forward movement of the preceding section or part of the catheter or probe, or during the movement in the setting or predetermined direction. It has one or more processors that function to perform the following: A continuum robot.

2. The same or similar displacement vectors between adjacent interpolated postures, positions, or states are based on the end effector coordinates from the viewpoint of the distal end of each section or portion of the catheter or probe. The continuous body robot according to claim 1.

3. (i) Each of the plurality of curved sections or portions includes a drive wire that functions to bend each of the plurality of sections or portions, the drive wire is connected to the actuator, and the actuator functions to bend one or more of the plurality of curved sections or portions using the drive wire, and / or (ii) The tip of the distal curved section or portion of the catheter or probe moves to the curved posture, position or state of the respective generated target or object at the same or constant change, speed or velocity, or substantially the same or constant change, speed or velocity. A continuous body robot according to claim 1, which is one or more of the above.

4. If each of the plurality of curved sections or portions includes the drive wire, then one or more processors (i) Inserting the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into an object, target, or sample, and / or controlling the rail and / or the motorized linear stage to insert the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into the object, target, or sample. (ii) Control each of the plurality of curved sections or portions of the catheter or probe using a follow-the-leader (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe. (iii) Controlling each of the plurality of curved sections or portions of the catheter or probe using a leader-following (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe, wherein the leader section or portion of the catheter or probe is or includes the distal curved section or portion of the catheter or probe and / or the tip of the distal curved section or portion. (iv) Controlling each of the plurality of curved sections or portions of the catheter or probe using a leader-following (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe, wherein the leader section or portion of the catheter or probe is or includes the distal curved section or portion and / or the tip of the distal curved section or portion, and the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion. (v) Performing a search by moving the distal curved section or portion, or the tip of the distal curved section or portion, at or along the position of the rail, or at or along the position on the rail, in order to determine the final orientation, posture, position, or state for inserting the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into an object, target, or sample, and / or (vi) Control each of the plurality of curved sections or portions of the catheter or probe using a leader-following (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe, and determine and / or store the bending posture, position or state of the leader section or portion. It will function to perform one or more of the following: The continuous body robot according to claim 3.

5. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the reader-following (FTL) process or algorithm is used, the one or more processors (i) Perform the insertion into the object, target, or sample until a branch point of the object, target, or sample is reached or identified, and / or perform the insertion into the object, target, or sample simultaneously with the exploration by moving the distal curved section or portion, or the tip of the distal curved section or portion, to determine the final orientation, posture, position, or state for inserting the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into the object, target, or sample. (ii) Performing the insertion into the object, target, or sample until the branch point of the object, target, or sample is reached or identified, wherein the object, target, or sample is the lung or the airway of the lung. (iii) When a branching point of the object, target, or sample is reached, a search is performed by moving the leader section or portion, the distal curved section or portion, or the tip of the distal curved section or portion, and using the endoscopic view, an orientation, posture, position, or state is determined for continuing the insertion of the continuum robot, or the catheter or probe of the continuum robot, along and within the path of the branching point until the next branching point of the object, target, or sample is reached or the next branching point is identified, and the search is repeated for the next branching point until the tip of the leader section or portion, the distal curved section or portion, or the tip of the distal curved section or portion reaches the final orientation, posture, position, or state. (iv) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, then generating the bending posture, position or state of the target or object with respect to at least the intermediate curved section or portion and the proximal curved section or portion, and / or (v) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the intermediate curved section or portion and the proximal curved section or portion generate the curved posture, position or state of the target or object for at least the intermediate curved section or portion and the proximal curved section or portion such that when the intermediate curved section or portion and the proximal curved section or portion reach the insertion position of the tip of the leader section or portion, the distal curved section or portion, and / or the tip of the leader section or portion, the bent posture, position or state of the target or object for at least the intermediate curved section or portion and the proximal curved section or portion are the same as or substantially the same as the bent posture, position or state of one or more of the tips of the leader section or portion and / or the distal curved section or portion. It will function to perform one or more of the following: The continuous body robot according to claim 4.

6. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the reader-following (FTL) process or algorithm is used, the one or more processors (i) Using the internal minimum insertion interval or length as the insertion control resolution to generate the interpolated posture, position or state, and / or (ii) Through insertion by the internal minimum insertion interval or length, to smoothly control all sections or parts of the catheter or probe using the FTL process or algorithm, It will function to perform one or more of the following: The continuous body robot according to claim 4.

7. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the reader-following (FTL) process or algorithm is used, the one or more processors (i) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the drive wire position shall be used to express the bending posture, position or state for one or more of the following: the bending posture, position or state of the distal curved section or portion and / or the proximal or intermediate curved section or portion; the bending posture, position or state of the target or object for each corresponding section or portion of the catheter or probe; and / or the interpolated posture, position or state for each corresponding section or portion of the catheter or probe. (ii) For each section or part of the catheter or probe, convert the current bending posture, position or state and the target bending posture, position or state to the corresponding drive wire position. (iii) For each section or portion of the catheter or probe, convert the current bending posture, position or state and the target bending posture, position or state into the corresponding drive wire position, and interpolate the drive wire position between the current drive wire position and the target drive wire position. (iv) For each section or portion of the catheter or probe, convert the current bending posture, position or state and the target bending posture, position or state into the corresponding drive wire position, store the drive wire position of the distal bending section or portion, and / or update the lookup table using the drive wire position. (v) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, for each section or portion of the catheter or probe, the current bending posture, position or state and the target bending posture, position or state are converted to the corresponding drive wire position, the drive wire position of the distal curved section or portion, the intermediate curved section or portion and / or the proximal curved section or portion is determined, and from the drive wire position of the distal curved section or portion, or in front of the distal curved section or portion Based on the drive wire position, the target drive wire position is calculated for at least the intermediate section or portion and the proximal section or portion of the catheter or probe, or one of the distal curved section or portion, the intermediate curved section or portion, and the proximal curved section or portion is selected, and the target drive wire position is calculated for the other two sections or portions of the catheter or probe from or based on the selected one of the distal curved section or portion, the intermediate curved section or portion, and / or the proximal curved section or portion. (vi) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the position of the drive wire with respect to the bending posture, position or state is converted to another or different predetermined or set number of positions of the drive wire using a predetermined or set number of differences in the cross-sectional positions of the drive wire between the distal section and the intermediate section, and / or (vii) If the curved section or portion following the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, then for all minimum insertion intervals, create a linear interpolation of the drive wire position between the current drive wire position in the intermediate curved section and the target drive wire position, and / or take the difference between the current drive wire position and the target drive wire position mapped to the target stage position, create the linear interpolation of the difference, add the linear interpolation to the corresponding value for each minimum insertion level, and / or add a portion of the difference of the total wire position for each point along the interpolation range. It will function to perform one or more of the following: The continuous body robot according to claim 4.

8. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the reader-following (FTL) process or algorithm is used, the one or more processors (i) For each section or part of the catheter or probe, convert the current bending posture, position or state and the target bending posture, position or state to the corresponding drive wire position, and interpolate the drive wire position between the current drive wire position and the target drive wire position so that each section or part bends at a constant rate, speed and / or velocity throughout the insertion, and / or (ii) Controlling each section or portion to move from the current attitude, position or state at a constant rate, speed and / or velocity so that the insertion proceeds along a shorter path and / or so that the continuum robot functions to reduce or avoid interaction with any predetermined portion of the target, object or sample. It will function to perform one or more of the following: The continuous body robot according to claim 4.

9. If each of the plurality of curved sections or portions includes the drive wire, then one or more processors The interpolated attitude, position, or state is generated by interpolating the position or state of the drive wire between the attitude, position, or state of each of the aforementioned targets and the current attitude, position, or state of each of the aforementioned targets. Obtain the difference in drive wire position between the value stored in the table and the new value, and Distributing adjustment, correction, and / or smoothing over the entire distance traveled from the current posture, position, or state of the curved section or portion by: (i) calculating the number of steps by multiplying the length of the section or portion by the table resolution; (ii) interpolating the value from the table into equal numbers of equal steps, starting from the total value and ending at zero; and (iii) working backward from the position in the table where the new value is stored and adding the interpolated posture, position, or state value to the corresponding value stored in the table, wherein StagePosition[0] is the position where the new value is stored, InterpolatedPosition[0] is the total difference in the wire posture, position, or state, StagePosition[-i] is the posture, position, or state where the smoothing begins, and the difference in wire posture, position, or state of InterpolatedPosition[i] is zero. It will function to perform one or more of the following: The continuous body robot according to claim 3.

10. A method for performing correction, adjustment and / or smoothing of a continuum robot, A step of commanding or instructing the distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base. The steps include: storing or acquiring the bending posture, position, or state of the distal curved section or portion; and further storing or acquiring the position or state of the electric linear stage and / or sensor when one or more processors command or instruct the electric linear stage and / or sensor, which functions to move the catheter or probe of the continuum robot, to move forward or in a set or predetermined direction; A step of generating a target or target bending posture, position or state for each corresponding section or portion of the catheter or probe, based on or from the aforementioned curved section or portion; A step of determining the interpolated posture, position, or state for each corresponding section or portion of the catheter or probe based on the adjacent interpolated posture, position, or state, such that all interpolated postures, positions, or states include the same or similar displacement vectors between adjacent interpolated postures, positions, or states based on end effector coordinates; The steps of commanding or instructing each of the sections or parts of the catheter or probe to move or be positioned in the respective interpolated posture, position, or state during the forward movement of the preceding section or part of the catheter or probe, or during the movement in the set or predetermined direction, A method that includes this.

11. The same or similar displacement vectors between adjacent interpolated postures, positions, or states are based on the end effector coordinates from the viewpoint of the distal end of each section or portion of the catheter or probe. The method according to claim 10.

12. (i) Each of the plurality of curved sections or portions includes a drive wire that functions to bend each of the plurality of sections or portions, the drive wire is connected to the actuator, and the actuator functions to bend one or more of the plurality of curved sections or portions using the drive wire, and / or (ii) The tip of the distal curved section or portion of the catheter or probe moves to the curved posture, position or state of the respective generated target or object at the same or constant change, speed or velocity, or substantially the same or constant change, speed or velocity. The method according to claim 10, wherein one or more of the above.

