467 results about "Surgical robot" patented technology

The invention relates to the technical field of artificial intelligence, can be applied to the field of medical health and the field of financial transaction, discloses an action generation method and device based on multi-modal pre-training, a robot and a medium, and is applied to a high-frequency action generation scene of an intelligent surgical robot or an intelligent customer service and wealth management scene. The method comprises the following steps: acquiring a language instruction, a visual image and robot body sensing data; performing multi-modal feature alignment and cross-modal feature fusion on the language instruction, the visual image and the robot body sensing data through a pre-trained visual language model to generate a fused joint feature vector; generating a target continuous control instruction based on the fused joint features through a pre-trained target action model by adopting a flow matching technology; and generating continuous actions of the robot based on the target continuous control instruction. According to the method, the robot action generation efficiency and the cross-platform adaptability are improved.

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The invention discloses a motion error dynamic compensation method applied to a surgical mechanical arm, and belongs to the technical field of surgical mechanical arm control and medical automation. The method comprises the following steps: firstly, acquiring position data of each joint encoder of the surgical mechanical arm, a motor current signal, a position feedback signal of an end effector, load change information and accumulative operation duration in real time; processing the data, fusing the data through adaptive Kalman filtering to estimate a joint dynamic error, inputting a load change rate and an accumulated operation time length into a pre-training error prediction model to output a compensation basic quantity, and fusing the load change rate and the accumulated operation time length to generate a real-time error compensation quantity; and then the compensation amount is superposed to a joint original control instruction to correct motion parameters, and finally the compensated tail end position deviation is analyzed, and a precision identifier or an adjustment prompt is generated and fed back to a control system. According to the method, real-time error compensation is achieved, the compensation precision and working condition adaptability are improved, it is guaranteed that the mechanical arm is stably positioned, and the surgical operation risk is reduced.

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The invention provides a unicompartmental knee arthroplasty robot navigation and positioning system and method. The system comprises a preoperative planning module, a positioning and navigation module and a mechanical arm control module. The preoperative planning module is used for carrying out knee joint segmentation and reconstruction according to the obtained knee joint medical image, carrying out preoperative planning and determining a unicompartmental knee arthroplasty scheme; the positioning navigation module is used for registering the intraoperative solid knee joint and the preoperative knee joint three-dimensional model according to the navigator and the tracer, and tracking the poses of the osteotomy tool and the solid knee joint in real time; and the mechanical arm control module is used for planning a motion path of the mechanical arm and controlling the mechanical arm to execute the motion path. In this way, the mechanical arm can be controlled to assist in completing the osteotomy operation of unicompartmental knee arthroplasty in a preoperative planning and intraoperative optical navigation mode, and the problems that the operation level is uneven and the operation effect is not expected due to different individuals in the current manual operation are solved.

The embodiment of the invention provides a force sensing surgical instrument and a surgical robot. The force sensing surgical instrument is used for adjusting the posture of the end tool and comprises a driving box assembly and an instrument shaft. The driving box assembly comprises a driving structure and a driving cable connected with the driving structure; the instrument shaft is connected between the driving box assembly and the tail end tool and provided with a guide structure extending in the first direction, and the driving cable penetrates through the guide structure to be connected with the tail end tool. The driving structure drives the driving cable to drive the end tool to adjust the posture or state; the instrument shaft is provided with a first sensing structure to detect stress parameters of the end tools, and the stress parameters are used for representing the sum of stress of the end tools. A second sensing structure is arranged in the driving box assembly to detect the traction force of the driving cable, the stress parameters and the traction force are used for obtaining clinical feedback force, the magnitude of the clinical feedback force is used for representing the characteristics of different human tissues, the precision of the clinical feedback force can be determined by the lifting force sensing surgical instrument, and the surgical precision and safety are improved.

