Bending distribution of flexible medical devices

Abstract

To provide a robot apparatus, system and method of use, for steerable medical devices such as endoscopes and catheters that have multiple bendable sections.SOLUTION: A robotic catheter system 100 may comprise a controller 128 and a bendable body having a plurality of steerable segments, where the controller controls actuation of the steerable segments based on an input data. In some embodiments, the input data is at least one of a target bend and a data representation of target bend. In some embodiments, the input data of an operation mode may be selection of a distributed bending mode; in the distributed bending mode, the controller is configured to move the at least one proximal drive wire and the at least one distal drive wire simultaneously.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] Cross - reference to related patent applications This application claims priority from U.S. Provisional Patent Application No. 63 / 579,727, filed with the United States Patent and Trademark Office on August 30, 2023, the disclosure of which is hereby incorporated by reference in its entirety.

[0002] This disclosure relates to medical devices. More particularly, this disclosure exemplifies embodiments of steerable medical devices, such as endoscopes and catheters, having multiple bendable sections.

Background Art

[0003] Endoscopy, bronchoscopy, catheterization, and other medical procedures enable easy visualization of the interior of the body. In such procedures, flexible medical devices may be inserted into a patient's body, and instruments may be passed through the device to examine or treat areas within the body. Bronchoscopes may be used for observing and / or treating a patient's airway. For diagnosis, planning, medical procedures, treatment, etc., medical tools such as cameras and biopsy needles may be inserted through the tool channel of a bronchoscope to a target area within the patient.

[0004] Some of these medical devices are guided through disposable or limited-use flexible tubular bodies, often called sleeves, sheaths, or introducer sheaths. Some of these introducer sheaths and sleeves are robotically controlled. Robotically controlled catheters and endoscopes have a catheter sheath with a maneuverable distal section and an unmaneuverable proximal section. The proximal section is connected to the actuarial unit via an electromechanical connector, and the distal section is sized to be introduced into the patient's anatomical structure through a spontaneous opening or a small surgical incision. Similar insertable catheters and endoscopes can be manually operated by the user without automatic or robotic control. In either case, one or more channels extend along the central lumen of the sheath to allow access for imaging equipment (small cameras or fiber optic probes) and / or end effectors (biopsy tools or therapeutic probes), and / or to allow access for passing fluids (contrast agents or flushing solutions).

[0005] Many catheters currently on the market have a single maneuverable distal section, and the user can direct the bending movement of this maneuverable distal section. However, a new catheter is under development that has three maneuverable sections at the distal end of the catheter. These maneuverable distal sections can bend independently, and various operating modes are available. For example, in tip-bending mode, the most distal curved section can be bent while the other sections remain unbent, which is particularly useful when navigating a maneuverable instrument within the lumen. In another mode, only the intermediate segments are bent (called targeting mode; or, because this movement resembles a chicken searching for seeds on the ground, it is called chickenhead mode—or, in more relatable terms, a biopsy tool searching for various biopsy sites). Such modes are described, for example, in U.S. Patent No. 11,096,552 (which is incorporated herein by reference in its entirety).

[0006] However, additional modes to optimize the range of motion enabled by catheters with multiple distal curved sections (three, two, four, five, or more sections as exemplified in the aforementioned literature) have not been adequately explored. Furthermore, transitions between various control modes have not been adequately addressed.

[0007] Therefore, a flexible medical device is needed that features multiple control modes and transitions between these various control modes, minimizing variability in transitions, being user-friendly, and providing an optimal workflow and ease of use, with multiple distally maneuverable sections. [Overview of the project]

[0008] Accordingly, a broad object of this disclosure is to provide robot systems, apparatus and methods of use. The robot system may include: a bendable body having a maneuverable distal section comprising a distal bendable segment bendable by at least one distal drive wire and a proximal bendable segment bendable by at least one proximal drive wire; one or more first actuators configured to drive the distal drive wires; one or more second actuators configured to drive the proximal drive wires; and a control unit for controlling the first and second actuators. The control unit controls the actuators based on input data of an operating mode and at least one input data of a bending target or a data representation of a bending target. In some embodiments, the input data of an operating mode may be a selection of a dispersed bending mode, in which the control unit is configured to move at least one proximal drive wire and at least one distal drive wire simultaneously.

[0009] In some embodiments, the operating mode is selected from at least (a) a tip bending mode, (b) a targeting mode, and (c) a dispersion bending mode.

[0010] The tip bending mode can be described as the control unit being configured to move at least one distal drive wire to bend the distal curvature segment toward a bending target or a data representation of the bending target, based on input data. The targeting mode can be described as the control unit being configured to move at least one proximal drive wire to bend the proximal curvature segment toward a bending target or a data representation, based on input data, when the bendable body has two curvature segments, and when the bendable body has three or more curvature segments, the control unit being configured to move only at least one drive wire to bend the proximal curvature segment toward a bending target or a data representation of the bending target relative to the distal curvature segment, based on input data. The distributed bending mode can be described as the control unit being configured to move at least one proximal drive wire and at least one distal drive wire simultaneously.

[0011] Further features of this disclosure will become apparent from the following description of exemplary embodiments with reference to the accompanying drawings. Similar structures are indicated by similar reference numerals. [Brief explanation of the drawing]

[0012] 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, and does not limit to, the exact 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.

[0013] [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, bendable, or continuum robot apparatus or system relating to one or more aspects of the present disclosure. [Figure 3] Figure 3 illustrates at least one embodiment of a continuum robot and / or medical device that can be used in conjunction with one or more technologies, including autonomous navigation technology, according to one or more aspects of the present disclosure. Detail A illustrates one guide ring of a bendable body. [Figure 4] Figure 4 is a schematic diagram showing at least one embodiment of an imaging, continuum robot, bendable body, or endoscope device or system relating to one or more aspects of the present disclosure. [Figure 5] Figure 5 is a schematic diagram showing at least one embodiment of a console or computer that can be used in conjunction with one or more autonomous navigation technologies, relating to one or more aspects of the present disclosure. [Figure 6] Figures 6(A) to 6(C) illustrate one or more principles of catheter or continuum robot tip manipulation by operating one or more curved sections of the continuum robot or bendable body 104 shown in Figures 6(A) to 6(C), according to one or more embodiments of the present disclosure. [Figure 7] Figure 7 illustrates the curvature distribution based on the section length. [Figure 8] Figure 8 illustrates how a posture with a uniform curvature distribution of 90 degrees is moved by a uniform curvature distribution of 30 degrees. [Figure 9] Figure 9 illustrates the transition to a uniform curvature distribution. [Figure 10] Figures 10(A) and 10(B) illustrate the maintenance of a local angle while changing orientation. [Figure 11] Figure 11 illustrates the possible reactions in an attitude including a bendable intermediate segment to eliminate the effects of crosstalk and maintain the output direction. [Figure 12] Figures 12(A) and 12(B) illustrate operating modes that enable small movements of the intermediate and proximal segments relative to the tip movement.

