Patent Description:
The present disclosure relates to the field of medical instruments, and in particular to a continuum instrument and a surgical robot.

Minimally invasive procedures cause less injury to patients and faster postoperative recovery, and have been of great significance in surgery. In a minimally invasive procedure, surgical instruments, including surgical tools and visual lighting modules, all enter the human body through an incision or a natural orifice and then reach a surgical site to perform a surgical operation. In an existing surgical instrument, a distal structure is mainly composed of multiple rods hinged in series, and is driven by a pulling force from a steel wire rope so that the surgical instrument can be bent at a hinged joint. Since the steel wire rope must be maintained in a continuous tension state by means of a pulley, this driving method can hardly achieve further miniaturization of the surgical instrument and further improvement of kinematic performance of the instrument.

In contrast to a traditional rigid kinematic chain which achieves a bending motion by means of mutual rotation at joints, a flexible continuum structure can achieve continuous bending deformation, and thus the flexible continuum structure is widely used in the research and development of medical instruments such as flexible manipulators, endoscopes and controllable catheters, and new-type special equipment such as industrial deep-cavity detection endoscopes and flexible mechanical arms.

<CIT> discloses an example of a prior art continuum instrument.

Generally, in an existing continuum structure, a drive wire in the continuum structure is directly pushed and pulled by means of a drive mechanism so that the continuum structure can bend in any direction. However, with the stricter requirements for a continuum structure, such as high precision, fast response, high flexibility of bending, and good stability, the existing drive structures gradually no longer satisfy the above requirements. In addition, in the existing driving method, the motion is performed by means of directly pushing and pulling a drive wire, and thus when there is a large number of drive wires, the number of drive mechanisms will also increase accordingly, making the structure complex.

The invention is defined in independent claim <NUM>, further embodiments are described in the dependent claims.

In some embodiments, the present disclosure provides a continuum instrument, comprising: at least one proximal continuum comprising a proximal base disk, a first proximal stop disk, a second proximal stop disk, a plurality of proximal structural backbones and a plurality of proximal drive backbones, with proximal ends of the plurality of proximal drive backbones being fixedly connected to the second proximal stop disk, the plurality of proximal drive backbones passing through the first proximal stop disk, and distal ends of the plurality of proximal drive backbones being fixedly connected to the proximal base disk; at least one distal continuum comprising a distal stop disk and a plurality of distal structural backbones, the plurality of distal structural backbones being connected to or integrally formed with the plurality of proximal structural backbones, with distal ends of the plurality of distal structural backbones being fixedly connected to the distal stop disk; a drive connection part, having a proximal end connected to the second proximal stop disk, the drive connection part comprising an input end located at a proximal side of the second proximal stop disk; and a drive transmission mechanism, having an output end connected to an input end of the drive connection part, the output end being used for driving the input end such that the second proximal stop disk and the first proximal stop disk turn to drive the distal continuum to bend by means of the proximal structural backbones and the distal structural backbones.

In some embodiments, the present disclosure provides a surgical robot, comprising at least one surgical trolley, at least one positioning arm, and at least one surgical instrument, wherein the at least one surgical instrument comprises at least one continuum instrument as described above and an end device disposed at a distal end of the continuum instrument; and the at least one positioning arm is movably disposed on the at least one surgical trolley, and at least one surgical instrument is disposed at a distal end of the at least one positioning arm.

In order to explain the technical solutions in the embodiments of the present disclosure more clearly, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description only show some of the embodiments of the present disclosure, and for those of ordinary skill in the art, other embodiments would also have been obtained from the contents of the embodiments of the present disclosure and these accompanying drawings without involving any inventive effort.

In order to clarify the technical problem to be solved, the technical solutions used and the technical effects achieved in the present disclosure in a better way, the technical solutions of embodiments of the present disclosure will be described in further detail below in conjunction with the accompanying drawings. Obviously, the embodiments described are merely exemplary embodiments, rather than all the embodiments of the present disclosure.

In the description of the present disclosure, it should be noted that the orientation or position relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or position relationships shown in the accompanying drawings and are merely for ease of description of the present disclosure and simplification of the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the present disclosure. Moreover, the terms "first" and "second" are merely used for the illustrative purpose, and should not be construed as indicating or implying the relative importance. In the description of the present disclosure, it should be noted that the terms "mounting", "connecting", "connection" and "coupling" should be appreciated in a generalized sense, unless otherwise explicitly specified and defined, and for example, may be a fixed connection or a detachable connection, may be a mechanical connection or an electrical connection, may be a direct connection or an indirect connection via an intermediate medium, and may be communication between the interiors of two components. For those of ordinary skill in the art, the specific meanings of the terms mentioned above in the present disclosure should be construed according to specific circumstances. The present disclosure defines the end close to an operator (e.g., a surgeon) as a proximal end or portion or a rear end or portion, and the end close to a patient undergoing surgery as a distal end or portion or a front end or portion. Those skilled in the art will appreciate that the embodiments of the present disclosure can be used in medical instruments or surgical robots, and can also be used in other non-medical devices.

<FIG> shows a continuum instrument <NUM> according to some embodiments of the present disclosure. As shown in <FIG>, the continuum instrument <NUM> may include a flexible continuum structure <NUM> and a drive connection part <NUM>. The flexible continuum structure <NUM> may include at least one proximal continuum <NUM> located at a proximal end, and at least one distal continuum <NUM> located at a distal end. The proximal continuum <NUM> may include a proximal base disk <NUM>, a first proximal stop disk <NUM>, proximal drive backbones <NUM>, a second proximal stop disk <NUM>, and proximal structural backbones <NUM>. The proximal base disk <NUM>, the first proximal stop disk <NUM>, and the second proximal stop disk <NUM> are arranged at intervals. Proximal ends of the plurality of proximal drive backbones <NUM> are fixedly connected to the second proximal stop disk <NUM>. Distal ends of the plurality of proximal drive backbones <NUM> pass through the first proximal stop disk <NUM>, and are fixedly connected to the proximal base disk <NUM>.

The distal continuum <NUM> may include a distal base disk <NUM>, a distal stop disk <NUM>, and distal structural backbones <NUM>. The distal base disk <NUM> and the distal stop disk <NUM> are arranged at an interval, and the distal base disk <NUM> is adjacent to the proximal base disk <NUM>. The plurality of distal structural backbones <NUM> are connected to or integrally formed with the plurality of proximal structural backbones <NUM>, and pass through the proximal base disk <NUM> and the distal base disk <NUM>.

A distal end of the drive connection part <NUM> is connected to the proximal base disk <NUM>, and a proximal end of the drive connection part <NUM> is connected to the second proximal stop disk <NUM>. The drive connection part <NUM> comprises an input end located at a proximal side of the second proximal stop disk <NUM>. The input end is used for being driven by a drive transmission mechanism such that the second proximal stop disk <NUM> turns, to achieve the bending of the proximal continuum <NUM>, and the first proximal stop disk <NUM> is driven by means of the proximal drive backbones <NUM> to turn to allow the proximal structural backbones <NUM> and the distal structural backbones <NUM> to be pushed and pulled, so as to achieve the bending of the distal continuum <NUM> in a space in different directions.