The invention discloses a surgical tool system based on a flexible arm and a minimally invasive surgical robot, the surgical tool system comprises a flexible arm sleeve assembly and a manual driving mechanism, a distal end of the sleeve assembly is provided with a tip, the tip is at least integrated with a surgical tool and an endoscope camera, and the proximal end of the sleeve assembly is connected with the manual driving mechanism; a regulating cable for controlling the tail end of the surgical tool to move is arranged in the sleeve assembly in a penetrating manner, and the near end of the regulating cable is connected with the manual driving mechanism; a rotating module, a push-pull module and a regulation and control cable control module are arranged in the manual driving mechanism, the rotating module is used for achieving overall rotation of the cannula assembly, the push-pull module is used for achieving bending of the far end of the cannula assembly, and the regulation and control cable control module is used for tensioning / loosening a regulation and control cable to achieve opening and closing of the tail end of the surgical tool. According to the minimally invasive surgery robot, the surgical tool can rotate, bend and open and close the tail end under the control of the manual driving mechanism, the minimally invasive surgery operation requirement is met, the minimally invasive surgery robot has multiple degrees of freedom, and the surgical tool can conveniently reach a deeper surgery area.

The present disclosure relates to a remote surgical robot system and a method for device interconnection therein. The method comprises: receiving second device information, which is sent by a server, of a pairable second device; acquiring target second device information, which is determined on the basis of the second device information, of a target second device that is expected to be paired, and sending a first pairing request to the server; receiving device network information, which is sent by the server when detecting that the first pairing request matches a second pairing request sent by the target second device, of the target second device; and establishing pairing with the target second device on the basis of the device network information, thereby implementing direct communication with the target second device. When the server detects that a pairing request initiated by a remote surgeon console matches a pairing request initiated by a patient surgery platform, device network information of a peer device is sent to at least one of the two for establishing the pairing, thereby avoiding incorrect pairing, ensuring the reliability of establishing the pairing, and improving the safety of remote surgery.

The invention discloses a path planning method based on clustering, a surgical robot and related products. The method comprises the following steps: acquiring a first three-dimensional CT image, wherein the first three-dimensional CT image comprises a skin area of a target object and a first tissue of the target object; an end point of the target path is determined from the first tissue. At least two first candidate points of the target path are determined from the skin region. And determining at least two first candidate paths based on the at least two first candidate points and the end point of the target path. And clustering the at least two first candidate paths to obtain at least one first path set. And determining a second path set from the at least one first path set, wherein the number of the first candidate paths in the second path set is greater than or equal to a second threshold. And determining a target path based on the second path set. Through the method, the error-tolerant rate of the target path can be improved.

The embodiment of the invention provides an intelligent bone drilling self-adaptive control method for a mechanical arm, which comprises the following steps: acquiring displacement deviation of the tail end of a drill bit of an orthopedic surgical robot, obtaining an error change rate through differential calculation, and combining a bone layer type as an input variable of a fuzzy controller and a feeding speed as an output variable; input variables are fuzzified through a membership function, and a fuzzy language variable set is obtained; according to the set and a preset rule base, constructing a multi-rule group structure comprising three types of scenes of free space, cancellous bone and cortical bone, and setting corresponding fuzzy rule subsets for different bone layers; designing a ''minimum-maximum'' rule activation and combination strategy for reasoning by adopting a Mamdani type fuzzy reasoning method according to fuzzification input and a multi-rule group structure, and generating a fuzzification output variable set; and defuzzification is performed through a gravity center method to obtain a continuous speed instruction, and dynamic regulation and control of the drill bit feeding speed are achieved. When approaching a penetration point, the device automatically decelerates and safely stops, so that the safety and accuracy of an operation are effectively guaranteed, and over-drilling injury is prevented.

The present invention is applicable to the field of robotic arm technology and provides a clamping robotic arm device for a surgical robot, comprising a base, a robotic arm body is arranged inside the base, a support plate is fixedly connected to the outer surface of the base, a clamping mounting device is arranged on the support plate, two symmetrical fixed blocks are fixedly connected to the robotic arm body, a trapezoidal positioning groove is provided on the top of the fixed block, a trapezoidal positioning rod is slidably connected to the inside of the trapezoidal positioning groove, the cross-sections of the trapezoidal positioning groove and the trapezoidal positioning rod are both trapezoidal, and a clamping claw is connected to a fixed tube on the side of the trapezoidal positioning rod away from the trapezoidal positioning groove. The clamping robotic arm device for a surgical robot of the present invention drives the water supply pipe and the water outlet pipe to move back and forth through the connecting plate via the transmission frame, and enables the nozzle to more comprehensively disinfect the clamping surface of the clamping claw, so that the disinfection of the clamping claw is more thorough, and medical staff can use the device more conveniently.