[0014] Throughout the figures, unless otherwise noted, the same reference numerals and letters are used to indicate similar features, elements, components, or parts of the exemplary embodiments. Furthermore, the present disclosure will now be described in detail with reference to the figures, but this will be done in relation to the exemplary embodiments. It is intended that changes and modifications may be made to the exemplary embodiments described without departing from the true scope and spirit of the present disclosure as defined by the appended claims. [Modes for carrying out the invention]

[0015] This disclosure has several embodiments, and details known to those skilled in the art rely on patents, patent applications, and other references. Therefore, where patents, patent applications, and other references are cited or repeated herein, they should be understood to be incorporated by reference in whole for all purposes and for the purposes of the proposals described herein.

[0016] The following paragraphs describe specific descriptive embodiments of flexible medical devices, particularly robotic medical systems configured to use flexible bodies. Other embodiments may include alternatives, equivalents, and modifications. In addition, descriptive embodiments may include several features, and certain features may not be essential to some embodiments of the devices, systems, and methods described herein.

[0017] <Robot Catheter System> Referring to FIGS. 1 to 4, an embodiment of the robotic catheter system 100 will be described. FIG. 1 illustrates a simplified representation of a medical environment such as an operating room where the robotic catheter system 100 can be used. FIG. 2 illustrates a functional block diagram of the robotic catheter system 100. FIGS. 3A to 3C illustrate the catheter and bending. FIGS. 4 to 5 illustrate a logical block diagram of the robotic catheter system 100. In this example, the system 100 includes a system console 102 (computer cart) operatively connected to the flexible body 104 via a robotic platform 106. The robotic platform 106 includes one or more robotic arms 108 and a linear translation stage 110.

[0018] In FIG. 1, a user 112 (e.g., a doctor) controls the robotic catheter system 100 via a user interface unit (operation unit) to perform an endoluminal procedure on a patient 114 disposed on an operating table 116. The user interface may include at least one of a main display 118 (first user interface unit), a secondary display 120 (second user interface unit), and a handheld controller 124 (third user interface unit). The main display 118 may include, for example, a large display screen attached to the system console 102 or installed on the wall of the operating room, and may be designed, for example, as part of the robotic catheter system 100 or as part of the equipment in the operating room. Optionally, there is a secondary display 120 which is a small (portable) display device configured to be removably attached to the robotic platform 106. Examples of the secondary display 120 include a portable tablet computer and a mobile communication device (mobile phone).

[0019] The bending member 104 may be operable and may operate via the actuator 122. The actuator 103 is removably attached to the linear translation stage 110 of the robotic platform 106. The handheld controller 124 may include a gamepad-shaped controller having a joystick with a shift lever and / or push buttons. It may be a single-handed controller or a two-handed controller. In one embodiment, the actuator 122 is housed within a housing having the shape of a catheter handle. One or more access ports 126 are provided on or around the catheter handle. The access ports 126 are used for inserting and / or withdrawing end effector tools and / or fluids during the performance of an intervention procedure on the patient 114.

[0020] In some embodiments, the handheld controller 124 and / or the integrated controller and / or the GUI are provided with input means for changing modes and settings. For example, the change between "tip bending" and "proximal bending" can be switched by pressing a button (or a similar digital / on-off method). In one scenario, the mode will cycle between two (or more) modes each time the 'button' is pressed and released. If there are three or more modes, a way to reverse the direction of the cycle can also be included.

[0021] In another scenario, the mode can be switched based on the state of the digital / on-off input means. This input means may be one that maintains its state after being changed (such as a switch or a checkbox), or one that returns to its initial state after being released (i.e., a push button). For example, when this state is off, the mode is "tip bending", and when the state becomes on, it can be switched to "proximal bending". If there are three or more modes, a'multi-state' input means can also be implemented, or the mode can be determined based on a combination of multiple input means.

[0022] The amount of bending applied to each section in distributed mode can also be adjusted using physical or virtual input means. In some scenarios, the function of including sections in the distributed mode can be toggled on or off using the method described in the previous paragraph.

[0023] In another scenario, the amount of variance applied to each section can be adjusted. This can be provided using range input elements such as sliders or knobs (physical or virtual). For example, a virtual slider or numerical box could be provided that represents the proportion of the total variance applied to a section. Alternatively, the value of this input could represent a reduction in variance. For example, a value representing 25% would result in allocating 75% of the input variance to the corresponding section. Similarly, such values ​​can be adjusted using physical inputs. Such inputs may be analog, and the values ​​within their range correspond to the proportion (or reduction) of variance in the corresponding section. This input can maintain its state when changed (i.e., a dial) or return to its initial state when released (i.e., a trigger). A range input element that is a physical device can also be 'adjusted' rather than directly representing a ratio of variance. For example, the variance value for the corresponding section can be increased or decreased by pressing a button or an analog stick. The rate of change may be fixed, variable, or associated with the input value (if it is analog).

[0024] If there are multiple sections, each section can have its own dedicated input. Alternatively, one input can correspond to multiple sections. In this scenario, both may be affected equally (i.e., both increase or decrease), or conversely, one may increase while the other decreases (or, in the case of three or more sections, a combination of each). This input may be a direct mapping or an incremental / decrementing input. If the input is incremental / decrementing, the increase / decrease rates may be the same or different. Each rate can be adjusted in the same way as described in the previous paragraph.

[0025] The system console 102 includes a system control unit 128, a display control unit 130, and a main display 118. The main display 118 may be a conventional display device such as a liquid crystal display (LCD), OLED display, or QLED display. The main display 118 provides a graphic interface unit (GUI) configured to display one or more views. Such views may include a live view image 132, an intraoperative image 134, a preoperative image 136, and other procedural information 138. Other views that may be displayed may include a model view, a navigation information view, and / or a composite view. The live image view 132 may be an image from a camera at the tip of the catheter. This view may also include, for example, information regarding the recognition and navigation of the catheter 104. The preoperative image 136 may include a 3D or 2D medical image of the patient acquired in advance by a conventional imaging modality such as computed tomography (CT), magnetic resonance imaging (MRI), or ultrasound imaging. Intraoperative images 134 may include images used in image-guided procedures, and such images may be acquired by imaging modalities such as fluoroscopy or CT. Intraoperative images 134 may be expanded, combined, or associated with information obtained from sensors, camera images, and catheter data.

[0026] In various embodiments in which the catheter tip tracking sensor 140 is used, the sensor may be located at the distal end of the catheter. The catheter tip tracking sensor 140 may be, for example, an electromagnetic (EM) sensor. When an EM sensor is used, a catheter tip position detector 142 is included in the robotic catheter system 100. This catheter tip position detector will include an EM field generator that is operationally connected to the system control unit 128. Electromagnetic sensors suitable for use with flexible bodies are well known and are described, for example, in U.S. Patent No. 6,201,387 and International Publication WO2020194212A1.

