Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures
First Claim
1. A robotic endoscope for performing endoscopic procedures in a tubular organ comprising:
- (a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end;
(b) a plurality of flexible linear actuators attached circumferentially around each segment, each of said linear actuators including a portion that is extendible and retractable along a longitudinal axis of that linear actuator, wherein the longitudinal axis of each linear actuator is skewed sideways with respect to the longitudinal axis and diametrical axis of each respective segment;
(c) a central cavity running longitudinally through said robotic endoscope which houses a plurality of optical fibers, a water/air hose, an instrumentation channel and a plurality of electrical wires associated with an imaging means being mounted at the distal end; and
(d) a network of tributary channels for the distribution of pressure to said linear actuators.
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Accused Products
Abstract
A robotic endoscope for performing endoscopic procedures in a tubular organ comprising: (a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end; (b) a plurality of flexible linear actuators attached, skewed sideways with respect to the longitudinal axis of said robot, circumferentially round each segment; (c) a central cavity running longitudinally through said robotic endoscope which houses a plurality of optical fibres, a water/air hose, an instrumentation channel and a plurality of electrical wires associated with an imaging means being mounted at the distal end of the robotic endoscope; and (d) a network of tributary channels for the distribution of pressure to said linear actuators. The present invention is also applicable to an autonomous pipe robot.
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Citations
20 Claims
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1. A robotic endoscope for performing endoscopic procedures in a tubular organ comprising:
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(a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end; (b) a plurality of flexible linear actuators attached circumferentially around each segment, each of said linear actuators including a portion that is extendible and retractable along a longitudinal axis of that linear actuator, wherein the longitudinal axis of each linear actuator is skewed sideways with respect to the longitudinal axis and diametrical axis of each respective segment; (c) a central cavity running longitudinally through said robotic endoscope which houses a plurality of optical fibers, a water/air hose, an instrumentation channel and a plurality of electrical wires associated with an imaging means being mounted at the distal end; and (d) a network of tributary channels for the distribution of pressure to said linear actuators. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An autonomous robot capable of advancing in pipes of small diameters comprising:
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(a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end; (b) a plurality of electrically (pneumatically or hydraulically) driven linear actuators attached circumferentially around each segment, each of said linear actuators including a portion that is extendible and retractable along a longitudinal axis of that linear actuator, wherein the longitudinal axis of each linear actuator is skewed sideways with respect to the longitudinal axis of each respective segment; (c) a central cavity running longitudinally through the robot which houses a power source, a control means, and a transmitter for an autonomous robot. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification