An extension tool includes a plurality of sequentially arranged links moveable relative to one another. The plurality of sequentially arranged links include a first link. The extension tool further includes a line assembly having a line, the line including a first portion extending through the plurality of sequentially arranged links to the first link and a transition portion extending from the first portion through the first link. The extension tool further includes an attachment feature coupled to or formed integrally with the line of the line assembly at the transition portion of the line to support the line in the event of a failure of the line.

An extension tool includes a plurality of sequentially arranged links moveable relative to one another. The plurality of sequentially arranged links include a first link. The extension tool further includes a line assembly having a line, the line including a first portion extending through the plurality of sequentially arranged links to the first link and a transition portion extending from the first portion through the first link. The extension tool further includes an attachment feature coupled to or formed integrally with the line of the line assembly at the transition portion of the line to support the line in the event of a failure of the line.

An object is to provide a mechanism that can ensure safe operation of a continuum robot. A block FTL calculates a target bending angle θ.sub.fFTL and a target rotational angle ζ.sub.fFTL of a following bending section on the basis of a target bending angle θ.sub.lt and a target rotational angle ζ.sub.lt of a distal-most bending section and a displacement of a base. A switch unit 330 selects the target bending angle θ.sub.fFTL and the target rotational angle θ.sub.fFTL of the following bending section obtained from the block FTL or a target bending angle θ.sub.lf and a target rotational angle ζ.sub.lf of the following bending section obtained from a block P.sub.l corresponding to following operating means. A kinematic computing unit 340 computes, on the basis of the target bending angle and the target rotational angle, a drive displacement by which a driving unit drives a wire in the following bending section.

An object is to provide a mechanism that can ensure safe operation of a continuum robot. A block FTL calculates a target bending angle θ.sub.fFTL and a target rotational angle ζ.sub.fFTL of a following bending section on the basis of a target bending angle θ.sub.lt and a target rotational angle ζ.sub.lt of a distal-most bending section and a displacement of a base. A switch unit 330 selects the target bending angle θ.sub.fFTL and the target rotational angle θ.sub.fFTL of the following bending section obtained from the block FTL or a target bending angle θ.sub.lf and a target rotational angle ζ.sub.lf of the following bending section obtained from a block P.sub.l corresponding to following operating means. A kinematic computing unit 340 computes, on the basis of the target bending angle and the target rotational angle, a drive displacement by which a driving unit drives a wire in the following bending section.

A medical manipulator includes: an insertion portion, an end effector, a bend restraining unit, a position detector, an operation unit, a first drive unit, and a control unit. The control unit is configured to generate the first drive signal based on an output and the position of the bend restraining unit which is detected by the position detector. The output is output from the operation unit that operates the bending portion.

A medical manipulator includes: an insertion portion, an end effector, a bend restraining unit, a position detector, an operation unit, a first drive unit, and a control unit. The control unit is configured to generate the first drive signal based on an output and the position of the bend restraining unit which is detected by the position detector. The output is output from the operation unit that operates the bending portion.

A device includes a tube and a sleeve configured to at least partially encircle a portion the tube along its length. The tube is flexible and airtight and defines a longitudinal axis along a center of the tube, and is configured to bend along the longitudinal axis upon at least partial evacuation of the tube to form a joint. The joint defines a joint angle relative to the longitudinal axis, thereby approximating a revolute joint with torsional stiffness. Actuating a joint includes partially evacuating a flexible tube defining a longitudinal axis, thereby forming a bend in the tube at an angle with respect to the longitudinal axis at a perimeter of a rigid sleeve at least partially encircling the tube, and restoring a neutral pressure to the tube, thereby removing the bend in the tube.

A device includes a tube and a sleeve configured to at least partially encircle a portion the tube along its length. The tube is flexible and airtight and defines a longitudinal axis along a center of the tube, and is configured to bend along the longitudinal axis upon at least partial evacuation of the tube to form a joint. The joint defines a joint angle relative to the longitudinal axis, thereby approximating a revolute joint with torsional stiffness. Actuating a joint includes partially evacuating a flexible tube defining a longitudinal axis, thereby forming a bend in the tube at an angle with respect to the longitudinal axis at a perimeter of a rigid sleeve at least partially encircling the tube, and restoring a neutral pressure to the tube, thereby removing the bend in the tube.

A soft robot includes a main body configured as a tube inverted back inside itself to define a pressure channel, such that when the channel is pressurized, the main body everts, and inverted material everts and passes out of a tip at a distal end of the main body. A fluidization tube for passing air or other fluid through a core of the main body in the fluidization tube, wherein the fluidization tube engages the main body such that the fluidization tube is ejected as the distal end as the main body everts and joins part of the side of the main body as the main body everts and extends its distal tip.

A soft robot includes a main body configured as a tube inverted back inside itself to define a pressure channel, such that when the channel is pressurized, the main body everts, and inverted material everts and passes out of a tip at a distal end of the main body. A fluidization tube for passing air or other fluid through a core of the main body in the fluidization tube, wherein the fluidization tube engages the main body such that the fluidization tube is ejected as the distal end as the main body everts and joins part of the side of the main body as the main body everts and extends its distal tip.