As shown in <FIG>, in some embodiments, the flexible continuum structure <NUM> may further include a structural backbone guide tube bundle <NUM>. A proximal end of the structural backbone guide tube bundle <NUM> is fixedly connected to the proximal base disk <NUM>, and a distal end of the structural backbone guide tube bundle <NUM> is fixedly connected to the distal base disk <NUM>. The plurality of proximal structural backbones <NUM> or the plurality of distal structural backbones <NUM> sequentially pass through the proximal base disk <NUM>, the structural backbone guide tube bundle <NUM> and the distal base disk <NUM>. The structural backbone guide tube bundle <NUM> may guide and constrain the plurality of proximal structural backbones <NUM> or the plurality of distal structural backbones <NUM> located between the proximal base disk <NUM> and the distal base disk <NUM>.

In some embodiments, the drive connection part <NUM> may include at least one joint, such as a universal coupling joint, a spherical hinge joint, or a hinge joint. The drive connection part <NUM> may include at least one universal coupling joint. <FIG> shows a schematic structural diagram of the drive connection part <NUM> according to some embodiments of the present disclosure, and <FIG> shows a schematic structural diagram of another universal coupling joint <NUM> according to some embodiments of the present disclosure. In some embodiments, as shown in <FIG>, the drive connection part <NUM> may include the universal coupling joint <NUM>. The universal coupling joint <NUM> may include one universal coupling <NUM> or multiple universal couplings <NUM> (e.g., multiple universal couplings connected in series), and the one or multiple universal couplings <NUM> are located between the proximal base disk <NUM> and the second proximal stop disk <NUM>. The universal coupling <NUM> may include two rotating pairs which have axes of rotation intersecting each other. In some embodiments, as shown in <FIG>, the universal coupling joint <NUM> may include at least one universal coupling <NUM> and at least one link rod. In some embodiments, as shown in <FIG>, the universal coupling joint <NUM> may include a link rod 1212a located at a distal end, a link rod 1212b located at a proximal end, and a universal coupling <NUM> located between the link rods 1212a-b. The link rods 1212a-b (the distal end and the proximal end of the drive connection part <NUM>) are respectively connected to the proximal base disk <NUM> and the second proximal stop disk <NUM>. In some embodiments, as shown in <FIG>, the universal coupling joint <NUM> may include the universal coupling <NUM> located at the distal end, and the link rod 1212b located at the proximal end. A distal end of the link rod 1212b is connected to the universal coupling <NUM>, and a distal end of the universal coupling <NUM> (the distal end of the drive connection part <NUM>) is connected to the proximal base disk <NUM>. A proximal end of the link rod 1212b (the proximal end of the drive connection part <NUM>) passes through the second proximal stop disk <NUM>, and is connected to the second proximal stop disk <NUM>.

In some embodiments, the continuum instrument <NUM> may further include the flexible continuum structure <NUM> and a drive connection part <NUM>. <FIG> shows a schematic structural diagram of the drive connection part <NUM> according to some embodiments of the present disclosure. In some embodiments, the drive connection part <NUM> may include at least one spherical hinge joint. <FIG> shows a schematic structural diagram of another spherical hinge joint <NUM> according to some embodiments of the present disclosure. In some embodiments, as shown in <FIG>, the spherical hinge joint <NUM> may include one spherical hinge <NUM> or multiple spherical hinges <NUM> (e.g., multiple spherical hinges <NUM> connected in series). At least one spherical hinge <NUM> is located between the proximal base disk <NUM> and the proximal stop disk <NUM>. The spherical hinge <NUM> may include three rotating pairs which have axes of rotation intersecting each other. In some embodiments, the spherical hinge joint <NUM> in <FIG> may include at least one spherical hinge <NUM> and at least one link rod. In some embodiments, as shown in <FIG>, the spherical hinge joint <NUM> may include a link rod 2212a located at a distal end, a link rod 2212b located at a proximal end, and the spherical hinge <NUM> located between the link rods 2212a-b. The link rods 2212a-b (the distal end and the proximal end of the drive connection part <NUM>) are respectively connected to the proximal base disk <NUM> and the second proximal stop disk <NUM>. In some embodiments, as shown in <FIG>, the spherical hinge joint <NUM> may include the spherical hinge <NUM> located at the distal end, and the link rod 2212b located at the proximal end. The distal end of the link rod 2212b is connected to the spherical hinge <NUM>, and the distal end of the spherical hinge <NUM> (the distal end of the drive connection part <NUM>) is connected to the proximal base disk <NUM>. The proximal end of the link rod 2212b (the proximal end of the drive connection part <NUM>) passes through the second proximal stop disk <NUM> and is connected to the second proximal stop disk <NUM>.

In some embodiments, the continuum instrument <NUM> may further include the flexible continuum structure <NUM> and a drive connection part <NUM>. <FIG> shows a schematic structural diagram of the drive connection part <NUM> according to some embodiments of the present disclosure. As shown in <FIG>, the drive connection part <NUM> may include a hinge joint <NUM>. In some embodiments, the hinge joint <NUM> may include at least one distal link rod <NUM> and at least one proximal link rod <NUM> hinged to each other. In some embodiments, the distal link rod <NUM> is rotatably connected to the proximal base disk <NUM> in an axial direction of the distal link rod <NUM>, and the proximal link rod <NUM> is rotatably connected to the second proximal stop disk <NUM> in an axial direction of the proximal link rod <NUM>. The hinge axis about which the distal link rod <NUM> and the proximal link rod <NUM> are hinged to each other is perpendicular to the axial directions of the distal link rod <NUM> and the proximal link rod <NUM>. A proximal end of the proximal link rod <NUM> penetrates the second proximal stop disk <NUM>, and the portion of the proximal link rod <NUM> that is located at the proximal side of the second proximal stop disk <NUM> forms an input end of the drive connection part <NUM>.

In some embodiments, the continuum instrument <NUM> may further include a drive transmission mechanism. An output end of the drive transmission mechanism may perform a non-planar motion. <FIG> shows a partial schematic structural diagram of the continuum instrument <NUM> according to some embodiments of the present disclosure including a drive transmission mechanism <NUM>. <FIG> shows a schematic structural diagram of the drive transmission mechanism <NUM> according to some embodiments of the present disclosure. In some embodiments, as shown in <FIG> and <FIG>, the drive transmission mechanism <NUM> may include a first rotatable member <NUM>, a second rotatable member <NUM>, a rotary-linear motion mechanism <NUM>, and a connecting member <NUM>. The first rotatable member <NUM> is used for be driven by a first drive member <NUM> to rotate, and the second rotatable member <NUM> is coaxially disposed with the first rotatable member <NUM> and used for being driven by a second drive member <NUM> to rotate relative to the first rotatable member <NUM>. The rotary-linear motion mechanism <NUM> is connected to the first rotatable member <NUM> and used for converting a rotational motion of the first rotatable member <NUM> into a linear motion to be output. One end of the connecting member <NUM> is hinged to an output end of the rotary-linear motion mechanism <NUM>, and the other end of the connecting member <NUM> is hinged to the input end of the drive connection part <NUM> (or <NUM>, <NUM>).