A method for calibrating a surgical robot arm motor includes running a test sequence. The test sequence includes controlling a set of test motor currents to be applied to the motor, each causing the motor to drive a drive interface element to move; and for each test motor current, receiving a measured resistive force applied by a calibration rig; determining a relationship between the set of test motor currents and the resistive force measurements; determining calibration value(s) from: (i) the determined relationship, and (ii) a known relationship between the resistive force applied by the calibration rig and the driving force applied by the drive interface element; and controlling the calibration value(s) to be applied to subsequent motor currents applied to the motor so as to cause the motor to drive the drive interface element to apply desired driving forces to an instrument interface element of an attached surgical instrument.

Aspects include a surgical robot for use in a total hip arthroplasty (THA) procedure, and related methods. In some cases, the surgical robot includes: a robot arm for holding a surgical instrument; and a controller coupled with the robot arm, the controller programmed to: detect a position of the surgical instrument in at least one attraction volume corresponding with a planned trajectory of the surgical instrument for the THA procedure, the at least one attraction volume defined in part by a point and an axis extending from the point; and while the surgical instrument is in the at least one attraction volume during the THA procedure, provide assistance to movement of the surgical instrument in a direction toward the at least one attraction volume.

The invention provides a flexible surgical robot for removing deep cerebral hematoma through transcranial window ultrasonic oscillation. The flexible surgical robot comprises a feeding driving mechanism, an endoscope sheath, a suction arm mechanism and an ultrasonic arm mechanism. The flexible continuum robot composed of the feeding mechanism, the suction arm mechanism connected in parallel and the ultrasonic arm mechanism can achieve six-degree-of-freedom precise operation, and in addition, when a six-degree-of-freedom mechanical arm is applied in vitro, an endoscope sheath can smoothly enter the brain as soon as possible; the maneuverability of the structure is further improved through the rough operation of the six-degree-of-freedom mechanical arm and the six-degree-of-freedom fine operation of the flexible robot, the requirement for flexibility of the intracerebral hematoma minimally invasive surgery is met, the positioning capability is precise, the operation mode is flexible, the repeatability is high, and the practicability is high. The efficiency is high; the operation time of a patient is reduced; the damage to a human body is extremely low; compared with an existing surgical tool, surgical difficulty is lowered, surgical efficiency is improved, patient wounds are reduced, and patient safety is further guaranteed.

The invention provides a surgical robot which is characterized in that the surgical robot comprises a robot base, two mechanical arms arranged on the robot base and an execution instrument, the base ends of the two mechanical arms are connected with the robot base, the tail ends of the two mechanical arms are connected with the execution instrument, and therefore a parallel structure is formed; the connecting positions of the tail ends of the two mechanical arms and the executing instrument are arranged at intervals in the executing direction of the executing instrument, and the two mechanical arms move in at least two translational freedom degrees through the tail ends of the two mechanical arms. And the actuating device is driven to move in at least two translational degrees of freedom and move in at least two rotational degrees of freedom.

The invention provides a piezoelectric-driven ophthalmic surgical robot. The piezoelectric-driven ophthalmic surgical robot comprises a supporting mechanism, a bottom plate, a folding mechanism, a tail end executing mechanism, a rotary driving mechanism, a first piezoelectric driving mechanism and a second piezoelectric driving mechanism. The bottom plate is movably connected with the supporting mechanism, the folding mechanism is installed on the bottom plate, the second piezoelectric driving mechanism is arranged on the folding mechanism, and the second piezoelectric driving mechanism can drive the tail end executing mechanism to move linearly; the rotary driving mechanism can drive the bottom plate to turn left and right; the first piezoelectric driving mechanism is arranged below the bottom plate, is in driving connection with the folding mechanism and can drive the folding mechanism to deform so as to adjust the angle of the tail end executing mechanism; a piezoelectric pre-tightening compensation mechanism is further arranged to prevent the tail end executing mechanism from sliding down due to gravity, and the operation stability is guaranteed. The piezoelectric characteristic is combined with the advantages of the guide rail, accurate, rapid, stable and compact motion control of the ophthalmologic operation executing mechanism can be achieved, the fine operation requirement of the ophthalmologic operation is met, and the tissue damage risk is reduced.