13. If each of the plurality of curved sections or portions includes the drive wire, (i) Inserting the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into an object, target, or sample, and / or controlling the rail and / or the motorized linear stage to insert the continuum robot, or the one or more curved sections or portions of the catheter or probe of the continuum robot, into the object, target, or sample. (ii) A step of controlling each of the plurality of curved sections or portions of the catheter or probe using a follow-the-leader (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe. (iii) A step of controlling each of the plurality of curved sections or portions of the catheter or probe using a leader-following (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe, wherein the leader section or portion of the catheter or probe is or includes the distal curved section or portion of the catheter or probe and / or the tip of the distal curved section or portion. (iv) A step of controlling each of the plurality of curved sections or portions of the catheter or probe using a leader-following (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe, wherein the leader section or portion of the catheter or probe is or includes the distal curved section or portion and / or the tip of the distal curved section or portion, and the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion. (v) The steps of performing a search by moving the distal curved section or portion, or the tip of the distal curved section or portion, to determine the final orientation, posture, position, or state for inserting the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into an object, target, or sample, at or along the position of the rail, or at or along the position of the rail, and / or (vi) Using a leader-following (FTL) process or algorithm, control each of the plurality of curved sections or portions of the catheter or probe so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe, and determine and / or store the bending posture, position or state of the leader section or portion. The method according to claim 12, further comprising one or more of the above.

14. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the leader-following (FTL) process or algorithm is used, (i) Performing the insertion into the object, target, or sample until a branch point of the object, target, or sample is reached or identified, and / or performing the insertion into the object, target, or sample simultaneously with the exploration by moving the distal curved section or portion, or the tip of the distal curved section or portion, to determine the final orientation, posture, position, or state for inserting the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into the object, target, or sample. (ii) A step of performing the insertion into the object, target or sample until a branch point of the object, target or sample is reached or identified, wherein the object, target or sample is the lung or the airway of the lung. (iii) When a branching point of the object, target, or sample is reached, the search is performed by moving the leader section or portion, the distal curved section or portion, or the tip of the distal curved section or portion, and using the endoscopic view, the orientation, posture, position, or state for continuing the insertion of the continuum robot or the catheter or probe of the continuum robot along and within the path of the branching point until the next branching point of the object, target, or sample is reached or the next branching point is identified, and the search for the next branching point is repeated until the tip of the leader section or portion, the distal curved section or portion, or the tip of the distal curved section or portion reaches the final orientation, posture, position, or state. (iv) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the steps of generating the bending posture, position or state of the target or objective with respect to at least the intermediate curved section or portion and the proximal curved section or portion, and / or (v) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the step of generating the curved posture, position or state of the target or object for at least the intermediate curved section or portion and the proximal curved section or portion such that when the intermediate curved section or portion and the proximal curved section or portion reach the insertion position ahead of the tip of the leader section or portion, the distal curved section or portion and / or the tip of the leader section or portion, The method according to claim 13, further comprising one or more of the above.

15. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the leader-following (FTL) process or algorithm is used, (i) A step of generating the interpolated posture, position, or state using the internal minimum insertion interval or length as the insertion control resolution, and / or (ii) A step of smoothly controlling all sections or parts of the catheter or probe using the FTL process or algorithm through the insertion by the internal minimum insertion interval or length, The method according to claim 13, further comprising one or more of the above.

16. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the leader-following (FTL) process or algorithm is used, (i) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the step of using the drive wire position to describe the bending posture, position or state for one or more of the following: the bending posture, position or state of the distal curved section or portion and / or the proximal or intermediate curved section or portion; the bending posture, position or state of the target or object for each corresponding section or portion of the catheter or probe; and / or the interpolated posture, position or state for each corresponding section or portion of the catheter or probe. (ii) For each section or part of the catheter or probe, the step of converting the current bending posture, position or state and the target bending posture, position or state to the corresponding drive wire position. (iii) For each section or portion of the catheter or probe, convert the current bending posture, position or state and the target bending posture, position or state into the corresponding drive wire position, and interpolate the drive wire position between the current drive wire position and the target drive wire position. (iv) For each section or portion of the catheter or probe, convert the current bending posture, position or state and the target bending posture, position or state into the corresponding drive wire position, store the drive wire position of the distal bending section or portion, and / or update the lookup table using the drive wire position. (v) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, for each section or portion of the catheter or probe, the current bending posture, position or state and the target bending posture, position or state are converted to the corresponding drive wire position, the drive wire position of the distal curved section or portion, the intermediate curved section or portion and / or the proximal curved section or portion is determined, and from the drive wire position of the distal curved section or portion, or the distal curved section or portion A step of calculating the target drive wire position for at least the intermediate section or portion and the proximal section or portion of the catheter or probe based on the drive wire position, or selecting one of the distal curved section or portion, the intermediate curved section or portion, and the proximal curved section or portion, and calculating the target drive wire position for the other two sections or portions of the catheter or probe from or based on the selected one of the distal curved section or portion, the intermediate curved section or portion, and / or the proximal curved section or portion. (vi) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the step of using a predetermined or set number of differences in the cross-sectional positions of the drive wire between the distal section and the intermediate section so that the position of the drive wire with respect to the bending posture, position or state is converted to another or different predetermined or set number of positions of the drive wire at and / or using the different cross-sectional positions, and / or (vii) If the curved section or portion following the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the steps of creating a linear interpolation of the drive wire position between the current drive wire position in the intermediate curved section and the target drive wire position for all minimum insertion intervals, so that the current bending posture, position or state and drive wire position gradually point toward the target or final target posture, position or state, while maintaining or ensuring that the interaction between each section or portion of the catheter or probe and the object, target or sample is minimized or reduced, and taking the difference between the current drive wire position and the target drive wire position mapped to the target stage position, creating the linear interpolation of the difference, adding the linear interpolation to the corresponding value for each minimum insertion level, and / or adding a portion of the difference of the total wire position for each point along the interpolation range, The method according to claim 13, further comprising one or more of the above.

17. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the leader-following (FTL) process or algorithm is used, (i) For each section or part of the catheter or probe, the steps of converting the current bending posture, position or state and the target bending posture, position or state to the corresponding drive wire position, and interpolating the drive wire position between the current drive wire position and the target drive wire position so that each section or part bends at a constant rate, speed and / or velocity throughout the insertion, and / or (ii) The step of controlling each section or portion to move closer to the current attitude, position or state at a constant rate, speed and / or velocity so that the insertion proceeds along a shorter path and / or so that the continuum robot functions to reduce or avoid interaction with any predetermined portion of the target, object or sample. The method according to claim 13, further comprising one or more of the above.

18. A non-temporary computer-readable storage medium storing at least one program for causing a computer to execute a method for correcting, adjusting and / or smoothing a continuum robot, The aforementioned method, A step of commanding or instructing the distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base. The steps include: storing or acquiring the bending posture, position, or state of the distal curved section or portion; and further storing or acquiring the position or state of the electric linear stage and / or sensor when one or more processors command or instruct the electric linear stage and / or sensor, which functions to move the catheter or probe of the continuum robot, to move forward or in a set or predetermined direction; A step of generating a target or target bending posture, position or state for each corresponding section or portion of the catheter or probe, based on or from the aforementioned curved section or portion; A step of determining the interpolated posture, position, or state for each corresponding section or portion of the catheter or probe based on the adjacent interpolated posture, position, or state, such that all interpolated postures, positions, or states include the same or similar displacement vectors between adjacent interpolated postures, positions, or states based on end effector coordinates; The steps of commanding or instructing each of the sections or parts of the catheter or probe to move or be positioned in the respective interpolated posture, position, or state during the forward movement of the preceding section or part of the catheter or probe, or during the movement in the set or predetermined direction, Non-temporary computer-readable storage media, including [specific type of storage medium].

19. A continuum robot for performing correction, adjustment and / or smoothing, Commanding or instructing the distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position, or state, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base. The bending posture, position, or state of the distal curved section or portion is stored or acquired, and further, when one or more processors command or instruct the electric linear stage and / or sensor, which functions to move the catheter or probe of the continuum robot, to move forward, or to move in a set or predetermined direction, the position or state of the electric linear stage and / or sensor is stored or acquired. To generate a target or bending posture, position, or state for each corresponding section or portion of the catheter or probe, from or based on the aforementioned curved section or portion, Based on the posture, position, or state of the tip section or portion of the catheter or probe that defines the starting posture, position, or state, and based on the posture, position, or state of the target or objective for each of the corresponding sections or portions of the catheter or probe, an interpolated posture, position, or state is determined for each of the corresponding sections or portions of the catheter or probe. Commanding or instructing each of the sections or parts of the catheter or probe to move or be positioned in the respective interpolated posture, position, or state during the forward movement of the preceding section or part of the catheter or probe, or during the movement in the setting or predetermined direction. One or more processors that function to execute A continuous robot equipped with [a specific feature / ability].

20. The one or more processors further function to determine the determined interpolated posture, position, or state based on (i) the plane of the starting posture, position, or state and the posture, position, or state of the target or object, and / or (ii) the origin of the base coordinates. The continuous body robot according to claim 19.

21. A method for performing correction, adjustment and / or smoothing of a continuum robot, A step of commanding or instructing the distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base. The steps include: storing or acquiring the bending posture, position, or state of the distal curved section or portion; and further storing or acquiring the position or state of the electric linear stage and / or sensor when one or more processors command or instruct the electric linear stage and / or sensor, which functions to move the catheter or probe of the continuum robot, to move forward or in a set or predetermined direction; A step of generating a target or target bending posture, position or state for each corresponding section or portion of the catheter or probe, based on or from the aforementioned curved section or portion; A step of determining an interpolated posture, position, or state for each corresponding section or portion of the catheter or probe, based on the posture, position, or state of the tip section or portion of the catheter or probe that defines the starting posture, position, or state, and based on the posture, position, or state of the target or objective for each corresponding section or portion of the catheter or probe; The steps of commanding or instructing each of the sections or parts of the catheter or probe to move or be positioned in the respective interpolated posture, position, or state during the forward movement of the preceding section or part of the catheter or probe, or during the movement in the set or predetermined direction, A method that includes this.