In some embodiments, as shown in <FIG>, the second rotatable member <NUM> may be arranged above the first rotatable member <NUM> in an overlapping manner, and the two rotatable members are rotatable relative to each other. <FIG> shows a partial schematic structural diagram of the drive transmission mechanism <NUM> according to some embodiments of the present disclosure. As shown in <FIG> and <FIG>, in some embodiments, the first rotatable member <NUM> may include, for example, a first driven gear <NUM>, the first drive member <NUM> may include a first driving gear <NUM>, the second rotatable member <NUM> may include, for example, a second driven gear <NUM>, and the second drive member <NUM> may include a second driving gear <NUM>. The first driving gear <NUM> meshes with the first driven gear <NUM>, the second driving gear <NUM> meshes with the first driven gear <NUM>, and the second driven gear <NUM> is arranged above the first driven gear <NUM> in an overlapping manner. The first driving gear <NUM> may be driven by a drive electric motor to drive the first driven gear <NUM> to rotate, the second driving gear <NUM> may be driven by the drive electric motor to drive the second driven gear <NUM> to rotate, and the first driven gear <NUM> and the second driven gear <NUM> are rotatable relative to each other. In some embodiments, the first rotatable member <NUM> and the second rotatable member <NUM> may respectively include a first gear and a second gear, the first drive member <NUM> and the second drive member <NUM> may include a drive electric motor (or a motor), and the first gear and the second gear can be respectively driven by the drive electric motor to rotate relative to each other. In some embodiments, the transmission mode of the first rotatable member <NUM> and the second rotatable member <NUM> may also be other transmission modes, such as belt pulley transmission or sprocket transmission.

In some embodiments, as shown in <FIG>, the rotary-linear motion mechanism <NUM> may include a guide member <NUM>, a rotary member <NUM>, and a moving member <NUM>. A proximal end of the guide member <NUM> is fixedly connected to the second rotatable member <NUM>, a proximal end of the rotary member <NUM> passes through the second rotatable member <NUM> and is fixedly connected to the first rotatable member <NUM>, the moving member <NUM> is rotatably connected to the rotary member <NUM>, and the moving member <NUM> is used for being guided by the guide member <NUM> to move linearly in an axial direction of the guide member <NUM>. <FIG> shows a longitudinal cross-sectional schematic structural diagram of the drive transmission mechanism <NUM> according to some embodiments of the present disclosure. As shown in <FIG>, in some embodiments, the rotary-linear motion mechanism <NUM> may include a lead screw and nut structure. As shown in <FIG>, the guide member <NUM> may include a guiding rod <NUM>-<NUM>, the rotary member <NUM> may include a lead screw <NUM>-<NUM>, the moving member <NUM> includes a nut <NUM>-<NUM> and a sliding block <NUM>-<NUM>, the nut <NUM>-<NUM> is rotatably connected to the lead screw <NUM>-<NUM>, and the guiding rod <NUM>-<NUM> is slidably disposed on the sliding block <NUM>-<NUM> in a penetrating manner. In some embodiments, the rotary-linear motion mechanism <NUM> may also be implemented by means of other known structures in the art, such as a ball screw mechanism.

As shown in <FIG>, in some embodiments, the connecting member <NUM> may include an arc-shaped link rod <NUM>. As shown in <FIG>, in some embodiments, the sliding block <NUM>-<NUM> may include an upper-layer hinge portion and a lower-layer cylindrical portion which are fixedly connected to each other or integrally formed, the upper-layer hinge portion is used for being hinged to one end of the arc-shaped link rod <NUM>, and the lower-layer cylindrical portion is fixedly sleeved outside the nut <NUM>-<NUM>. For example, the shape of the lower-layer cylindrical portion may match the shape of the nut <NUM>-<NUM> so as to be adaptively sleeved outside the nut <NUM>-<NUM>.

As shown in <FIG> and <FIG>, in some embodiments, the drive transmission mechanism <NUM> may further include a barrel-shaped member <NUM> sleeved outside the moving member <NUM>, with a proximal end of the barrel-shaped member <NUM> being fixedly connected to the second rotatable member <NUM>. In some embodiments, the proximal end of the guide member <NUM> is fixedly connected to the second rotatable member <NUM>, the distal end of the guide member <NUM> is fixedly connected to the barrel-shaped member <NUM>, and the moving member <NUM> is slidably disposed on the guide member <NUM> in a penetrating manner. As shown in <FIG>, in some embodiments, a proximal end of the lead screw <NUM>-<NUM> passes through the second driven gear <NUM> and is then coaxially and fixedly connected to the first driven gear <NUM>. The nut <NUM>-<NUM> is rotatably connected to the lead screw <NUM>-<NUM>, and the lower-layer cylindrical portion of the sliding block <NUM>-<NUM> is fixedly connected to the nut <NUM>-<NUM>. The barrel-shaped member <NUM> is sleeved outside the sliding block <NUM>-<NUM>, and the proximal end of the barrel-shaped member <NUM> is fixedly connected to the second driven gear <NUM>. The proximal end of the guiding rod <NUM>-<NUM> is fixedly connected to the second driven gear <NUM>, the distal end of the guiding rod <NUM>-<NUM> is fixedly connected to the distal end of the barrel-shaped member <NUM>, and the lower-layer cylindrical portion of the nut <NUM>-<NUM> or the sliding block <NUM>-<NUM> is slidably disposed on the guiding rod <NUM>-<NUM> in a penetrating manner. One end of the arc-shaped link rod <NUM> is hinged to the upper-layer hinge portion of the sliding block <NUM>-<NUM>, and the other end of the arc-shaped link rod <NUM> is hinged to the input end of the drive connection part <NUM> (or <NUM>, <NUM>). The rotary-linear motion mechanism <NUM> may convert the rotational motion of the first rotatable member <NUM> into a linear motion to be output.

In some embodiments, the guide member <NUM> may include a guide rod and a guide groove (not shown) cooperating with each other, the guide groove may be fixedly disposed on the barrel-shaped member <NUM> in an axial direction of the barrel-shaped member <NUM>, the guide rod may be slidably disposed in the guide groove in the axial direction of the barrel-shaped member <NUM>, and the guide rod is fixedly connected to the sliding block <NUM>-<NUM>. The rotary-linear motion mechanism <NUM> may also convert the rotational motion of the first rotatable member <NUM> into the linear motion to be output.

Thus, as shown in <FIG>, when the first driving gear <NUM> drives the first driven gear <NUM> located at a lower layer to rotate while the second driving gear <NUM> located at the upper layer remains stationary, the lead screw <NUM>-<NUM> fixed to the first driven gear <NUM> rotates correspondingly. The sliding block <NUM>-<NUM> and the nut <NUM>-<NUM> cannot rotate due to a limiting effect of the guide member <NUM>, so that the nut <NUM>-<NUM> and the sliding block <NUM>-<NUM> are driven to move up and down in the barrel-shaped member <NUM>, and the arc-shaped link rod <NUM> is driven to move, and then the input end of the drive connection part <NUM> (or <NUM>, <NUM>) is driven to move by means of the arc-shaped link rod <NUM>. Since the second proximal stop disk <NUM> can be driven by the drive connection part <NUM> to turn, the proximal base disk <NUM> and the second proximal stop disk <NUM> are out of alignment and have the axes no longer coincident, so that the proximal drive backbones <NUM> are pushed and pulled to bend the proximal continuum <NUM>. The first proximal stop disk <NUM> is driven by the proximal drive backbones <NUM> to turn, and the plurality of proximal structural backbones <NUM> which have ends fixed to the first proximal stop disk <NUM> are then pushed and pulled so as to push and pull the plurality of distal structural backbones <NUM>. Since the overall length of the proximal structural backbones <NUM> and the distal structural backbones <NUM> is substantially unchanged, resulting in a corresponding change in the length of the distal structural backbones <NUM> in the distal continuum <NUM>, the distal continuum <NUM> is thus driven to bend corresponding to (e.g., in the same direction, in an opposite direction, or angled with) the proximal continuum <NUM>, and the degree of bending of the proximal continuum <NUM> is then adjusted by means of adjusting the angle of the arc-shaped link rod <NUM>. In the case where the second driving gear <NUM> drives the second driven gear <NUM> to rotate, the first driving gear <NUM> drives the first driven gear <NUM> to rotate, and the second driven gear <NUM> and the first driven gear <NUM> synchronously rotate in the same direction (e.g., at a constant speed), the vertical position of the sliding block <NUM>-<NUM> in the barrel-shaped member <NUM> will not change, but the azimuth angle of the plane of rotation of the arc-shaped link rod <NUM> changes. After the proximal continuum <NUM> is bent, the push and pull action generated on the proximal structural backbones <NUM> is transferred to the distal continuum <NUM> by means of the distal structural backbones <NUM>, so as to achieve the bending of the distal continuum <NUM> in a space in different directions. The second driven gear <NUM> and the first driven gear <NUM> are driven cooperatively so as to adjust the degree of bending of the proximal continuum <NUM> and the bending in different planes.