Oral surgery collaborative surgical field exposure assistance surgical robot and control method, comprising two 6-degree-of-freedom robotic arms, two force-sensing surgical retractor assemblies and a main control computer. The force-sensing surgical retractor assembly includes a force-sensing surgical retractor, and there is a contact sensor inside the end cover plate of the force-sensing surgical retractor. The force-sensing surgical retractor is connected to the end of the robotic arm through a surgical retractor connecting piece. There are drag mode interaction and reference force adjustment interaction on the main control computer. The present invention is used to assist doctors in continuously retracting the surgical incision. The doctor only needs to place the surgical retractor at the initial position of the target area, input the reference retraction force on the interaction interface, and turn on the control system. The robot drives the force-sensing surgical retractor to safely and stably retract the surgical incision. For the convenience of doctors' operation and to ensure human-machine safety, the present invention has designed control strategies such as detailed modeling analysis, torque compensation, active retraction compensation, and safety threshold for the surgical retraction process.

Provided is an endoscopic surgical robot arm control mechanism, which comprises a tool bit, a connecting assembly, a knob, and a pull rod. The tool bit comprises a tool holder and a shearing part. By means of the connecting assembly, the knob controls the rotation of the tool holder, and the pull rod controls the opening and closing of the tool bit. The connecting assembly comprises an axial coupling mechanism, an axial decoupling mechanism, and a transmission section. The axial coupling mechanism couples the circumferential rotation generated by the knob and the axial displacement generated by the pull rod to the transmission section. The axial decoupling mechanism decouples the circumferential rotation and the axial displacement of the transmission section, transmits the circumferential rotation to the tool holder, and transmits the axial displacement to the shearing part. The control mechanism can simplify the transmission structure for controlling the opening and closing and rotation of the tool bit, reduce parts, and enhance the strength and rigidity of the transmission structure, thereby enhancing the precision of surgical operations. The present invention further provides an endoscopic surgical robot arm.

The invention relates to the technical field of medical instruments, in particular to a three-mode endoscope system, a control method and an endoscopic surgery robotic.The three-mode endoscope system comprises a light source device, a mode switching assembly, an imaging handle and an image processing host; the mode switching assembly generates an observation mode switching signal; the light source device outputs visible light, first near-infrared light and second near-infrared light. The imaging handle transmits light output by the light source device to target tissue; the imaging handle collects an imaging light beam returned by the target tissue and outputs a corresponding electric signal; the image processing host receives the electric signal and generates a visual image. According to the three-mode endoscope system, a white light mode, a fluorescence mode and a blood flow mode are integrated in a single endoscope system, an operator can obtain a blood vessel map at a target tissue through the blood flow mode of the three-mode endoscope system, and therefore the trend of large blood vessels invisible to naked eyes is revealed in the dissection process, the risk of accidental injury of the blood vessels is avoided, and the dissection efficiency is improved. And the operation safety is improved.

A medical instrument includes a backend and a pair of release elements. The backend includes a docking feature shaped to engage a docking structure such as a docking port of a surgical robot or a sterile adaptor for a surgical robot. Each release element is coupled to the backend and may include an activation feature on one side of the backend and a push tab extending from either an opposite side or the same side of the backend. Movement of the activation features moves the push tabs from being aligned with the docking feature to pushing on the docking structure, permitting the medical instrument to be disengaged from the docking structure. Optionally, a coupling of the release elements limits a movement of the activation features.

