In today’s medical technology field, interventional therapy is gradually becoming the preferred treatment option for many diseases due to its minimally invasive nature and quick recovery times. However, traditional surgical robots often feature a “jointed” rigid structure, which performs excellently in open spaces but struggles to navigate the many winding and narrow natural cavities within the human body. In contrast, continuum robots, resembling the tentacles of an octopus, lack distinct joints and are constructed entirely from flexible materials, …