It should be noted that the proportions of bending of the proximal continuum <NUM> and the distal continuum <NUM> are respectively inversely proportional to the corresponding distribution radii of the proximal structural backbones <NUM> and the distal structural backbones <NUM> in the two continua (in this embodiment, the proximal structural backbones <NUM> in the proximal continuum <NUM> and the distal structural backbones <NUM> in the distal continuum <NUM> are respectively distributed in a circumferential direction, may be distributed on a circumference or in a peripheral direction of a rectangular, polygonal, elliptical or other shape, and may be in a uniform or non-uniform distribution, which will not be limited herein). Therefore, when in use, the distribution radii of the proximal structural backbones <NUM> and the distal structural backbones <NUM> in the proximal continuum <NUM> and the distal continuum <NUM> may be respectively adjusted to meet the actual requirements of the proportion of bending.

<FIG> and <FIG> respectively show a partial schematic structural diagram of the continuum instrument <NUM> according to some embodiments of the present disclosure including another drive transmission mechanism <NUM>. <FIG> shows a schematic structural diagram of the drive transmission mechanism <NUM> according to some embodiments of the present disclosure. In some embodiments, as shown in <FIG>, the drive transmission mechanism <NUM> may include a first rotating member <NUM>, a second rotating member <NUM>, and a driven member <NUM>. The first rotating member <NUM> is used for being driven by a first drive member <NUM> to rotate, and the second rotating member <NUM> is driven by the second drive member <NUM> to rotate. In some embodiments, the axis of rotation of the second rotating member <NUM> is perpendicular to and intersects the axis of rotation of the first rotating member <NUM>. As shown in <FIG> and <FIG>, the driven member <NUM> is separately hinged to the first rotating member <NUM> and the second rotating member <NUM> to form a first hinge point E and a second hinge point F, the first rotating member <NUM> is hinged to the second rotating member <NUM> to form a third hinge point G, the axis of rotation of the third hinge point G coincides with the axis of rotation of the first rotating member <NUM>, and the driven member <NUM> is connected to the input end of the drive connection part <NUM> (or <NUM>). In an initial position, the axis of rotation of the first hinge point E coincides with the axis of rotation of the second rotating member <NUM>, and the axis of rotation of the second hinge point F coincides with the axis of rotation of the first rotating member <NUM>. Thus, the first rotating member <NUM> and the second rotating member <NUM> together drive the driven member <NUM> to rotate around a fixed central point of the drive connection part <NUM> in the space, and the driven member <NUM> drives the input end of the drive connection part <NUM> to rotate and then drives the second proximal stop disk <NUM> to turn, so that the proximal drive backbones <NUM> are pushed and pulled so as to bend the proximal continuum <NUM>. The first proximal stop disk <NUM> is driven by the proximal drive backbones <NUM> to turn, and the plurality of proximal structural backbones <NUM> and the plurality of distal structural backbones <NUM> are then pushed and pulled, resulting in a corresponding change in length of the plurality of distal structural backbones <NUM> in the distal continuum <NUM>, so that the distal continuum <NUM> is driven to bend corresponding to the proximal continuum <NUM>. In this way, the bending of the distal continuum <NUM> in the space in different directions may be achieved.

In some embodiments, as shown in <FIG> and <FIG>, a first connecting rod member <NUM> is fixedly disposed on the first rotating member <NUM>, and a second connecting rod member <NUM> is fixedly disposed on the second rotating member <NUM>. One end of the first connecting rod member <NUM> is hinged to the driven member <NUM> to form a first hinge point E, and one end of the second connecting rod member <NUM> is hinged to the driven member <NUM> to form a second hinge point F. The other end of the first connecting rod member <NUM> is hinged to the other end of the second connecting rod member <NUM> to form a third hinge point G. The third hinge point G is located at the axis of rotation of the first rotating member <NUM>. In some embodiments, the driven member <NUM> may be hinged to the other end of the first connecting rod member <NUM> and the other end of the second connecting rod member <NUM> at the third hinge point G. In some embodiments, the driven member <NUM> may also not be hinged to the other end of the first connecting rod member <NUM> and the other end of the second connecting rod member <NUM>. It should be appreciated that, in the present invention, the first rotating member <NUM> and the second rotating member <NUM> may be hinged to the driven member <NUM> by means of connecting members in other forms other than the first connecting rod member <NUM> and the second connecting rod member <NUM>, as long as the hinge points satisfy the above geometrical relationships.

As shown in <FIG>, in some embodiments, the first rotating member <NUM> and the first drive member <NUM> may respectively include a first worm gear <NUM> and a first worm <NUM> meshing with each other, the first worm gear <NUM> being fixedly connected to the first connecting rod member <NUM>. The second rotating member <NUM> and the second drive member <NUM> may respectively include a second worm gear <NUM> and a second worm <NUM> meshing with each other, the second worm gear <NUM> being fixedly connected to the second connecting rod member <NUM>. In the drive transmission mechanism <NUM>, by means of providing two worm and gear structures, the direction of rotation of the driven member <NUM> can be changed, and the amplification of driving torque can be achieved. It will be appreciated that the first rotating member <NUM> and the second rotating member <NUM> include, but are not limited to, a worm gear structure, for example, the first rotating member <NUM> and the second rotating member <NUM> may also be bevel gears, the first drive member <NUM> and the second drive member <NUM> may be driving bevel gears meshing with the bevel gears, the bevel gears are driven by the driving bevel gears to rotate. It should be appreciated that the first rotating member <NUM> and the second rotating member <NUM> may also be rotatable members other than gears. In some embodiments, the first drive member <NUM> and the second drive member <NUM> may further include an electric motor (a motor), and the first rotating member <NUM> and the second rotating member <NUM> may be driven by the electric motor to directly rotate relative to each other.