[0027] Similar to Figure 1, Figure 2 illustrates that the robotic catheter system 100 includes a system control unit 128 and a handheld controller 124, which are operationally connected to a display control unit 130 (connected to a display unit 118). The system control unit 128 is also connected to an actuator 122 via a robotic platform 106 (including a linear translation stage 110). The actuator 122 includes multiple motors 144 that control multiple drive wires 160. These drive wires pass through a bendable body 104. The catheter may have one or more access ports 126. The catheter includes a proximal section 148 positioned between actuators and a proximal bending section 152, which actuate the proximal bending section. Three of the six drive wires 160 pass through a distal bending section 156, actinguating this section and enabling various movements. Two bendable sections (152 and 156) are shown in this figure. In other embodiments described herein, there may be three bendable sections (see Figure 3). In some embodiments, a single curved section may be provided, or the catheter may have four or more curved sections.

[0028] Figure 3 shows an exemplary embodiment of the bendable body 104. The bendable body 104 includes a non-maneuverable proximal section 148, a maneuverable distal section 150, and a catheter tip 158. The proximal section 148 and the distal bendable section 150 (including separate sections 152, 154, and 156) are joined to each other by a plurality of drive wires 160 arranged along the wall of the catheter. The proximal section 148 is configured to have through holes, grooves, or conduits for passing the drive wires 160 from the distal section 150 to the actuation section 122. The distal section 150 consists of a plurality of bendable sections, including a distal segment 156, an intermediate segment 154, and a proximal segment 152. Each bendable section is bent by the actuation of at least a portion of the plurality of drive wires 160 (drivers). The catheter's orientation may be supported by support wires (support members) (not shown) positioned along the catheter wall (see U.S. Patent Application Publication No. 2021 / 0308423). The proximal end of the drive wire 160 is connected to individual actuators or motors 144 of the actuation unit 122, and the distal end of the drive wire 160 is selectively fixed to anchor members of different bending sections of the distal bendable section 150.

[0029] Each curved section is formed by multiple annular components (rings), with through-holes, grooves, or conduits provided along the walls of the rings. The annular components are defined as wire guide members 162 or anchor members 164 depending on their function within the catheter. An anchor member 164 is an annular component to which the distal ends of one or more drive wires 160 are attached. A wire guide member 162 is an annular component through which some of the drive wires 160 slide (without being attached to the member).

[0030] Detail “A” in Figure 3 illustrates an exemplary embodiment of an annular component (wire guide member 162 or anchor member 164). Each annular component includes a central opening forming a tool channel 168 and a plurality of conduits 166 (grooves, subchannels, or through-holes) arranged equidistant longitudinally from the central opening along the annular wall of each annular component. Inside the annular component, an inner cover may be provided to provide a smooth inner channel and protection, as described in U.S. Patent Application Publications 2021 / 0369085 and 2022 / 0126060. The non-operational proximal section 148 is a flexible tubular shaft and can be made from an extruded polymer material. The tubular shaft of the proximal section 148 also has a central opening or tool channel 168 and a plurality of conduits 166 along the shaft wall surrounding the tool channel 168. The tubular shaft and the operational section 150 may be covered by an outer sheath. Thus, at least one tool channel 168 formed within the flexible body 104 allows imaging equipment and / or end effector tools to pass through from the insertion port 126 to the distal end of the flexible body 104.

[0031] The actuation unit 122 includes one or more servo motors or piezoelectric actuators. The actuation unit 122 bends one or more of the curved sections of the catheter by applying pushing and / or pulling forces to the drive wires 160. As shown in Figure 3A, each of the three curved segments of the curved body 104 has multiple drive wires 160. When each curved segment is actuated by three drive wires 160, the curved body 104 has nine drive wires arranged along the wall of the catheter. The actuation unit 122 bends each curved segment of the catheter by pushing and pulling at least one of these nine drive wires 160. Forces are applied to the individual drive wires to manipulate / maneuver the catheter to a desired position. Thus, a segment can be moved by moving at least one of the three drive wires fixed to that segment, and moving at least one drive wire of a segment means that one or more of the drive wires are moved. This could include pulling (or pushing) only one of the drive wires, or pulling one wire while simultaneously pushing another.

[0032] The flexible body 104 and the assembled actuation unit 122 are mounted on a linear translation stage 110. The linear translation stage 110 includes a slider and a linear motor. That is, the linear translation stage 110 is electrically powered and can be controlled by the system control unit 128 to insert the flexible body 104 into and remove it from the patient's body cavity.

[0033] An imaging device 170 that can be inserted through the tool channel 168 may be an endoscope camera (videoscope) equipped with an illumination optical system (e.g., fiber optics or LEDs). The illumination optical system illuminates the lumen and / or lesion target, which are areas of interest within the patient. End-effector tools refer to endoscopic surgical instruments such as clamps, forceps, scissors, staplers, ablation or biopsy needles, and other similar tools that function to manipulate parts of the body (organs or tumor tissue) during examination or surgery. The imaging device 170 may be what is commonly known as a tip-on-tip camera and may be in color or black and white.

[0034] In some embodiments, a tracking sensor 140 (e.g., an EM tracking sensor) is attached to the catheter tip 158. In this embodiment, the bendable body 104 and the tracking sensor 140 can be tracked by a tip position detector 142. Specifically, the tip position detector 142 detects the position of the tracking sensor 140 and the detected position information is controlled by the system control unit. 128 The output is sent to the system control unit 128. The system control unit 128 receives position information from the tip position detector 142 and continuously records and displays the position of the bendable body 104 in relation to the patient's coordinate system. The system control unit 128 controls the operating unit 122 and the linear translation stage 110 according to operation commands entered by the user 112 via one or more of the user interface units (handheld controller 124, GUI of the main display 118, or buttons on the touch screen of the secondary display 120).

[0035] The robotic medical system described herein is a flexible body 104The robot may include a continuous or multi-segment robot configured to form a curved shape in one or more planes by acting on one or more curved sections. An example of a continuous robot is a snake-shaped catheter and / or endoscopic device, as described in U.S. Patents 9,144,370, 11,051,892, 11,103,992, 11,278,366, 11,007,641 and U.S. Patent Application Publications 2019 / 0105468, US2021 / 0386972, 2021 / 0308423, and 2022 / 0126060, which have been previously published by the applicant.

[0036] Figure 4 illustrates that the system control unit 128 executes a software program and controls the display control unit 130 to display a navigation screen (e.g., a live view image 132) on the main display 118 and / or the secondary display 120. The display control unit 130 may include a graphics processing unit (GPU) or a video display controller (VDC).

[0037] Figure 5 illustrates the components of the system control unit 128 and / or the display control unit 130. The system control unit 128 and the display control unit 130 can be configured separately. Alternatively, the system control unit 128 and the display control unit 130 This can be configured as a single device. In either case, the system control unit 128 and the display control unit 130 have substantially the same components. Specifically, the system control unit 128 and the display control unit 130 may include a central processing unit (CPU 182) consisting of one or more processors (microprocessors), a random access memory (RAM 184) module, an input / output (I / O 186) interface, a read-only memory (ROM 180), and a data storage device (e.g., a hard disk drive (HDD 188) or a solid-state drive (SSD)).