22. A non-temporary computer-readable storage medium storing at least one program for causing a computer to execute a method for correcting, adjusting and / or smoothing a continuum robot, The aforementioned method, A step of commanding or instructing the distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base. The steps include: storing or acquiring the bending posture, position, or state of the distal curved section or portion; and further storing or acquiring the position or state of the electric linear stage and / or sensor when one or more processors command or instruct the electric linear stage and / or sensor, which functions to move the catheter or probe of the continuum robot, to move forward or in a set or predetermined direction; A step of generating a target or target bending posture, position or state for each corresponding section or portion of the catheter or probe, based on or from the aforementioned curved section or portion; A step of determining an interpolated posture, position, or state for each corresponding section or portion of the catheter or probe, based on the posture, position, or state of the tip section or portion of the catheter or probe that defines the starting posture, position, or state, and based on the posture, position, or state of the target or objective for each corresponding section or portion of the catheter or probe; The steps of commanding or instructing each of the sections or parts of the catheter or probe to move or be positioned in the respective interpolated posture, position, or state during the forward movement of the preceding section or part of the catheter or probe, or during the movement in the set or predetermined direction, Non-temporary computer-readable storage media, including [specific type of storage medium].

23. A continuum robot for performing correction, adjustment and / or smoothing, Commanding or instructing the distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position, or state, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base. The bending posture, position, or state of the distal curved section or portion is stored or acquired, and further, when one or more processors command or instruct the electric linear stage and / or sensor, which functions to move the catheter or probe of the continuum robot, to move forward, or to move in a set or predetermined direction, the position or state of the electric linear stage and / or sensor is stored or acquired. To generate a target or bending posture, position, or state for each corresponding section or portion of the catheter or probe, from or based on the aforementioned curved section or portion, The process involves generating an interpolated posture, position, or state for each section or part of the catheter or probe between the current bending posture, position, or state of each of the respective targets or objects within the said section or part of the catheter or probe, wherein the interpolated posture, position, or state is generated such that the orientation vector of the interpolated posture, position, or state lies on a plane created or defined by the orientation vector of the bending posture, position, or state of each target or object and the orientation vector of the current bending posture, position, or state. Commanding or instructing each of the sections or parts of the catheter or probe to move or be positioned in the respective interpolated posture, position, or state during the forward movement of the preceding section or part of the catheter or probe, or during the movement in the setting or predetermined direction. One or more processors that function to execute A continuous robot equipped with [a specific feature / ability].

24. (i) The distal curvature section or portion is the most distal curvature section or portion, and the most distal curvature section or portion is to receive instructions or commands automatically, or based on user input of the continuum robot, when the motorized linear stage and / or another structure that functions to move the probe or catheter is stable or stationary. (ii) The plurality of curved sections or parts include the distal or most distal curved section or part and the remainder of the plurality of curved sections or parts. (iii) The one or more processors further function to automatically or based on user input of the continuum robot to command or direct the forward movement of the electric linear stage and / or the sensors, or the movement in the set or predetermined direction, and / or (iv) The plane is created or defined based on a base coordinate system, or based on a system substantially close to the base coordinate system. A continuous body robot according to any one of claims 1 to 9, 19, 20, and 23, wherein one or more of the above.

25. Actuators that independently bend the plurality of curved sections or portions and function to bend the base, The motorized linear stage and / or the sensor that functions to move the continuous robot forward and / or in the predetermined or set direction, Furthermore, The one or more processors function to control the actuator, the electric linear stage and / or the sensor. A continuous body robot according to any one of claims 1 to 9, 19, 20, 23, and 24.

26. The user interface of the base, or a user interface located on or away from the base, which functions to receive input from the user of the continuum robot for moving one or more of the plurality of curved sections or parts and / or the motorized linear stage and / or the sensors, Furthermore, The one or more processors further function to receive the input from the user interface, and the one or more processors and / or the user interface function to use a base coordinate system. A continuous body robot according to any one of claims 1 to 9, 19, 20, and 23 to 25.

27. Each of the plurality of curved sections or portions includes a drive wire that functions to bend each of the plurality of sections or portions, the drive wire is connected to the actuator, and the actuator functions to bend one or more of the plurality of curved sections or portions using the drive wire. The continuous body robot according to claim 25.

28. The one or more processors described above are: The interpolated attitude, position, or state is generated by interpolating the position or state of the drive wire between the attitude, position, or state of each of the aforementioned targets and the current attitude, position, or state of each of the aforementioned targets. Obtain the difference in drive wire position between the value stored in the table and the new value, and Distributing adjustment, correction, and / or smoothing over the entire distance traveled from the current posture, position, or state of the curved section or portion by: (iv) calculating the number of steps by multiplying the length of the section or portion by the table resolution; (v) interpolating the value from the table into equal numbers of equal steps, starting from the total value and ending at zero; and (vi) working backward from the position in the table where the new value is stored and adding the interpolated posture, position, or state value to the corresponding value stored in the table, wherein StagePosition[0] is the position where the new value is stored, InterpolatedPosition[0] is the total difference in the wire posture, position, or state, and StagePosition[-i] is the posture, position, or state where the smoothing begins, and the difference in wire posture, position, or state of InterpolatedPosition[i] is zero. It further functions to perform one or more of the following: The continuous body robot according to claim 27.

29. The adjustment, correction, and / or smoothing described above are performed such that one or more arbitrary interpolation orientations and / or attitudes, positions, or states of the plurality of curved sections or portions are guided toward their respective desired, predetermined, or set orientations and / or attitudes, positions, or states. A continuous body robot according to any one of claims 1 to 9, 19, 20, and 23 to 28.