<FIG> shows a schematic structural diagram of the driven member <NUM> of the drive transmission mechanism <NUM> according to some embodiments of the present disclosure. As shown in <FIG>, in some embodiments, the driven member <NUM> may include a connector <NUM> connected to the input end of the drive connection part <NUM> (or <NUM>), and hinged link rods 2332a-b connected to the connector <NUM> and extending distally. The hinged link rod 2332a is hinged to one end of the first connecting rod <NUM> of the first rotating member <NUM> at a first hinge point E, and the hinged link rod 2332b is hinged to one end of the second connecting rod <NUM> of the second rotating member <NUM> at the second hinge point F. In some embodiments, as shown in <FIG>, the driven member <NUM> may further include a third hinged link rod 2332c connected to the connector <NUM> and extending distally. The hinged link rod 2332c is hinged to the other end of the first connecting rod <NUM> of the first rotating member <NUM> and the other end of the second connecting rod <NUM> of the second rotating member <NUM> at the third hinge point G. In some embodiments, the connector <NUM> may be integrally formed with or fixedly connected to the hinged link rods 2332a-c.

Thus, as shown in <FIG>, the first worm gear <NUM> and the second worm gear <NUM> are respectively driven by the first worm <NUM> and the second worm <NUM> to drive the first connecting rod <NUM> connected to the first worm gear <NUM> and the second connecting rod <NUM> connected to the second worm gear <NUM> to rotate, so as to drive the driven member <NUM> hinged to the first connecting rod <NUM> and the second connecting rod <NUM> to rotate around the fixed central point (e.g., a central point of a universal coupling or a central point of a spherical hinge) of the drive connection part <NUM> (or <NUM>) in the space. The input end of the drive connection part <NUM> is driven by the driven member <NUM> to rotate and thus drive the second proximal stop disk <NUM> to turn so as to bend the proximal continuum <NUM>. The first proximal stop disk <NUM> is driven by the proximal drive backbones <NUM> to turn so as to push and pull the plurality of proximal structural backbones <NUM> which have ends fixed to the first proximal stop disk <NUM>, the distal structural backbones <NUM> are then pushed and pulled so as to drive the distal continuum <NUM> to bend corresponding to (e.g., in an opposite direction with) the proximal continuum <NUM>, which can achieve the bending of the distal continuum <NUM> in the space in the different directions. The proportions of bending of the proximal continuum <NUM> and the distal continuum <NUM> are respectively inversely proportional to the corresponding distribution radii of the proximal structural backbones <NUM> and the distal structural backbones <NUM> in the proximal continuum <NUM> and the distal continuum <NUM>. When in use, the distribution radii of the proximal structural backbones <NUM> and the distal structural backbones <NUM> in the proximal continuum and the distal continuum may be respectively adjusted to meet the actual requirements of the proportion of bending. The second proximal stop disk <NUM> is driven to turn so as to push and pull the proximal drive backbones <NUM>, and the first proximal stop disk <NUM> is driven by the proximal drive backbones <NUM> to turn to push and pull the proximal structural backbones <NUM> and the distal structural backbones <NUM> so as to prevent the proximal structural backbones <NUM> and the distal structural backbones <NUM> from being directly pushed and pulled. A large number of structural backbones can be driven without being limited by the number of the drive transmission mechanisms, achieving a compact structure and very high reliability and flexibility.

In some embodiments, as shown in <FIG>, the following connection nodes of kinematic relationship may be included among the drive connection part <NUM> (or <NUM>, <NUM>), the proximal continuum <NUM>, and the drive transmission mechanism <NUM> (or <NUM>): a first connection node A which may refer to the connection relationship between the proximal base disk <NUM> and the drive connection part <NUM> (or <NUM>, <NUM>), a second connection node B which may refer to the structure of the drive connection part itself (e.g., a universal coupling, a spherical hinge or a hinge joint), a third connection node C which may refer to the connection relationship between the drive connection part <NUM> and the second proximal stop disk <NUM>, and a fourth connection node D which may refer to the connection relationship between the input end of the drive connection part <NUM> and the drive transmission mechanism <NUM>. The above four connection nodes may be combined in some of the following connection modes: a cylindrical pair (which may be rotatable or movable), a moving pair (which can move only), a rotating pair (which can rotate only), a fixed connection, and the structure of the drive connection part itself, so as to achieve the minimum degree of freedom required for driving the proximal continuum <NUM> to bend by means of combining the above connection nodes.

In some embodiments, as shown in <FIG>, when the drive transmission mechanism uses a gear-barrel-based non-planar drive transmission mechanism <NUM>, the input end of the drive connection part <NUM> (or <NUM>, <NUM>) is rotatably connected to the drive transmission mechanism <NUM> in a vertical direction of the axial direction of the proximal end of the drive connection part <NUM>, and the input end of the drive connection part <NUM> is rotatably connected in the axial direction of the proximal end of the drive connection part <NUM> relative to the second proximal stop disk <NUM>. In some embodiments, when the drive transmission mechanism uses the gear-barrel-based non-planar drive transmission mechanism <NUM>, the distal end of the drive connection part <NUM> (or <NUM>, <NUM>) is connected to the proximal base disk <NUM> by means of a rotating pair in the axial direction of the distal end of the drive connection part <NUM>, or the proximal end of the drive connection part <NUM> is connected to the second proximal stop disk <NUM> by means of a rotating pair in the axial direction of the proximal end of the drive connection part <NUM>, and the input end of the drive connection part <NUM> is rotatably connected to the drive transmission mechanism <NUM> in the vertical direction of the axial direction of the rotating pair in the axial direction of the proximal end of the drive connection part <NUM>.

As shown in <FIG> and <FIG>, in some embodiments, the drive transmission mechanism uses a gear-barrel-based non-planar drive transmission mechanism <NUM>, and the drive connection part <NUM> may include the universal coupling joint <NUM>. The connection nodes may be combined as follows. The first connection node A is connected by using a rotating pair, the second connection node B is connected by using a universal coupling <NUM>, the third connection node C is connected by using a cylindrical pair, the fourth connection node D is connected by using a rotating pair, and the axis of rotation of the fourth connection node D is perpendicular to the axial direction of the proximal end of the drive connection part <NUM>. For example, the universal coupling joint <NUM> includes the link rods 1212a-b and the universal coupling <NUM> located between the link rods 1212a-b. The first connection node A may refer to the structure in which the distal end of the link rod 1212a at the distal end of the universal coupling <NUM> is connected to the proximal base disk <NUM> by means of the rotating pair, the second connection node B may refer to the structure of the universal coupling <NUM> itself, the proximal end of the link rod 1212b at the proximal end of the universal coupling <NUM> is the input end of the drive connection part <NUM>, the third connection node C may refer to the structure in which an outer circular surface of the link rod 1212b cooperates with the second proximal stop disk <NUM> by means of the cylindrical pair, the fourth connection node D may refer to the structure in which the input end of the link rod 1212b is connected to the arc-shaped link rod <NUM> in the drive transmission mechanism <NUM> by means of the rotating pair, and the axis of rotation of the rotating pair connection is perpendicular to the axial direction of the link rod 1212b. Therefore, the second proximal stop disk <NUM> is slidable and rotatable relative to the outer circular surface of the input end. The input end is driven to rotate by means of driving the arc-shaped link rod <NUM> of the drive transmission mechanism <NUM>, so that the second proximal stop disk <NUM> can be driven to turn, and then the proximal drive backbones <NUM> can be pushed and pulled to achieve the bending of the proximal continuum <NUM>. The second proximal stop disk <NUM> is driven to turn by the proximal drive backbones <NUM>, and the plurality of proximal structural backbones <NUM> which have ends fixed to the proximal stop disk <NUM> are then pushed and pulled, so that the distal structural backbones <NUM> are pushed and pulled to drive the distal continuum <NUM> to bend corresponding to (e.g., in an opposite direction with) the proximal continuum <NUM>. Thus, the above four connection nodes cooperate with each other such that the second proximal stop disk <NUM> can slip or rotate up and down relative to the drive connection part <NUM>, or the drive connection part <NUM> can slide or rotate up and down relative to the arc-shaped link rod <NUM>, so as to allow the proximal continuum <NUM> to generate a parasitic motion sliding in the axial direction (slipping up and down) and a bending motion in any direction (rotation) during bending. The parasitic motion may prevent the distal continuum <NUM> from generating an axial telescoping motion during bending that may cause wrinkling or excessive stretching of an envelope that covers the outer periphery of the distal continuum <NUM> to affect the service life of the cover.