The invention discloses a force feedback teleoperation control system and method based on a continuum surgical actuator, and belongs to the technical field of medical surgical robots. The system comprises a master end driving part and a slave end following operation part; the master end driving part is used for acquiring hand action data of an operator in real time, converting the acquired hand action data into a corresponding control signal, and sending the control signal to the slave end following operation part through a preset communication protocol; the slave end following operation part is used for generating a corresponding driving signal and transmitting the generated driving signal to the servo motor so as to control the operation actuator to move; and in the movement process of the operation executor, the interaction force of the operation executor and the target object is sensed in real time, and the interaction force of the operation executor and the target object is fed back to the main end driving part in real time so that an operator can sense the interaction force. According to the scheme, the teleoperation precision can be guaranteed, and meanwhile the telepresence of a doctor is enhanced.

The invention provides a flexible ureteroscope surgical robot and a supporting mechanism thereof. The supporting mechanism comprises a telescopic device which comprises a fixing part connected with a cantilever mechanism of the flexible ureteroscope surgical robot; the sliding piece is arranged on the fixed piece in a sliding and penetrating mode, and a plurality of positioning holes are formed in the sliding piece; the locking part is connected with the fixed part and arranged on the sliding part in a sleeving mode, the locking part comprises a locking column, and the locking column is inserted into the positioning hole through operation so that the sliding part can be prevented from sliding in the fixed part or the locking column can be separated from the positioning hole so that the sliding part can slide in the fixed part; one end of the clamping device is connected with the sliding part, and the other end of the clamping device is connected with a sheath of the flexible ureteroscope.

The present application provides an ERCP surgical robot system comprising: an endoscope, the endoscope action of which is electrically driven for extending into a body cavity and capturing an endoscope image, the endoscope action at least comprising lifting of a forceps lifter at the distal end of the endoscope; a treatment tool which is electrically driven in operation, is inserted from an insertion port of the treatment tool of the endoscope, is raised by the forceps raising device, and protrudes from a side surface of a distal end portion, and which comprises a guide wire capable of positioning a target site; the control device is used for controlling the endoscope action and the instrument action of the treatment instrument according to the endoscope image and / or the instrument state of the treatment instrument; and the visual interaction device is used for collecting and displaying the running state information of the control device and providing operation feedback. In the surgical operation process, the direction of a treatment instrument can be visually judged, the accuracy of intubation and treatment operation is improved, and medical staff can conveniently observe the surgical process and execute surgical operation in combination with multi-modal interaction.

The invention provides a flexible ureteroscope surgical robot and a bending device thereof. The bending device comprises a supporting frame, one end of the supporting frame is connected with a cantilever mechanism of the flexible ureteroscope surgical robot, and the other end of the supporting frame is connected with the flexible ureteroscope; the deflection driving part comprises a driving assembly connected with the supporting frame; one end of the transition piece is connected with the driving assembly, the other end of the transition piece is connected with a bending knob of the flexible ureteroscope, and the driving assembly drives the transition piece to drive the bending knob to rotate, so that the tip end of the flexible ureteroscope is bent.

The invention provides a flexible ureteroscope surgical robot and an optical fiber delivery device thereof. The optical fiber delivery device comprises a delivery base connected with a cantilever mechanism of the flexible ureteroscope surgical robot; a driving wheel; a driven wheel; the optical fiber driving part penetrates through the delivery base to be connected with the driving wheel so as to drive the driving wheel to rotate; and the control assembly is connected with the driven wheel and is configured to enable the driven wheel to be far away from or close to the driving wheel by operating the control assembly, so that the optical fiber is allowed to freely penetrate through the flexible ureteroscope between the driving wheel and the driven wheel, or the optical fiber is driven to move in the flexible ureteroscope based on the friction force between the driven wheel and the driving wheel.

The invention discloses a catheter clamping mechanism of a vascular interventional surgical robot, and belongs to the technical field of biomedical engineering, by controlling a driving assembly to work, three sliding seats are close to each other while moving rightwards until a pushing assembly is in contact with the outer wall of a catheter, the catheter clamping stability of the pushing assembly is improved, and the catheter clamping efficiency is improved. The guide pipe is located in the center of the guide cylinder, the follow-up pushing precision is improved, acting force can be transmitted to the clamping base when the guide pipe is subjected to external force in different directions, the clamping base is reversely supported through the elastic force of the buffer spring, the pushing assembly is in flexible contact with the guide pipe, and the guide pipe is buffered and protected; and the pushing assembly is supported in an auxiliary mode through a buffer spring, the contact stability between the pushing assembly and the catheter is guaranteed, therefore, the mode that the catheter is directly clamped through a traditional mechanical clamping jaw is abandoned, intermittent sliding of the catheter caused by frequent opening and closing of the clamping jaw is prevented, the movement continuity of the catheter and the effective use distance are guaranteed, and the operation precision is improved.