[0038] ROM 180 and / or HDD 188 store the operating system (OS) software and software programs necessary to perform the functions of the entire robot catheter system 100. RAM 184 is used as workspace memory. CPU 182 executes the software programs stored in RAM 184. I / O 186 inputs position information to the display control unit 130, for example, and outputs information for displaying the navigation screen to one or more displays (main display 118 and / or secondary display 120). In the embodiments described later, the navigation screen is a graphical user interface (GUI) generated by a software program, but it may also be generated by firmware or a combination of software and firmware.

[0039] The system control unit 128 may control the bendable body 104 based on any known kinematic algorithm applicable to a continuum or snake-type catheter robot. For example, the system control unit may control the bendable body 104 based on an algorithm known as the Follow-the-Leader (FTL) algorithm. By applying the FTL algorithm, the most distal segment 156 of the maneuverable section 150 is actively controlled using forward kinematics values, and the intermediate segment 154 and proximal segment 152 (following section) of the bendable body 104 move in the first position as if the distal section had moved in the first position or a second position near the first position.

[0040] The display control unit 130 receives the position information of the flexible body 104 from the system control unit. 128 The position information is obtained from the tip position detector 142. Alternatively, the display control unit 130 may directly obtain position information from the tip position detector 142. The bendable body 104 may be a disposable or limited-specification catheter device. That is, the bendable body 104 may be detachable from the operating unit 122 and may be disposable.

[0041] During the procedure, the display control unit 130 can generate live view images and other views and navigation screens and output them to the main display 118 and / or secondary display 120. This view may optionally be registered with a 3D model of the patient's anatomical structure (branching structure) and positional information of at least a part of the catheter (e.g., the position of the catheter tip 158) by executing a pre-programmed software routine. Once navigation to the desired target is complete, one or more end-effector tools can be inserted through the access port 126 at the proximal end of the catheter, and the tools can be guided through the tool channel 168 of the catheter body to perform intracavitary procedures from the distal end of the catheter.

[0042] The tools may be medical tools such as endoscope cameras, forceps, needles, and other biopsy or ablation tools. In one embodiment, the tools may be described as surgical tools or working tools. Working tools are inserted or removed through the working tool access port 126. The following embodiments describe embodiments in which a bendable body is used to guide the tool to the target. The tools may include endoscope cameras or end effector tools that can be guided through the bendable body in the same principle. The procedure typically includes a planning procedure, a registration procedure, a targeting procedure, and a surgical procedure.

[0043] In medical procedures in which the flexible medical device 104 is used, medical images (e.g., from a CT scanner) are often provided to the robotic catheter system 100 preoperatively. The clinical user uses the robotic catheter system 100 to create an anatomical computer model from images of the patient's 114 lungs and airways. From chest images received from a CT scanner or PACS system, the clinical user can segment the lungs for clinical procedures such as biopsies. After the robotic catheter system 100 generates a map of the lungs and airways, the user can also use a navigation software system to create a plan to access the lesion to be biopsied. The plan includes the target lesion and a trajectory (navigation path) through the airway for inserting the distal section 150 of the flexible body 104.

[0044] According to one embodiment, during either insertion or withdrawal of the bendable body 104, the system control unit 128 can control the linear translation stage 110 of the robot platform 106 to move the bendable body 104 along the centerline of the lumen (e.g., airway) in a desired trajectory, and subsequently actively control the bending segments. This is similar to known shaft guidance techniques used in the control of robot-guided catheters or endoscopes, which aim to force the flexible shaft of the sheath to maintain a desired trajectory. In one example, when using a robot catheter system 100, the bendable body 104 is robotically controlled to advance within the lumen. This control may be performed via sensors, external images, and / or images from the tip of the bendable body. Sensors may be included to measure the operating force, insertion depth, angle formation of user-controlled maneuverable segments, etc., in order to acquire trajectory and other information. After advancing a small distance of insertion or withdrawal, the shape of the bendable body 104 is modified by adjusting (activating) one or more bending segments so that the new shape closely matches the desired trajectory. This process is repeated until the target area is reached. The same process can also be applied when controlling the bendable body to withdraw the bendable body 104 from the patient. This process is similar to the navigation process described, for example, in US2007 / 0135803 (which is incorporated herein by reference for all purposes).

[0045] Further details relating to the driving of the curved robot include control methods for operation, as described in the applicant's previous patent application publications US2015 / 0088161, US2018 / 0243900, US2018 / 0311006 and US2019 / 0015978 (incorporated herein by reference for any purpose).

[0046] <Bending Mode> The bendable body 104 can be operated to bend each segment independently. In one operating mode, each bendable segment can be controlled independently and completely, while other modes can be provided that predefine how the bendable medical device responds to operating commands. For example, in one bending mode, a "chicken head" motion is provided by bending only the middle of the three segments. In another bending mode, all three bendable segments bend uniformly.

[0047] To provide multiple bending modes, the control algorithm can apply a different function to each bending section to determine the amount and direction of the motion to be applied. This function will be based on the input motion supplied by the user (or system), but may also take into account a number of other arguments. Some of these optional arguments include the current control mode, the current pose / pose history of each section of the catheter, and the position of the catheter within the anatomical structure.

[0048] Figures 6(A) to 6(C) illustrate exemplary catheter tip manipulation by activating one or more bending sections of the bendable body 104 in various bending modes. As shown in Figure 6(A), by manipulating only the most distal segment 156 of the maneuverable section (tip bending mode), the position and orientation of the catheter tip 158 are changed. On the other hand, manipulating one or more bending sections other than the most distal segment (152 or 154) affects only the position of the catheter tip 158, and does not affect the orientation of the catheter tip. In Figure 6(A), the distal segment 156 The operation of this mechanism causes the catheter tip to change from position P1, where the orientation is O1, to position P2, where the orientation is O2, to position P3, where the orientation is O3, to position P4, and so on. In Figure 6(B), the operation of the intermediate segment 154 causes the position of the catheter tip 158 to change from position P1, where the orientation is O1, to positions P2 and P3, where the orientation is still O1. This mode is also called the chicken head mode because the tip can move around the target site like a chicken searching for grain.

[0049] As will be obvious to those skilled in the art, the exemplary catheter tip manipulations shown in Figures 6(A) and 6(B) can be performed during catheter navigation (i.e., while inserting the catheter through a winding anatomical structure). In this disclosure, the exemplary catheter tip manipulations shown in Figures 6(A) and 6(B) are applied to the targeting mode. In some examples, this mode is applied after the catheter tip has been navigated to a predetermined distance (targeting distance) from the target. In Figure 6(C), the bend is distributed through different curved sections. The operation of all three segments changes the catheter tip from position P1 with orientation O1 to position P2 with orientation O2, position P3 with orientation O3, and so on. This mode may not be useful when navigating through all tightly curved anatomical structures, as can be seen by comparing Figures 6(A) and 6(C), but it can be particularly important for tool entry when the tool is too long to bend as tightly as when used to navigate to the target site.