As shown in <FIG>, in some embodiments, the drive transmission mechanism uses the non-planar drive transmission mechanism based on gear barrel <NUM>, the drive connection part <NUM> may include the universal coupling joint <NUM>, and the connection nodes may also be combined as follows: the first connection node A is connected by using a rotating pair, the second connection node B is connected by using the universal coupling <NUM>, the third connection node C is connected by using a rotating pair, the fourth connection node D is connected by using a rotating pair, and the axis of rotation of the fourth connection node D is perpendicular to the axial direction of the proximal end of the drive connection part <NUM>. In this way, it is also possible to enable the input end to be driven by the arc-shaped link rod <NUM> to rotate and thus drive the second proximal stop disk <NUM> and the first proximal stop disk <NUM> to turn so as to achieve the bending of the distal continuum <NUM>. In some embodiments, the connection nodes may also be combined as follows: the first connection node A is connected by using a cylindrical pair, the second connection node B is connected by using the universal coupling <NUM>, the third connection node C is connected by using a moving pair, the fourth connection node D is connected by using a rotating pair, and the axis of rotation of the fourth connection node D is perpendicular to the axial direction of the proximal end of the drive connection part <NUM>. It should be appreciated that the above connection nodes may also be combined in other forms of some of the above five connection modes, such that under the premise of achieving a similar function (driving the proximal continuum <NUM> to bend), the more degrees of freedom, the more pliable and flexible the flexible continuum structure <NUM> will be.

As shown in <FIG> and <FIG>, in some embodiments, the drive transmission mechanism uses a gear-barrel-based non-planar drive transmission mechanism <NUM>, and the drive connection part <NUM> may include the spherical hinge joint <NUM>. In this way, the connection nodes may be combined as follows: the first connection node A is connected in a fixed manner, the second connection node B is connected by using the spherical hinge <NUM>, the third connection node C is connected by using a cylindrical pair, the fourth connection node D is connected by using a rotating pair, and the axis of rotation of the fourth connection node D is perpendicular to the axial direction of the proximal end of the drive connection part <NUM>. For example, the drive connection part <NUM> includes the link rods 2212a-b and the spherical hinge <NUM> located between the link rods 2212a-b. The first connection node A may refer to the structure in which a distal end of the link rod 2212a at a distal end of the spherical hinge <NUM> is connected to the proximal base disk <NUM> by means of the rotating pair, the second connection node B may refer to the structure of the spherical hinge itself, a proximal end of the link rod 2212b at a proximal end of the spherical hinge <NUM> is the input end of the drive connection part <NUM>, the third connection node C may refer to the structure in which an outer circular surface of the link rod 2212b cooperates with the second proximal stop disk <NUM> by means of the cylindrical pair, the fourth connection node D may refer to the structure in which the input end of the link rod 2212b is connected to the arc-shaped link rod <NUM> in the drive transmission mechanism <NUM> by means of the rotating pair, and the axis of rotation of the rotating pair connected is perpendicular to the axial direction of the link rod 2212b. Therefore, the second proximal stop disk <NUM> is slidable and rotatable relative to the outer circular surface of the input end. In this way, the input end is driven to rotate by means of the arc-shaped link rod <NUM> of the drive transmission mechanism <NUM>, so that the second proximal stop disk <NUM> can be driven to turn so as to achieve the bending of the proximal continuum <NUM>, and the first proximal stop disk <NUM> is then driven to turn so as to push and pull the plurality of distal structural backbones <NUM> which have ends fixed to the second proximal stop disk <NUM>, so as to drive the distal continuum <NUM> to bend corresponding to (e.g., in an opposite direction with) the proximal continuum <NUM>.

In some embodiments, the drive transmission mechanism uses the gear-barrel-based non-planar drive transmission mechanism <NUM>, and the connection nodes may also be combined as follows: the first connection node A is connected by using a cylindrical pair, the second connection node B is connected by using the spherical hinge <NUM>, the third connection node C is connected in a rotatable manner, and the fourth connection node D is connected by using a rotating pair.

As shown in <FIG> and <FIG>, in some embodiments, the drive transmission mechanism uses the gear-barrel-based non-planar drive transmission mechanism <NUM>, and the hinge joint of the drive connection part <NUM> may include the distal link rod <NUM> and the proximal link rod <NUM>. The connection nodes may be combined as follows: the first connection node A uses a rotating pair, the second connection node B uses a rotating pair, the third connection node C uses a cylindrical pair, and the fourth connection node D uses a rotating pair. For example, the first connection node A may refer to the structure in which the distal end of the distal link rod <NUM> is rotatable around its own axis in the proximal base disk <NUM>; the second connection node B may refer to the structure in which the proximal end of the distal link rod <NUM> is hinged to the distal end of the proximal link rod <NUM>, the structure of the drive connection part <NUM> itself is configured as the distal link rod <NUM> and the proximal link rod <NUM> hinged to each other, and the proximal end of the proximal link rod <NUM> serves as the input end of the drive connection part <NUM>; the third connection node C refers to the structure in which an outer peripheral surface of the proximal link rod <NUM> cooperates with the second proximal stop disk <NUM> by means of a cylindrical pair, and the second proximal stop disk <NUM> is slidable and rotatable relative to the input end of the proximal link rod <NUM>; and the fourth connection node D refers to the structure in which the input end of the proximal link rod <NUM> is hinged to the drive transmission mechanism <NUM>, and the axis of rotation of a hinge point is perpendicular to the axial direction of the proximal end of the drive connection part <NUM>. The input end of the proximal link rod <NUM> is driven by the drive transmission mechanism <NUM> to rotate, so that the second proximal stop disk <NUM> is driven to turn so as to achieve the bending of the proximal continuum <NUM>, and then the first proximal stop disk <NUM> is driven to turn so as to push and pull a plurality of distal structural backbones <NUM> which have ends fixed to the first proximal stop disk <NUM>, so that the distal continuum <NUM> is driven to bend corresponding to (e.g., in an opposite direction with) the proximal continuum <NUM>.

In some embodiments, the drive transmission mechanism uses the gear-barrel-based non-planar drive transmission mechanism <NUM>, and the connection nodes may also be combined as follows: the first connection node A uses a cylindrical pair, the second connection node B uses a rotating pair, the third connection node C uses a rotating pair, the fourth connection node D uses a rotating pair, and the axis of rotation of the fourth connection node D is perpendicular to the axial direction of the proximal end of the drive connection part <NUM>. In this way, it is also possible to allow the input end of the drive connection part <NUM> to be driven by the drive transmission mechanism <NUM> to move in a free rotational motion and thus drive the second proximal stop disk <NUM> and the first proximal stop disk <NUM> to move and turn so as to achieve the bending of the distal continuum <NUM>.

