Cable-driven bending apparatus and system thereof

A cable-driven bending apparatus, configured for removable coupling with a control, comprising:

• an elongated body having a deflectable distal end and a proximal end;
• a transmission unit positioned at a proximal end of the elongated body, comprising:
• a first and second shafts extending along with the elongated body;
• and
• a rotatable ring mounted coaxially between the first shaft and the second shaft;
• a first and second control wires extended from the transmission unit,
• connecting to the deflectable distal end respectively, wherein the other ends of the first and second control wires connect to the first shaft, and a portion of the first and second control wires are in contact with the rotatable ring and arranged to wrap around the first and second shafts in different directions;
• wherein the rotatable ring is configured to apply a tensioning force on either the first or second control wire by rotation.

A system, comprising:

• the cable-driven bending apparatus as claim 1 or 22;
• and
• a control handle, comprising:
• a housing;
• a controller installed on the housing;
• and
• a coupling and actuation mechanism configured within the housing,
• wherein the cable-driven bending apparatus is detachably connected with the control handle, and the controller drives and controls the transmission unit of the cable-driven bending apparatus via the coupling and drive mechanisms, thereby causing the deflectable distal end of the elongated body to bend.