[0050] For each of these modes, input data is used to move the catheter segment. The input data may be obtained from the user, an automated system (see, for example, U.S. Provisional Applications Nos. 63 / 513,803 and 63 / 513,794), or a combination thereof. For example, the input data may include the selection of the operating mode, a bending target from the user via a hand controller or GUI, which may be a bending angle, bending direction, or a combination of both. This may include both magnitude and direction. In some embodiments, the function applied to magnitude and the function applied to direction may be the same or different.

[0051] Alternatively or additionally, the input data may be a data representation of a bending target, which is a wire position or other kinematic representation that is an alternative representation of the bending angle and / or direction. This data representation may be a user-defined bending target conversion that has been converted into information used by the control unit to control the drive wire.

[0052] The bending target may be the bending angle (or direction) for the final objective (e.g., bending towards a region of interest). In other embodiments, the bending target is a change in the bending angle (or direction).

[0053] Other input commands may include the current or previous bending angle of each segment, and / or a data representation of the current or previous bending angle. This information can be obtained, for example, from a table that stores the positional information of the procedure.

[0054] Tip bending mode. In this mode, the control unit is configured to move at least one distal drive wire toward a bending target or a data representation of a bending target based on input data. This bending is performed by a bending angle and / or direction derived from a previous bending angle and / or direction.

[0055] Targeting mode. In this mode, the control unit is configured to move at least one proximal drive wire toward a bending target or data representation based on the input data. The proximal drive wire is moved if the bendable body has two bending sections. However, if the bendable body has three or more bending sections, the control unit is configured to move only at least one drive wire based on the input data to bend the proximal bending section toward the distal bending section toward the bending target or data representation of the bending target.

[0056] Dispersed bending mode. In this mode, the control unit is configured to move at least one proximal drive wire and at least one distal drive wire simultaneously. This allows the proximal curved section to bend at an angle smaller than the bending angle, and the distal curved section to bend to the bending angle. These can be in any ratio, and the proximal angle does not necessarily have to be smaller than the distal angle, and technically neither needs to be at a "perfect" bending angle / direction.

[0057] <Dispersion bending and dispersion function> The most basic function of distributed bending is a simple proportional quantity of the input value. For example, when a uniform curvature is formed using all the bending sections, the amount of motion applied to each section will be equal to the ratio of the end effector's position along the entire combined bending length. This is seen in Figure 7. Looking at an exemplary end of a bendable body with three bending sections, we can see that the length of the proximal bending section 152 is 20 mm. The lengths of the intermediate segment 154 and the distal segment 156 are shown to be 30 mm together, relative to the total bendable length of 50 mm. Therefore, when the bendable body in Figure 7 bends 90 degrees, the angle of the proximal bending section 152 is 20 mm / 50 mm × 90 degrees = 36 degrees, which is the ratio of the end effector's position to the combined bending length. The intermediate bending segment 154 is located 40 mm from the base position and has a total length of 50 mm, so the amount of motion applied to the intermediate bending segment 154 will be equal to the equation 40 mm / 50 mm × 90 degrees = 72 degrees. The distal segment 156 will bend at a perfect 90-degree angle.

[0058] figure 7 The diagram shows a bendable body with three sections of lengths 20mm, 20mm, and 10mm, but other embodiments may have two, four, or more sections, of which the lengths may be the same or different. An important consideration for the most basic function of this distributed bending is that the proportionality of the input values ​​remains constant. For example, in a four-section robot with each section of length 20mm and a bending target of 60 degrees, the distal segment will bend at 15 degrees, the intermediate segments at 30 and 45 degrees, and the proximal segment at the aforementioned 60 degrees.

[0059] Similarly, when tip bending and cockscomb motion (shown in Figures 6(A) and 6(B)) are included in the function, these modes fall under this algorithm. In tip bending mode, the tip receives 100% of the motion, while all other sections receive 0% (Figure 6(A)). Similarly, in targeting / cockscomb mode (Figure 6(B)), the middle segment receives 100% of the motion, while all other sections receive 0%.

[0060] However, there are some functions that cannot be achieved with targeting and cockstrap movement. For example, some tools have a very rigid distal section. This can limit the amount of local bending that the tip can achieve. (Local bending is the relative posture between the tip segment and the intermediate segment). In this scenario, if the user wants to bend the catheter in a direction prohibited by the tool, the distributed bending mode allows the movement to be applied equally to both the tip and the intermediate segment (Figure 10(B)). Thus, the orientation of the tip can be changed without changing the local posture.

[0061] This simple ratio of variance can also be used to perform functions that are currently impossible in other systems.

[0062] The table below shows a simplified example of the aforementioned example using a catheter with three bendable sections of 10 mm, 20 mm, and 20 mm. [Table 1]

[0063] This dispersion function can not only change the amount of motion but also influence the direction. This is useful for cockstrap motion. The desired effect of cockstrap motion is to translate the tip position without changing its orientation. This is achieved by bending the intermediate segment. However, due to the physical properties of the catheter design, the orientation of the tip changes slightly when the intermediate segment moves. As shown in Figure 11, this type of motion can be canceled out by bending the tip in a way that counteracts the motion resulting from the bending of the intermediate segment. This direction is typically opposite to the motion of the intermediate segment.

[0064] However, the amount of bending applied will depend on the local orientation of the tip. Bending the intermediate segment will result in a change in the local orientation of the tip section. As mentioned earlier, the local orientation is the relative orientation between the tip section and the intermediate segment. One physical phenomenon of a three-section catheter is that the output ratio is inversely proportional to its local orientation. That is, even with the same drive wire position, the output angle decreases as the angle of the local orientation increases. Therefore, the extent to which the orientation of the tip changes from cockstrap motion depends on the extent to which its local orientation changes. Thus, the function to counteract this unintended change in tip orientation requires the use of the local orientation in its calculations.

[0065] Finally, if the same basic ratio distribution is applied to the catheter movement from the start of control, the resulting posture of all sections will have the same ratio distribution at any point during the movement.

[0066] Figure 8 shows that a catheter with a uniform curvature distribution (90 degrees) is subjected to a 30-degree curvature distribution dispersion motion. The resulting orientation is also uniform curvature distribution (60 degrees).

[0067] However, the catheter's orientation before applying any type of distributed bending motion does not need to be distributed at the same ratio during the motion. In other words, any type of distributed bending motion algorithm can be applied to any type of catheter orientation (see Figure 12). They are independent of each other.

[0068] One key implementation of this is during simple navigation. There are scenarios where bending the catheter tip alone is insufficient to orient the tip in the desired direction, as the catheter tip reaches its physical limits (local orientation becomes too high). In conventional catheters, when this occurs, the stage is driven forward, and the FTL algorithm moves the intermediate segment toward the tip. This lowers the local orientation of the tip section, allowing it to continue aiming in directions that were previously unreachable (i.e., the local orientation becomes even higher).