As shown in <FIG>, in some embodiments, when the drive transmission mechanism uses a worm-and-gear-based non-planar drive transmission mechanism <NUM>, the input end of the drive connection part <NUM> (or <NUM>) and the drive transmission mechanism <NUM> may be fixedly connected or connected by using a rotating pair or a cylindrical pair, etc..

As shown in <FIG> and <FIG>, in some embodiments, the drive transmission mechanism uses the worm-and-gear-based non-planar drive transmission mechanism <NUM>, and the drive connection part <NUM> may include the universal coupling joint <NUM>. The connection nodes may be combined as follows: the first connection node A is connected by using a cylindrical pair, the second connection node B is connected by using the universal coupling <NUM>, the third connection node C has a degree of freedom of movement (a cylindrical pair or a moving pair), and the fourth connection node D is connected in a fixed manner. For example, the universal coupling joint <NUM> includes the link rods 1212a-b and the universal coupling <NUM> located between the link rods 1212a-b. The first connection node A may refer to the structure in which the distal end of the link rod 1212a at the distal end of the universal coupling <NUM> cooperates with the proximal base disk <NUM> by means of the cylindrical pair, the second connection node B may refer to the structure of the universal coupling <NUM> itself, the proximal end of the link rod 1212b at the proximal end of the universal coupling <NUM> is the input end of the drive connection part <NUM>, the third connection node C may refer to the structure in which the outer circular surface of the link rod 1212b cooperates with the second proximal stop disk <NUM> by means of the cylindrical pair (or the moving pair), and the fourth connection node D may refer to the structure in which the input end of the link rod 1212b is fixedly connected to the driven member <NUM>. Therefore, the second proximal stop disk <NUM> is slidable and rotatable relative to the input end. The fixed central point of the drive connection part <NUM> is the center of the universal coupling <NUM>, the driven member <NUM> rotates around the center of the universal coupling <NUM>, the input end is then driven by the driven member <NUM> to move in a rotational motion and thus drive the second proximal stop disk <NUM> to turn so as to achieve the bending of the proximal continuum <NUM>, and the first proximal stop disk <NUM> is then driven to turn so as to push and pull a plurality of distal structural backbones <NUM> which have ends fixed to the first proximal stop disk <NUM>, so that the distal continuum <NUM> is driven to bend corresponding to (e.g., in an opposite direction with) the proximal continuum <NUM>. The above nodes cooperate with each other such that the second proximal stop disk <NUM> can slip or rotate up and down relative to the drive connection part <NUM> or the drive connection part <NUM> can slip or rotate up and down relative to the driven member <NUM>, so as to allow the proximal continuum <NUM> to generate a parasitic motion sliding in the axial direction (slipping up and down) and a bending motion in any direction (rotation) during bending.

In some embodiments, the drive transmission mechanism uses the worm-and-gear-based non-planar drive transmission mechanism <NUM>, and the drive connection part <NUM> may include the universal coupling joint <NUM>. The connection nodes may also be combined as follows: the first connection node A is connected by using a rotating pair, the second connection node B is connected by the universal coupling <NUM>, the third connection node C is connected by using a rotating pair, and the fourth connection node D is connected by using a rotating pair. It is also possible to allow the input end of the drive connection part <NUM> to be driven by the drive transmission mechanism <NUM> to rotate and thus drive the second proximal stop disk <NUM> and the first proximal stop disk <NUM> to move and turn so as to achieve the bending of the distal continuum <NUM>. In some embodiments, the nodes may also be combined as follows: the first connection node A is connected in a fixed manner, the second connection node B uses the universal coupling <NUM>, the third connection node C is connected in a fixed manner, and the fourth connection node D is connected by using a moving pair. It should be appreciated that the connection nodes may also be combined in other forms of some of the above five connection modes, such that under the premise of achieving a similar function (driving the proximal continuum <NUM> to bend), the more degrees of freedom, the more pliable and flexible the flexible continuum structure <NUM> will be.

As shown in <FIG> and <FIG>, in some embodiments, the drive transmission mechanism uses the worm-and-gear-based non-planar drive transmission mechanism <NUM>, and the drive connection part <NUM> may include the spherical hinge joint <NUM>. The connection nodes may be combined as follows: the first connection node A is connected in a fixed manner, the second connection node B is connected by using the spherical hinge <NUM>, the third connection node C is connected by using a cylindrical pair, and the fourth connection node D is connected in a fixed manner. For example, the drive connection part <NUM> includes the link rods 2212a-b and the spherical hinge <NUM> located between the link rods 2212a-b. The first connection node A may refer to the structure in which a distal end of the link rod 2212a at a distal end of the spherical hinge <NUM> is fixedly connected to the proximal base disk <NUM>, the second connection node B may refer to the structure of the spherical hinge joint <NUM> itself, a proximal end of the link rod 2212b at a proximal end of the spherical hinge <NUM> is the input end of the drive connection part <NUM>, the third connection node C may refer to the structure in which the outer circular surface of the link rod 2212b cooperates with the second proximal stop disk <NUM> by means of the cylindrical pair, and the fourth connection node D may refer to the structure in which the input end of the link rod 2212b is fixedly connected to the driven member <NUM>. Therefore, the second proximal stop disk <NUM> is slidable and rotatable relative to the input end. The fixed central point of the drive connection part <NUM> is the center of the spherical hinge <NUM>, the driven member <NUM> rotates around the center of the spherical hinge <NUM>, the input end is then driven by the driven member <NUM> to move in a rotational motion and thus drive the second proximal stop disk <NUM> to cooperatively turn so as to achieve the bending of the proximal continuum <NUM>, and the first proximal stop disk <NUM> is then driven to turn so as to push and pull a plurality of distal structural backbones <NUM> which have ends fixed to the first proximal stop disk <NUM>, so that the distal continuum <NUM> is driven to bend corresponding to (e.g., in an opposite direction with) the proximal continuum <NUM>. The above connection nodes cooperate with each other such that the first proximal stop disk <NUM> can slip or rotate up and down relative to the drive connection part <NUM> or the drive connection part <NUM> can slip or rotate up and down relative to the driven member <NUM>, so as to allow the proximal continuum <NUM> to generate a parasitic motion sliding in the axial direction (slipping up and down) and a bending motion in any direction (rotation) during bending.

In some embodiments, the drive transmission mechanism uses the worm-and-gear-based non-planar drive transmission mechanism <NUM>, and the drive connection part <NUM> may include the spherical hinge joint <NUM>. The connection nodes may also be combined as follows: the first connection node A is connected by using a rotating pair, the second connection node B is connected by using the spherical hinge <NUM>, the third connection node C is connected by using a moving pair, and the fourth connection node D is connected in a fixed manner. In this way, it is also possible to allow the driven member <NUM> to be driven by the drive transmission mechanism <NUM> to rotate to drive the input end to rotate and thus drive the second proximal stop disk <NUM> and the first proximal stop disk <NUM> to move and turn so as to achieve the bending of the distal continuum <NUM>. In some embodiments, the connection nodes may also be combined as follows: the first connection node A is connected in a fixed manner, the second connection node B uses the spherical hinge <NUM>, the third connection node C is connected in a rotatable manner, and the fourth connection node D is connected by using a moving pair.