The invention belongs to the technical field of medical instruments, and discloses a multi-degree-of-freedom surgical robot end effector which comprises a wrist mechanism, and the wrist mechanism comprises a first connecting piece, a second connecting piece, a first forceps holder, a second forceps holder, a first pin shaft, a second pin shaft, a first driving rope, a second driving rope and a third driving rope; the first forceps holder and the second forceps holder are rotationally connected with the first end of the first connecting piece through a first pin shaft respectively; the second end of the first connecting piece is rotationally connected with the second connecting piece through a second pin shaft; the second pin shaft is perpendicular to the first pin shaft; the far end of the first driving rope is fixed on the first forceps holder and drives the first forceps holder to rotate around the first pin shaft; the far end of the second driving rope is fixed on the second forceps holder and drives the second forceps holder to rotate around the first pin shaft; the far end of the third driving rope is fixed to the second end of the first connecting piece and drives the first connecting piece to rotate around the second pin shaft. Coupling between two degrees of freedom can be avoided, and the motion precision of the end effector is improved.

To provide a method of providing an operation image using a surgical robot which can easily and correctly confirm a movement of the surgical robot or a surgical instrument and a manipulation of a manipulation target therefor, and provide an information processing system.SOLUTION: A method of providing an operation image using a surgical robot acquires a state log indicating the state of a manipulation target that changes by manipulating the manipulation target of a manipulation device 2 by an operator, generates a reconstruction image that visualizes the manipulation of the operator to the manipulation target on the basis of the state log, and provides an operation image indicating the movement of the surgical robot or surgical instrument is associated with the reconstruction image.SELECTED DRAWING: Figure 9

Disclosed are an interventional consumable delivery mechanism with a high-precision force sensing function and an interventional surgical robot slave device. Said interventional consumable delivery mechanism comprises a locking structure capable of locking or releasing interventional consumables, a rotational delivery mechanism capable of driving rotation and / or delivery of the locked interventional consumables, and a force sensing assembly capable of measuring an axial force and torsional moment applied to the interventional consumables. The rotational delivery mechanism comprises a rotating shaft driving seat and a rotating shaft that is mounted in the rotating shaft driving seat and rotatable in a forward or reverse direction. The locking structure is disposed on a first connection portion of the rotating shaft or the rotating shaft driving seat. An axial force sensing element measures the axial force applied to the interventional consumables, and a torsional moment sensing element measures the torsional moment applied to the interventional consumables around the axis, the axial force sensing element and the torsional moment sensing element both being connected to the rotating shaft. The present invention provides strong support for the force feedback technology of a master end, has high sensitivity, and exhibits convenient measurement, thereby ensuring the smooth progress of the surgery.

The application discloses a rigid-flexible dual driving snake-shaped surgical robot, which comprises a rigid dual driving mechanism, a rear-end flexible continuum mechanism, a tendon constraint structure and a front-end flexible continuum mechanism. The rear-end flexible continuum mechanism and the front-end flexible continuum mechanism are associated with each other in terms of tendon length to form a dual continuum mechanism; the rigid dual driving mechanism is associated with the rear-end flexible continuum mechanism in terms of end surface movement, and the rear-end flexible continuum mechanism can be driven to bend, rotate and stretch in any direction by the rigid dual driving mechanism, so that the front-end flexible continuum mechanism is coupled to bend, rotate and stretch in any direction. The application can avoid directly pushing and pulling the driving tendon of the flexible continuum, thereby reducing the driving complexity when the number of tendons is large, and the rigid-flexible dual driving further guarantees the modeling accuracy of the continuum, and has the advantages of high reliability, compact structure and easy realization.