[0069] The benefit of slightly moving the intermediate segment in the direction the tip is aiming can be replicated using the dispersion bending of this disclosure. This benefit is achieved by applying partial motion to the intermediate segment (and optionally the proximal segment) to shift the entire bending portion in the direction the tip is bending. This reduces the amount of increase in local attitude that occurs during bending, allowing the tip to bend more than it would otherwise be. Again, the amount of bending applied to the intermediate / proximal segment may vary depending on the local attitude. The larger the local attitude, the greater the benefit of instructing the intermediate segment to move more. This can also improve FTL efficiency because it reduces the local attitude compared to when there is no dispersion bending mode.

[0070] Finally, this function may be entirely user-defined, or it may have several user-defined parameters, and it may be adjustable at any time (manually or automatically). One scenario in which it may be beneficial to change them "automatically" is that it can be implemented for "cascading bending."

[0071] In another type of distributed bending mode, the bendable instrument is initially bent according to the curvature distribution described above. However, once a specified limit is reached, the control unit stops the motion of the nearest section, while the motion of the more distal segments continues. If there are three or more bending sections, this cycle can be repeated for all sections.

[0072] In yet another example, if the tip bending mode is used initially, this mode will be used until a local postural limit is reached. Once this occurs, any further bending will be applied to both the distal segment and the proximal segment (the intermediate segment in a three-section catheter). If the catheter has three or more sections, this sequence can be repeated.

[0073] The bending does not have to be limited to a single section at a time, but can be distributed in the manner described above, although it follows the same paradigm of applying the motion to other sections once the limit is reached.

[0074] In some embodiments, a constant curvature mode, such as that described in Takagi's WO / 2023 / 164047, may be used. This document describes a bendable body bendable by a control unit configured to switch between a first control for bending a first curved portion and a second control for bending the first and second curved portions, such that the curvature of the curved portion is constant. WO / 2023 / 164047 is incorporated herein by reference in its entirety.

[0075] <Transition to a derived stance> Users can transition from any other orientation to any distributed orientation. When this occurs, the orientation of all sections will be adjusted to the desired distribution based on the orientation of the tip. Optionally, users can apply this transition to only specific sections.

[0076] Additionally, the user can choose to revert from the distributed pose to the previous pose (or choose which sections to revert while keeping others). Finally, the user can change the distributed bending ratio from this distributed pose mode (i.e., enter chickenhead mode). The user can also choose to modify the current pose to accommodate the new distribution, or to apply the distribution only during bending.

[0077] This transition can be applied gradually, and the user can stop it at any point during the transition if it is needed to reach a more desired posture.

[0078] When transitioning to a dispersed orientation, the tip orientation should remain the same, but its position in space may change. This change in position may be addressed manually or automatically by moving the stage position or bending other sections accordingly.

[0079] Furthermore, the function for determining the orientation of each section does not need to be based on the orientation of the tip, but may be based on the orientation of any section and / or other information such as the target position.

[0080] <Additional distribution features> In some embodiments, the function of distributing the bend through multiple curved sections.

[0081] One feature that improves the maintenance of local posture is the localization mode, as shown in Figures 10(A) and 10(B). The local angle is maintained, while the orientation changes. In the case of a 3-section robot, the configuration is 100% distal segment, 100% intermediate segment, and 0% proximal segment. As shown in Figure 10(A), the distal segment is straight with respect to the intermediate segment. When a 90-degree bend command is sent, as a result both the distal and intermediate segments aim at 90 degrees, but the distal segment remains straight with respect to the intermediate segment. In the scenario in Figure 10(B), the distal segment is at +90 degrees with respect to the intermediate segment. When a -45-degree bend command is sent, as a result both the distal and intermediate segments change their aiming direction by -45 degrees. The distal segment remains bent at +90 degrees with respect to the intermediate segment.

[0082] Another function of distributed bending relates to the cockscomb mode. In standard cockscomb mode, the intermediate segment bends while the distal and proximal segments do not. However, crosstalk often occurs between the distal and intermediate segments, and the true final orientation is not accurate. In the example shown in Figure 11, all three sections of the 3-section robot are straight. A command to bend 90 degrees is sent [S1101], and the intermediate segment is bent 90 degrees. However, the true output shape of standard cockscomb mode is shown by the bend in [S1102], where the tip of the distal segment is pulled slightly in the direction of the intermediate segment's bend. The local angle at the tip becomes smaller, and the tip no longer points straight forward. Due to the distributed function shown in step [S1103], the distal segment is bent in the opposite direction to the bend of the intermediate segment ([S1101]) to counteract the pull on the distal segment caused by the bending of the intermediate segment. This increases the local angle at the tip, and the output direction remains straight forward.

[0083] Another example of the distribution function is the ability to “nudge” intermediate and / or proximal segments toward the tip. An example configuration for this mode is as follows: [Table 2]

[0084] This allows for increasing output by reducing local angles. As shown in Figure 12(A), all sections are straight. When a command to bend +90 degrees is sent, the distal segment bends 90 degrees, the intermediate segment bends 20%, or 18 degrees, and the proximal segment bends 10%, or 9 degrees. All bends occur in the direction of the tip's bend. This looks different in Figure 12(B). In Figure 12(B), all sections are bent to the left, with varying angles at the start of the movement. In this case, when a command to bend +90 degrees is sent, the distal segment bends 90 degrees, the intermediate segment bends 18 degrees, and the proximal segment bends 9 degrees, all bending in the direction of the tip's bend. However, the overall shape of this final curve is what it would look like if the robot's tip moved as instructed, and the other sections are finely tuned in the direction of the bend to provide shapes that may be particularly useful during navigation and work within a lumen.

[0085] In other embodiments, the amount of fine-tuning may be larger (e.g., 30% and 15%), smaller (e.g., 10% and 5%), or in different ratios (e.g., 30% and 10%).

[0086] As described above, the robotic medical system described herein is a flexible body 104A continuous or multi-segment robot may be configured to form a curved shape in one or more planes by operating one or more curved sections. When two or more curved sections are bent, the curvature of the sections may be in two different planes. In some embodiments, two or more curved sections are bent in the same plane, but with different curvatures. For example, if an end-section and a proximal section are bent along a perpendicular plane, and the end-section bends along the same plane to increase its angle, the posture of the proximal section will be "fine-tuned" in such a way that the bending plane approaches the plane of the end-section (with a slight change in angle). Similarly, the end-section and proximal section may be bent in different directions on the same plane. In this case, if the user instructs the end-section to bend further, the "fine-tuned" of the proximal section will slightly adjust its bending angle and move it towards the end-section, resulting in a slightly smaller amount of bending.

