Steerable multi-linked device having a modular link assembly

• US 8,656,697 B2
• Filed: 03/06/2013
• Issued: 02/25/2014
• Est. Priority Date: 10/24/2006
• Status: Active Grant

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Zubiate, Brett, Choset, Howard M., Degani, Amir, Schwerin, Michael
• Primary Examiner(s): Jones, David B
• Application Number:
  US13/786,753
• Publication Number:
  US 20130247537A1
• Time in Patent Office: 356 Days
• Field of Search: 59/781, 600/114, 600/144, 600/206, 604/524, 607/122, 607/125, 248/49, 248/51
• US Class Current: 59/78.1
• CPC Class Codes: A61B 1/005 Flexible endoscopes
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: F16G 13/18 Chains having special overall characteristics
• CPC Class Codes: Y10T 74/20213 Interconnected
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base.

Claims

1. A steerable multi-linked device, comprising:

a first multi-linked mechanism; and

a second multi-linked mechanism, wherein at least one of the first and second multi-linked mechanisms is steerable and comprises a modular link assembly at an end of at least one of the first multi-linked mechanism and the second multi-linked mechanism, wherein the modular link assembly comprises;

a base, and

a tip removably connected to the base, wherein the tip comprises a light emitting device.

2. The steerable multi-linked device of claim 1, wherein the light emitting device comprises a light emitting diode.

3. The steerable multi-linked device of claim 1, further comprising a printed circuit board that is configured to attach to the base.

4. The steerable multi-linked device of claim 3, wherein:

the tip is configured to attach to the base such that the printed circuit board is positioned between the base and the tip, and

the light emitting device is configured to attach to the tip via the printed circuit board.

5. A steerable multi-linked device, comprising:

a first multi-linked mechanism; and

a second multi-linked mechanism, wherein at least one of the first and second multi-linked mechanisms is steerable and comprises a modular link assembly at an end of at least one of the first multi-linked mechanism and the second multi-linked mechanism, wherein the modular link assembly comprises;

a base, and

a tip removably connected to the base, wherein the tip comprises an imaging device.

6. The steerable multi-linked device of claim 5, wherein the imaging device comprises a camera.

7. The steerable multi-linked device of claim 5, further comprising a printed circuit board that is configured to attach to the base.

8. The steerable multi-linked device of claim 7, wherein:

the tip is configured to attach to the base such that the printed circuit board is positioned between the base and the tip, and

the imaging device is configured to attach to the tip via the printed circuit board.

9. A steerable multi-linked device, comprising:

a first multi-linked mechanism; and

a second multi-linked mechanism, wherein at least one of the first and second multi-linked mechanisms is steerable and comprises a modular link assembly at an end of at least one of the first multi-linked mechanism and the second multi-linked mechanism, wherein the modular link assembly comprises;

a base, and

a tip removably connected to the base, wherein the tip comprises a sensor.

10. The steerable multi-linked device of claim 9, wherein the sensor comprises a biosensor.

11. The steerable multi-linked device of claim 9, further comprising a printed circuit board that is configured to attach to the base.

12. The steerable multi-linked device of claim 11, wherein:

the tip is configured to attach to the base such that the printed circuit board is positioned between the base and the tip, and

the sensor is configured to attach to the tip via the printed circuit board.