30. A display for displaying the adjusted, corrected, or smoothed path of the continuous robot. A continuous body robot according to any one of claims 1 to 9, 19, 20 and 23 to 29, further comprising:

31. (i) The continuous robot further comprises an operation controller or joystick that functions to issue or input one or more instructions or commands as input to one or more processors, wherein the input includes commands or instructions to move one or more of the plurality of curved sections or parts, and / or the motorized linear stage and / or the sensors, (ii) The continuum robot further includes a display for displaying one or more images taken by the continuum robot, and / or (iii) The continuum robot further comprises an operation controller or joystick that functions to issue or input one or more instructions or commands to one or more processors, the inputs of which include commands or instructions to move one or more of the plurality of curved sections or portions, and / or the motorized linear stage and / or the sensors, and the operation controller or joystick functions to be controlled by a user of the continuum robot. A continuous body robot according to any one of claims 1 to 9, 19, 20, and 23 to 30, wherein one or more of the above.

32. The catheter or probe of the continuum robot is a maneuverable catheter or probe including the plurality of curved sections or portions and an endoscope camera, the one or more processors further function to receive one or more endoscopic images from the endoscope camera, and the continuum robot further includes a display that functions to display the one or more endoscopic images. A continuous body robot according to any one of claims 1 to 9, 19, 20, and 23 to 31.

33. A method for performing correction, adjustment and / or smoothing of a continuum robot, A step of commanding or instructing the distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base. The steps include: storing or acquiring the bending posture, position, or state of the distal curved section or portion; and further storing or acquiring the position or state of the electric linear stage and / or sensor when the forward movement of the electric linear stage and / or sensor that functions to move the catheter or probe of the continuum robot is instructed or commanded, or when movement in a set or predetermined direction is instructed or commanded; A step of generating a target or target bending posture, position or state for each corresponding section or portion of the catheter or probe, based on or from the aforementioned curved section or portion; A step of generating an interpolated posture or position for each of the sections or parts of the catheter or probe between the current bending posture, position or state and the current bending posture, position or state, wherein the interpolated posture, position or state is generated such that the orientation vector of the interpolated posture, position or state lies on a plane created or defined by the orientation vector of the bending posture, position or state of each of the targets or parts of the catheter or probe, and the orientation vector of the current bending posture, position or state. The steps of commanding or instructing each of the sections or parts of the catheter or probe to move or be positioned in the respective interpolated posture, position, or state during the forward movement of the preceding section or part of the catheter or probe, or during the movement in the set or predetermined direction, A method that includes this.

34. The same or similar displacement vectors between adjacent interpolated postures, positions, or states are based on the end effector coordinates from the viewpoint of the distal end of each section or portion of the catheter or probe. The method according to claim 33.

35. (i) Each of the plurality of curved sections or portions includes a drive wire that functions to bend each of the plurality of sections or portions, the drive wire is connected to the actuator, and the actuator functions to bend one or more of the plurality of curved sections or portions using the drive wire, and / or (ii) The tip of the distal curved section or portion of the catheter or probe moves to the curved posture, position or state of the respective generated target or object at the same or constant change, speed or velocity, or substantially the same or constant change, speed or velocity. The method according to claim 33, wherein one or more of the above.

36. If each of the plurality of curved sections or portions includes the drive wire, (i) Inserting the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into an object, target, or sample, and / or controlling the rail and / or the motorized linear stage to insert the continuum robot, or the one or more curved sections or portions of the catheter or probe of the continuum robot, into the object, target, or sample. (ii) A step of controlling each of the plurality of curved sections or portions of the catheter or probe using a follow-the-leader (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe. (iii) A step of controlling each of the plurality of curved sections or portions of the catheter or probe using a leader-following (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe, wherein the leader section or portion of the catheter or probe is or includes the distal curved section or portion of the catheter or probe and / or the tip of the distal curved section or portion. (iv) A step of controlling each of the plurality of curved sections or portions of the catheter or probe using a leader-following (FTL) process or algorithm so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe, wherein the leader section or portion of the catheter or probe is or includes the distal curved section or portion and / or the tip of the distal curved section or portion, and the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion. (v) The steps of performing a search by moving the distal curved section or portion, or the tip of the distal curved section or portion, to determine the final orientation, posture, position, or state for inserting the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into an object, target, or sample, at or along the position of the rail, or at or along the position of the rail, and / or (vi) Using a leader-following (FTL) process or algorithm, control each of the plurality of curved sections or portions of the catheter or probe so that the curved section or portion of the catheter or probe follows the leader section or portion of the catheter or probe, and determine and / or store the bending posture, position or state of the leader section or portion. The method according to claim 35, further comprising one or more of the above.

37. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the leader-following (FTL) process or algorithm is used, (i) Performing the insertion into the object, target, or sample until a branch point of the object, target, or sample is reached or identified, and / or performing the insertion into the object, target, or sample simultaneously with the exploration by moving the distal curved section or portion, or the tip of the distal curved section or portion, to determine the final orientation, posture, position, or state for inserting the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, into the object, target, or sample. (ii) A step of performing the insertion into the object, target or sample until a branch point of the object, target or sample is reached or identified, wherein the object, target or sample is the lung or the airway of the lung. (iii) When a branching point of the object, target, or sample is reached, the search is performed by moving the leader section or portion, the distal curved section or portion, or the tip of the distal curved section or portion, and using the endoscopic view, the orientation, posture, position, or state for continuing the insertion of the continuum robot or the catheter or probe of the continuum robot along and within the path of the branching point until the next branching point of the object, target, or sample is reached or the next branching point is identified, and the search for the next branching point is repeated until the tip of the leader section or portion, the distal curved section or portion, or the tip of the distal curved section or portion reaches the final orientation, posture, position, or state. (iv) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the steps of generating the bending posture, position or state of the target or objective with respect to at least the intermediate curved section or portion and the proximal curved section or portion, and / or (v) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the step of generating the curved posture, position or state of the target or object for at least the intermediate curved section or portion and the proximal curved section or portion such that when the intermediate curved section or portion and the proximal curved section or portion reach the insertion position ahead of the tip of the leader section or portion, the distal curved section or portion and / or the tip of the leader section or portion, The method according to claim 36, further comprising one or more of the above.

38. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the leader-following (FTL) process or algorithm is used, (i) A step of generating the interpolated posture, position, or state using the internal minimum insertion interval or length as the insertion control resolution, and / or (ii) A step of smoothly controlling all sections or parts of the catheter or probe using the FTL process or algorithm through the insertion by the internal minimum insertion interval or length, The method according to claim 36, further comprising one or more of the above.

39. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the leader-following (FTL) process or algorithm is used, (i) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the step of using the drive wire position to describe the bending posture, position or state for one or more of the following: the bending posture, position or state of the distal curved section or portion and / or the proximal or intermediate curved section or portion; the bending posture, position or state of the target or object for each corresponding section or portion of the catheter or probe; and / or the interpolated posture, position or state for each corresponding section or portion of the catheter or probe. (ii) For each section or part of the catheter or probe, the step of converting the current bending posture, position or state and the target bending posture, position or state to the corresponding drive wire position. (iii) For each section or portion of the catheter or probe, convert the current bending posture, position or state and the target bending posture, position or state into the corresponding drive wire position, and interpolate the drive wire position between the current drive wire position and the target drive wire position. (iv) For each section or portion of the catheter or probe, convert the current bending posture, position or state and the target bending posture, position or state into the corresponding drive wire position, store the drive wire position of the distal bending section or portion, and / or update the lookup table using the drive wire position. (v) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, for each section or portion of the catheter or probe, the current bending posture, position or state and the target bending posture, position or state are converted to the corresponding drive wire position, the drive wire position of the distal curved section or portion, the intermediate curved section or portion and / or the proximal curved section or portion is determined, and from the drive wire position of the distal curved section or portion, or the distal curved section or portion A step of calculating the target drive wire position for at least the intermediate section or portion and the proximal section or portion of the catheter or probe based on the drive wire position, or selecting one of the distal curved section or portion, the intermediate curved section or portion, and the proximal curved section or portion, and calculating the target drive wire position for the other two sections or portions of the catheter or probe from or based on the selected one of the distal curved section or portion, the intermediate curved section or portion, and / or the proximal curved section or portion. (vi) If the curved section or portion that follows the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the step of using a predetermined or set number of differences in the cross-sectional positions of the drive wire between the distal section and the intermediate section so that the position of the drive wire with respect to the bending posture, position or state is converted to another or different predetermined or set number of positions of the drive wire at and / or using the different cross-sectional positions, and / or (vii) If the curved section or portion following the leader section or portion of the catheter or probe includes at least an intermediate curved section or portion and a proximal curved section or portion, the steps of creating a linear interpolation of the drive wire position between the current drive wire position in the intermediate curved section and the target drive wire position for all minimum insertion intervals, so that the current bending posture, position or state and drive wire position gradually point toward the target or final target posture, position or state, while maintaining or ensuring that the interaction between each section or portion of the catheter or probe and the object, target or sample is minimized or reduced, and taking the difference between the current drive wire position and the target drive wire position mapped to the target stage position, creating the linear interpolation of the difference, adding the linear interpolation to the corresponding value for each minimum insertion level, and / or adding a portion of the difference of the total wire position for each point along the interpolation range, The method according to claim 36, further comprising one or more of the above.

40. When the continuum robot, or one or more curved sections or portions of the catheter or probe of the continuum robot, is inserted into the object, target, or sample, and the leader-following (FTL) process or algorithm is used, (i) For each section or part of the catheter or probe, the steps of converting the current bending posture, position or state and the target bending posture, position or state to the corresponding drive wire position, and interpolating the drive wire position between the current drive wire position and the target drive wire position so that each section or part bends at a constant rate, speed and / or velocity throughout the insertion, and / or (ii) The step of controlling each section or portion to move closer to the current attitude, position or state at a constant rate, speed and / or velocity so that the insertion proceeds along a shorter path and / or so that the continuum robot functions to reduce or avoid interaction with any predetermined portion of the target, object or sample. The method according to claim 36, further comprising one or more of the above.