[0087] The present disclosure, and / or one or more components of the devices, systems, and storage media of the present disclosure, and / or methods may be used in conjunction with devices, systems, methods, and / or storage media for continuum robots, and / or for endoscopes. Such devices, systems, methods, and / or storage media for continuum robots are published in at least U.S. Patent Nos. 10,687,694, 11,007,641, 11,051,892, 11,096,552, 11278366, 11,504,501, 11,559,190, 11,571,268, and 11,622,828, U.S. Patent Application Publication Nos. 2020 / 0375665, 2021 / 0121051, and 2021 No. / 0121162, No. 2021 / 0259521, No. 2021 / 0259790, No. 2021 / 0259794, No. 2021 / 0260339, No. 2021 / 0260767, No. 2021 / 0308423, No. 2 No. 021 / 0362323, No. 2021 / 0369085, No. 2021 / 0369355, No. 2021 / 0369366, No. 2021 / 0386972, No. 2021 / 229277, No. 2022 / 0016394, Issues 2022 / 0039635, 2022 / 0039784, 2022 / 0040450, 2022 / 0126060, 2022 / 0202273, 2022 / 0202277, 2022 / 0202500, 2022 / 0202501, 2022 / 0202502, 2022 / 0203071, 2023 / 0016761, 2023 / 0201522, 2023 / 0137954 and 2023 / 0 Disclosed in Patent No. 255442, and in International Publications WO2021 / 142272, WO2022 / 031995, WO2022 / 032162, WO / 2023 / 154352, WO / 2023 / 154825, WO / 2023 / 154931, WO / 2023 / 150162, WO / 2023 / 154713, WO / 2023 / 154246, and WO / 2023 / 154931, each of which is incorporated herein by reference as a whole. Any of the features of this disclosure may be used in combination with any of the features described in the above-mentioned patents and applications.

[0088] definition Throughout the drawings, unless otherwise noted, the same reference numerals and letters are used to indicate similar features, elements, components, or parts of the exemplary embodiments, where possible. Further, the disclosure will be described in detail with reference to the accompanying drawings, but this will be done in relation to the exemplary embodiments. It is intended that modifications and changes may be made to the exemplary embodiments described without departing from the true scope of the disclosure as defined by the appended claims. The drawings represent several possible configurations and approaches, but the drawings are not necessarily to scale, and certain features may be exaggerated, omitted, or partially cut off in order to better illustrate and explain certain aspects of the disclosure. The description herein is exhaustive and is not intended to limit or restrict the claims to the exact forms and configurations shown in the drawings and disclosed in the following detailed description.

[0089] Naturally, when an element or part is referred to as “on,” “against,” “connected to,” or “joined to” another element or part, it may be directly on, against, connected to, or joined to that other element or part, or there may be an intervening element or part. In contrast, when an element is referred to as “directly on,” “directly connected to,” or “directly joined to” another element or part, there is no intervening element or part. When used, the phrase “and / or” includes any combination of one or more of the related enumerated items, as provided in that way.

[0090] To simplify descriptions of the relationship between one element or feature and another, as shown in various diagrams, spatial relative terms such as “below,” “directly below,” “downward,” “low,” “upward,” “top,” “proximal,” and “distal” may be used herein. However, it is naturally intended that spatial relative terms encompass various orientations of the equipment in use or operation, in addition to the orientation shown in the diagrams. For example, an element described as being “below” or “directly below” another element or feature would be oriented “upward” of that other element or feature if the equipment in the diagram were turned over. Therefore, relative spatial terms such as “downward” can encompass both up and down orientations. The equipment may be oriented in other ways (rotated 90 degrees or in other directions), and the spatial relative descriptors used herein should be interpreted accordingly. Similarly, the relative spatial terms “proximal” and “distal” may be interchangeable where applicable.

[0091] As used herein, the term “approximately” means, for example, within 10%, within 5%, or less. In some embodiments, the term “approximately” may mean within the measurement error.

[0092] In this specification, terms such as First, Second, Third, etc., may be used to describe various elements, components, areas, parts, and / or sections. Naturally, such elements, components, areas, parts, and / or sections should not be limited by these terms. These terms are used solely to distinguish one element, component, area, part, or section from another area, part, or section. Thus, a First element, component, area, part, or section described below may be referred to as a Second element, component, area, part, or section without departing from the teachings of this specification.

[0093] The terms used herein are for the purpose of describing a particular embodiment and are not intended to limit it. The use of the terms “a,” “an,” and “the,” and similar reference subjects in the context describing this disclosure (particularly in the context of the following claims), is to be interpreted as including both singular and plural forms, unless otherwise stated herein or unless the context clearly contradicts it. The terms “equip,” “have,” “include,” and “incorporate” are to be interpreted as open-ended terms unless otherwise stated (i.e., “include, but not limited to.”). Specifically, when used herein, these terms specify the presence of a described feature, integer, step, operation, element, and / or component, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof that are not expressly described herein. The descriptions of ranges of values ​​herein are intended solely as abbreviations for individually referring to distinct values ​​that fall within the range, unless otherwise indicated herein, and the distinct values ​​are incorporated herein as if they were individually described herein. For example, if the range 10–15 is disclosed, then 11, 12, 13, and 14 are also disclosed. All methods described herein may be performed in any suitable order unless otherwise indicated herein or unless it is clearly inconsistent with the context. The use of any examples or exemplary language provided herein (e.g., “etc.”) is intended solely to make the disclosure easier to understand and, unless otherwise asserted, does not limit the scope of the disclosure. Nothing in this specification should be construed as indicating that any element not described in the claims is essential for performing the disclosure.

[0094] This disclosure generally relates to medical devices and exemplifies embodiments of flexible sheaths for guiding catheters and / or optical probes applicable to imaging devices (e.g., endoscopes). The imaging device may also perform imaging using a miniature camera based on tip-on-tip (COT) technology, or it may provide other forms of imaging such as spectrally coded endoscopy (SEE) imaging technology (see, for example, U.S. Patents 10,288,868 and 10,261,223). In some embodiments, the imaging device may include an optical coherence tomography (OCT) device, a spectrometer, or a combination of such devices (e.g., a multimodality imaging probe).

[0095] Embodiments of the bendable medical device and its parts are described with respect to their position / orientation in three-dimensional space. As used herein, the term “position” refers to the position of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom along Cartesian X, Y, Z coordinates); the term “orientation” refers to the rotational arrangement of an object or part of an object (three rotational degrees of freedom—e.g., roll, pitch, yaw); the term “posture” refers to the position of an object or part of an object in at least one translational degree of freedom and the orientation of an object or part of an object in at least one rotational degree of freedom (up to six degrees of freedom in total); and the term “shape” refers to a set of postures, positions and / or orientations measured along the elongated body of an object. As is known in the field of medical devices, the terms “proximal” and “distal” are used with respect to the operation of the end of an instrument extending from the user to the surgical or diagnostic site. In this regard, the term “proximal” refers to the part of the instrument closer to the user, and the term “distal” refers to the part of the instrument further from the user and closer to the surgical or diagnostic site.

