Device for orienting an object according to a given spatial orientation

摘要

There is disclosed a device for orienting an object according to a given spatial orientation. The device comprises a frame and a supporting member connected to the frame and adapted for supporting at least a portion of the object. The device for orienting an object comprises a plurality of fluid actuated devices for displacing the supporting member with respect to the frame. Each of the fluid actuated devices is actuatable between a first position wherein the device has a first length and a second position wherein the device has a second length. The device for orienting comprises an actuation mechanism comprising a plurality of actuating valves for actuating the corresponding fluid actuated device; wherein an actuation of at least one of the fluid actuated devices enables to displace the supporting member with respect to the frame, thereby orienting the object according to the given spatial orientation. The device for orienting may be of particular interest in the medical sector as a medical object manipulator for reaching a given target in an anatomical structure with a suitable accuracy, for example in the treatment and/or diagnosis of prostate cancer.

主权项

1. A device for orienting an object according to a given spatial orientation, said device comprising:
a frame; a supporting member adapted for supporting at least a portion of said object, said supporting member being operatively connected to the frame; a plurality of elastic fluid actuated devices for displacing the supporting member with respect to the frame, each of said elastic fluid actuated devices having a first end connected to the frame, a second end connected to the supporting member and a deformable hollow body mounted in a prestretched configuration between said first end and said second end, each of said elastic fluid actuated devices being actuatable between a first state wherein the elastic fluid actuated device has a first length and a second state wherein the device has a second length longer than the first length and wherein the first length is a deflated position and the second length is an inflated position, said elastic fluid actuated devices each acting as a compliant elastic element and said plurality of elastic fluid actuated devices defining an overconstrained system, wherein the plurality of elastic fluid actuated devices is adapted to enable an elastically averaged positioning of the supporting member; and an actuation mechanism comprising a plurality of actuating valves, each being respectively operatively connected to a corresponding elastic fluid actuated device for actuating said corresponding elastic fluid actuated device between said first state and said second state; wherein an actuation of at least one of said elastic fluid actuated devices by said actuation mechanism enables to displace the supporting member with respect to the frame to achieve an equilibrium position for said supporting member which minimizes a potential conservation energy of said device, said equilibrium position being defined by said states of said elastic fluid actuated devices in said overconstrained system, thereby orienting said object according to said given spatial orientation.