41. A non-temporary computer-readable storage medium storing at least one program for causing a computer to execute a method for correcting, adjusting and / or smoothing a continuum robot, The aforementioned method, A step of commanding or instructing the distal curved section or portion of the catheter or probe of the continuum robot to achieve or be positioned in a bent posture, position or state, wherein the catheter or probe of the continuum robot has a plurality of curved sections or portions and a base. The steps include: storing or acquiring the bending posture, position, or state of the distal curved section or portion; and further storing or acquiring the position or state of the electric linear stage and / or sensor when the forward movement of the electric linear stage and / or sensor that functions to move the catheter or probe of the continuum robot is commanded or instructed, or when movement in a set or predetermined direction is commanded or instructed; A step of generating a target or target bending posture, position or state for each corresponding section or portion of the catheter or probe, based on or from the aforementioned curved section or portion; A step of generating an interpolated posture, position, or state for each of the sections or parts of the catheter or probe between the current bending posture, position, or state of each of the respective targets or objects in the section or part of the catheter or probe, wherein the interpolated posture, position, or state is generated such that the orientation vector of the interpolated posture, position, or state lies on a plane created or defined by the orientation vector of the bending posture, position, or state of each target or object and the orientation vector of the current bending posture, position, or state. The steps of commanding or instructing each of the sections or parts of the catheter or probe to move or be positioned in the respective interpolated posture, position, or state during the forward movement of the preceding section or part of the catheter or probe, or during the movement in the set or predetermined direction, Non-temporary computer-readable storage media, including [specific type of storage medium].

42. A distal curved section having at least one distal drive wire, An intermediate curved section having at least one intermediate drive wire, An electric linear stage configured to move the distal curved section forward by at least the minimum insertion interval, A navigation method for navigating a continuum robot equipped with the following: A step of storing the first position of at least one distal drive wire, A step of generating a target position (intermediate target) for the at least one intermediate curved drive wire based on the first position of the at least one distal drive wire, A step of generating at least one interpolation position for at least one intermediate drive wire between the current position and the intermediate target, wherein the interpolation position is created for each minimum insertion interval, A step of moving the continuous robot, the movement comprising inserting the distal curved section and the intermediate curved section of the continuous robot by at least a minimum insertion interval using the motorized linear stage, and moving the at least one intermediate drive wire through the at least one interpolation position of the at least one intermediate drive wire for each movement of the minimum insertion interval, Navigation methods including

43. The step of generating the intermediate target based on the first position of the at least one distal drive wire includes using the difference in cross-sectional positions between the at least one distal drive wire and the at least one intermediate drive wire. The navigation method according to claim 42.

44. The step of generating the intermediate target based on the first position of the at least one distal drive wire includes using the difference in cross-sectional positions between three of the at least one distal drive wires and three of the at least one intermediate drive wires. The navigation method according to claim 43.

45. The minimum insertion interval is defined by at least one processor and is greater than the minimum travel distance of the motorized linear stage. The navigation method according to claim 42.

46. Insertion refers to the insertion of a device into a hollow organ such as the lungs. The navigation method according to claim 42.

47. The step of moving the continuum robot further includes moving the at least one distal drive wire based on a command from the operator or information from the processor. The navigation method according to claim 42.

48. Before the step of storing the first position of the at least one drive wire, The steps include receiving a command from the operator to direct the distal curvature section to a first position, The steps include moving the at least one distal drive wire so that the distal curvature section is located at the first position, The navigation method according to claim 42, further comprising:

49. Based on the first position of the at least one distal drive wire and the at least one proximal drive wire within the proximal curvature section, a target position (proximal target) of the at least one proximal drive wire is generated. A step of generating at least one interpolation position for at least one proximal drive wire between the current position and the proximal target, wherein the interpolation position is created for each minimum insertion interval, The steps include moving the at least one proximal drive wire through the at least one interpolation position of the at least one proximal drive wire for each movement of the minimum insertion interval, The navigation method according to claim 42, further comprising:

50. A distal curved section having at least one distal drive wire, An intermediate curved section having at least one intermediate drive wire, Electric linear stage and One or more processors, A continuous robot equipped with, The one or more processors described above are: The first position of at least one distal drive wire is stored, Based on the first position of the at least one distal drive wire, a target position (intermediate target) of the at least one intermediate curved drive wire is generated, To generate at least one interpolation position for at least one intermediate drive wire between the current position and the intermediate target, wherein the interpolation position is created at each minimum insertion interval, and to generate at least one interpolation position between the current position and the intermediate target, Moving the continuum robot, the movement including inserting the distal curved section and the intermediate curved section of the continuum robot by at least a minimum insertion interval using the motorized linear stage, and moving the at least one intermediate drive wire through the at least one interpolation position of the at least one intermediate drive wire for each movement of the minimum insertion interval, It works to execute A continuum robot.

51. A proximal curved section having at least one proximal drive wire, Furthermore, The one or more processors described above are: Based on the first position of the at least one distal drive wire, a target position (proximal target) of the at least one proximal curved drive wire is generated, To generate at least one interpolation position for at least one proximal drive wire between the current position and the proximal target, wherein the interpolation position is created for each minimum insertion interval, and to generate For each movement of the minimum insertion interval, the at least one proximal drive wire is moved through the at least one interpolation position of the at least one proximal drive wire, To further enhance functionality, The continuous body robot according to claim 50.

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