[0096] As used herein, the term “catheter” generally refers to a slender, flexible tubular instrument made of medical-grade material, designed to be inserted into a body cavity (e.g., a blood vessel) through a narrow opening to perform a wide range of medical functions. A catheter may be an imaging device alone or may include tools used in therapeutic or diagnostic procedures. The more specific term “optical catheter” refers to a medical instrument comprising an elongated bundle of one or more flexible optical fibers having optical imaging capabilities, housed within a protective sheath made of medical-grade material. A specific example of an optical catheter is a fiber optic catheter comprising a sheath, coil, protective device, and optical probe. In some applications, a catheter may include a “guide catheter” that functions similarly to a sheath.

[0097] As used herein, the term "endoscope" refers to a rigid or flexible medical instrument used to observe the inside of body cavities or organs using light guided by an optical probe. The medical procedure in which an endoscope is inserted through a natural opening is called an endoscopic examination. Specialized endoscopes are generally named after the method or location of use, such as bronchoscopes (mouth), sigmoidoscopy (rectum), cystoscopes (bladder), nephroscopes (kidneys), bronchoscopes (bronchi), pharyngoscopes (pharynx), otoscopes (ears), arthroscopes (joints), laparoscopes (abdomen), and gastrointestinal endoscopes.

[0098] Naturally, the methods and compositions of this disclosure can be incorporated in various forms, only a few of which are disclosed herein. Variations of such embodiments will be apparent to those skilled in the art upon reading the foregoing description. It is expected and understood that those skilled in the art will adopt such variations as appropriate, and this disclosure is intended to be implemented in ways other than those specifically described herein. Accordingly, this disclosure includes all modifications and equivalents of the subject matter described in the claims appended herein, to the extent permitted by applicable law. Furthermore, unless otherwise indicated herein, or unless it is clearly inconsistent with the context, this disclosure encompasses any combination of the above elements in all possible variations.

[0099] While this disclosure has been described with reference to exemplary embodiments, it is naturally not limited to the exemplary embodiments disclosed. The following claims should be given the broadest possible interpretation to encompass all such modifications and equivalent structures and functions.

Claims

1. A bendable body having a maneuverable distal section comprising a distal bendable segment that can be bent by at least one distal drive wire and a proximal bendable segment that can be bent by at least one proximal drive wire, One or more first actuators configured to drive the at least one distal drive wire, One or more second actuators configured to drive the at least one proximal drive wire, A control unit that controls the first actuator and the second actuator based on input data of the operation mode and at least one input data of a bending target or a data representation of a bending target, A robotic system equipped with, The aforementioned operating modes include at least, (a) Tip bending mode, wherein the control unit is configured to move at least one distal drive wire to bend the distal curvature segment toward the bending target or the data representation of the bending target based on the input data, (b) Targeting mode in which, if the bendable body has two bending segments, the control unit is configured to move at least one proximal drive wire to bend the proximal bending segment toward the bending target or the data representation of the bending target based on the input data, and if the bendable body has three or more bending segments, the control unit is configured to move only the drive wires other than the at least one distal drive wire to bend the proximal bending segment toward the bending target or the data representation of the bending target based on the input data, (c) A distributed bending mode in which the control unit is configured to move the at least one proximal drive wire and the at least one distal drive wire simultaneously, wherein the amount of motion applied to the at least one proximal drive wire is equal to the ratio of the positions of the proximal bending segment along the bendable body, and the amount of motion applied to the at least one distal drive wire is equal to the ratio of the positions of the distal bending segment along the bendable body, Selected from, Robot system.

2. In the dispersion bending mode, the control unit is configured to move the at least one proximal drive wire and the at least one distal drive wire such that the distal bending segment and the proximal bending segment each bend at a predetermined ratio of bending angles. The robot system according to claim 1.

3. The predetermined ratio of the curved segment is defined as (length from the proximal end of the operable distal section to the distal end of the curved segment) / (length of the operable distal section). The robot system according to claim 2.

4. In the aforementioned dispersion bending mode, the local bending angle of the proximal bending segment is smaller than that of the input data, but the direction is the same. The robot system according to claim 1.

5. The control unit is configured to transition the distal curvature segment and the proximal curvature segment to a specific bending angle based on the input data, wherein the input data further includes the previous bending angle. The robot system according to claim 1.

6. The control unit is configured to transition the distal curvature segment and the proximal curvature segment to a specific curvature angle so that when the control unit switches the operating mode, the resulting curvature angle is maintained between the previous mode and the new mode. The robot system according to claim 1.

7. The control unit is configured to return the distal curvature segment and the proximal curvature segment to their previous positions. The robot system according to claim 1.

8. The control unit is further configured to instruct the bendable body to move distally or proximal by a distance related to the displacement at the distal tip caused by the movement of the first actuator and the second actuator. The robot system according to claim 1.

9. An intermediate curved segment that can be bent by at least one intermediate drive wire, Furthermore, In the dispersed bending mode, the control unit is configured to move the at least one proximal drive wire, the at least one intermediate drive wire, and the at least one distal drive wire simultaneously. The robot system according to claim 1.

10. Multiple additional curved segments that can be bent by multiple additional drive wires, Furthermore, In the dispersed bending mode, the control unit is configured to move the at least one proximal drive wire, the plurality of additional drive wires, and the at least one distal drive wire simultaneously. The robot system according to claim 1.

11. The input data for the tip bending mode and the targeting mode are provided from an on / off switching element, and the input data for the dispersion bending mode is provided from a range input element. The robot system according to claim 1.

12. A bendable body having a maneuverable distal section comprising a distal bendable segment that can be bent by at least one distal drive wire and a proximal bendable segment that can be bent by at least one proximal drive wire, One or more first actuators configured to drive the at least one distal drive wire, One or more second actuators configured to drive the at least one proximal drive wire, A control unit that controls the first actuator and the second actuator based on input data of the operation mode and at least one input data of a bending target or a data representation of a bending target, A robotic system equipped with, The input data for the operation mode includes the selection of a dispersion bending mode, in which the control unit is configured to move the at least one proximal drive wire and the at least one distal drive wire simultaneously, the amount of motion applied to the at least one proximal drive wire being equal to the ratio of the positions of the proximal bending segment along the bendable body, and the amount of motion applied to the at least one distal drive wire being equal to the ratio of the positions of the distal bending segment along the bendable body. Robot system.

13. In the dispersion bending mode, the control unit is configured to move the at least one proximal drive wire and the at least one distal drive wire such that the distal bending segment and the proximal bending segment each bend at a predetermined ratio of bending angles. The robot system according to claim 12.

14. In the aforementioned dispersion bending mode, the local bending angle of the proximal bending segment is smaller than that of the input data, but the direction is the same. The robot system according to claim 12.

15. The control unit is configured to transition the distal curvature segment and the proximal curvature segment to a specific bending angle based on the input data, wherein the input data further includes the previous bending angle. The robot system according to claim 12.

16. The aforementioned operating modes further include a tip bending mode and a targeting mode, The input data for the tip bending mode and the targeting mode are provided from an on / off switching element, and the input data for the dispersion bending mode is provided from a range input element. The robot system according to claim 12.

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