As shown in <FIG>, in some embodiments, the proximal continuum <NUM> may further include at least one proximal retaining disk <NUM> disposed between the proximal base disk <NUM> and the proximal stop disk <NUM>, and the plurality of proximal drive backbones <NUM> or proximal structural backbones <NUM> sequentially pass through the at least one proximal retaining disk <NUM>. As shown in <FIG>, in some embodiments, the distal continuum <NUM> may further include at least one distal retaining disk <NUM> disposed between the distal base disk <NUM> and the distal stop disk <NUM>, and the plurality of distal structural backbones <NUM> also pass through the at least one distal retaining disk <NUM>. The proximal retaining disk <NUM> and the distal retaining disk <NUM> are used for respectively supporting the structural backbones in the radial directions of the proximal drive backbones <NUM>, the proximal structural backbones <NUM> and the distal structural backbones <NUM>, such that the proximal drive backbones <NUM>, the proximal structural backbones <NUM> and the distal structural backbones <NUM> remain in a parallel state during the bending transformation, which can prevent the proximal drive backbones <NUM>, the proximal structural backbones <NUM> and the distal structural backbones <NUM> from destabilizing during the bending motion. In some embodiments, at least one tube bundle retaining disk (not shown) is disposed on the structural backbone guide tube bundle <NUM>, a proximal end of the structural backbone guide tube bundle <NUM> is fixedly connected to the proximal base disk <NUM>, and a distal end of the structural backbone guide tube bundle <NUM> passes through the at least one tube bundle retaining disk and is then fixedly connected to the distal base disk <NUM>.

In some embodiments, the proximal drive backbone <NUM>, the proximal structural backbone <NUM> and the distal structural backbone <NUM> may include elastic wires or tubes made of a hyperelastic material, for example, may be made of an elastic metallic material having high strength and high toughness, such as a nickel-titanium alloy. The structural backbone guide tube bundle <NUM> may include a plurality of thin tubes made of a steel material to form a steel tube bundle.

In some embodiments, the continuum instrument <NUM> may include at least two continuum instruments <NUM> in the embodiments described above. In some embodiments, the continuum instrument <NUM> includes at least two continuum instruments <NUM> connected in series or in parallel.

<FIG> shows a partial schematic structural diagram of the continuum instrument <NUM> according to some embodiments of the present disclosure. As shown in <FIG>, in some embodiments, the continuum instrument <NUM> further includes a support <NUM>. The proximal base disks <NUM> of at least two proximal continua <NUM> are respectively fixedly connected to or integrally formed with the support <NUM>. The proximal ends of the at least two structural backbone guide tube bundles <NUM> are respectively fixedly connected to the proximal base disks <NUM> of the proximal continua <NUM>, and the distal ends of the at least two structural backbone guide tube bundles <NUM> respectively sequentially pass through the support <NUM> and converge into one bundle at the distal base disks <NUM>. For example, the distal ends of the two structural backbone guide tube bundles <NUM> are distributed at the distal base disk <NUM> along the circumference as one bundle or distributed within the circle. It should be appreciated that the distal ends of the two structural backbone guide tube bundles <NUM> may also be distributed at the distal base disk <NUM> along the rectangular periphery as one bundle or distributed within the rectangle. In some embodiments, the proximal base disk <NUM> or the distal base disk <NUM> may directly form part of the support <NUM>. In some embodiments, as shown in <FIG>, at least two drive transmission mechanisms <NUM> (or <NUM>) are arranged side by side on the support <NUM>, with an output end of each drive transmission mechanism <NUM> being respectively connected to the input end of the at least one drive connection part <NUM> (or <NUM>). The at least two drive transmission mechanisms <NUM> respectively drive the second proximal stop disks <NUM> and the first proximal stop disks <NUM> of the two corresponding proximal continua <NUM> to turn by means of the at least two input ends, so that the distal structural backbones <NUM> of the at least two proximal continua <NUM> are pushed and pulled so as to achieve the bending of the at least two distal continua <NUM> in a space in different directions.

In some embodiments, the distal continua <NUM> in the at least two flexible continuum structures <NUM> of the continuum instrument <NUM> may have the same or different lengths. It will be appreciated that the distal ends of at least two structural backbone guide tube bundles <NUM> are converged at the distal base disk <NUM>. At least two distal continua <NUM> may be connected in series. For example, the proximal ends of the first distal continua extend distally from the distal base disk <NUM> and are fixedly connected to the distal stop disk <NUM>. The distal base disks of the second distal continua may be connected to or is the same as the distal stop disks of the first distal continua, and the distal ends of the second distal continua are fixedly connected to the distal stop disks of the second distal continua. Thus, the at least two drive transmission mechanisms <NUM> (or <NUM>) respectively drive the at least two drive connection parts <NUM> (or <NUM>, <NUM>) to move to respectively drive the at least two proximal continua <NUM> to move, so that the distal continua <NUM> bends so as to increase the degree of freedom of the distal continua <NUM> and thus improve the flexibility of the continuum instrument.

In some embodiments, the present disclosure further provides a surgical robot. The surgical robot includes at least one continuum instrument <NUM> (or <NUM>) in the embodiments described above. <FIG> shows a schematic structural diagram of a surgical robot <NUM> according to some embodiments of the present disclosure. As shown in <FIG>, in some embodiments, the surgical robot <NUM> may further include at least one surgical trolley <NUM>, at least one positioning arm <NUM>, and at least one surgical instrument <NUM>. At least one positioning arm <NUM> is movably disposed on the at least one surgical trolley <NUM>, and at least one surgical instrument <NUM> is disposed at the distal end of the at least one positioning arm <NUM>. The surgical instrument <NUM> includes the continuum instrument <NUM> (or the continuum instruments <NUM>) and an end device <NUM> disposed at the distal end of the continuum instrument <NUM>. It should be appreciated that the end device <NUM> may include a surgical end effector or an endoscope. The position of the continuum instrument may be adjusted by means of adjusting the positioning arm <NUM>, and the posture of the end device <NUM> may be adjusted by means of the continuum instrument. The continuum instrument is compact in structure and has high reliability and flexibility, and can improve the safety of the surgical robot.

Claim 1:
A continuum instrument, comprising:
at least one proximal continuum (<NUM>) comprising a proximal base disk (<NUM>), a first proximal stop disk (<NUM>), a second proximal stop disk (<NUM>), a plurality of proximal structural backbones (<NUM>), and a plurality of proximal drive backbones (<NUM>), proximal ends of the plurality of proximal drive backbones being fixedly connected to the second proximal stop disk, the plurality of proximal drive backbones passing through the first proximal stop disk, and distal ends of the plurality of proximal drive backbones being fixedly connected to the proximal base disk;
at least one distal continuum (<NUM>) comprising a distal stop disk (<NUM>) and a plurality of distal structural backbones (<NUM>), the plurality of distal structural backbones being connected to or integrally formed with the plurality of proximal structural backbones, and distal ends of the plurality of distal structural backbones being fixedly connected to the distal stop disk;
a drive connection part (<NUM>) having a proximal end connected to the second proximal stop disk, the drive connection part comprising an input end located at a proximal side of the second proximal stop disk; and
a drive transmission mechanism (<NUM>), having an output end connected to the input end of the drive connection part, the output end being configured to drive the input end such that the second proximal stop disk and the first proximal stop disk turn to drive the distal continuum to bend by means of the proximal structural backbones and the distal structural backbones.