Continuum manipulator
First Claim
1. A continuum manipulator comprising a plurality of segments arranged in a stack, the segments being deformable in a range of directions away from the long axis of the stack to allow the stack to bend in any of the range of directions away from the long axis thereof, wherein at least one of the segments comprises a helical portion wherein the wall of the segment extends helically around and in the direction of the long axis of the stack, the helical portion being able to deform in any direction away from the long axis, wherein a plurality of segments in the stack have helical portions, and wherein a first subset of one or more segments of the plurality of segments have helical portions that wind in a clockwise direction, and a second subset of one or more segments of the plurality of segments have helical portions that wind in a counter-clockwise direction.
1 Assignment
0 Petitions
Accused Products
Abstract
Embodiments of the present invention provide a continuum manipulator that can be used, for example, as a steerable catheter tip. The manipulator of the embodiments comprises a plurality of segments arranged in a stack, which is then able to bend in a range of directions away from the long axis of the stack. In one embodiment the segments include a helical portion which winds in the direction of the long axis of the stack, and can thus bend away from the long axis in any direction. In some embodiments a carbon fiber rod is included as a backbone for the stack, to minimize hysteresis and improve repeatability of bending. In addition, in embodiments of the invention tendon control channels are provided formed within the segments, through which tendon control wires extend to apply compression and/or bending forces to the stack.
11 Citations
15 Claims
- 1. A continuum manipulator comprising a plurality of segments arranged in a stack, the segments being deformable in a range of directions away from the long axis of the stack to allow the stack to bend in any of the range of directions away from the long axis thereof, wherein at least one of the segments comprises a helical portion wherein the wall of the segment extends helically around and in the direction of the long axis of the stack, the helical portion being able to deform in any direction away from the long axis, wherein a plurality of segments in the stack have helical portions, and wherein a first subset of one or more segments of the plurality of segments have helical portions that wind in a clockwise direction, and a second subset of one or more segments of the plurality of segments have helical portions that wind in a counter-clockwise direction.
Specification