Steerable, follow the leader device

摘要

A highly articulated robotic probe (HARP) is comprised of a first mechanism and a second mechanism, one or both of which can be steered in desired directions. Each mechanism can alternate between being rigid and limp. In limp mode the mechanism is highly flexible. When one mechanism is limp, the other is rigid. The limp mechanism is then pushed or pulled along the rigid mechanism. The limp mechanism is made rigid, thereby assuming the shape of the rigid mechanism. The rigid mechanism is made limp and the process repeats. These innovations allow the device to drive anywhere in three dimensions. The device can “remember” its previous configurations, and can go anywhere in a body or other structure (e.g. jet engine). When used in medical applications, once the device arrives at a desired location, the inner core mechanism can be removed and another functional device such as a scalpel, clamp or other tool slid through the rigid sleeve to perform. Because of the rules governing abstracts, this abstract should not be used to construe the claims.

主权项

1. An articulated probe, comprising:
a first mechanism comprised of a plurality of links; a second mechanism comprised of a plurality of links; a first wire extending through either said plurality of links of said first mechanism or said plurality of links of said second mechanism and a plurality of wires running through the other of said plurality of links of said first mechanism or said plurality of links of said second mechanism; a device for producing command signals; and an electromechanical feeder responsive to said command signals, said electromechanical feeder comprising: a first linearly movable cart, one of said first mechanism or said second mechanism being responsive to said first cart; a second linearly moveable cart, the other of said first mechanism or said second mechanism being responsive to said second cart; wherein said first cart can be advanced when said first mechanism being responsive to said first cart is in a limp state and said second mechanism being responsive to said second cart is in a rigid state; a first actuator for controlling the position of said first cart; a second actuator for controlling the position of said second cart; a first tension mechanism for controlling the tension of said first wire, said first tension mechanism carried by said first cart; and a plurality of tension mechanisms for controlling the tension of said plurality of wires, said plurality of tension mechanisms carried by said second cart, wherein each tension mechanism controls the tension of one of the wires, wherein said first tension mechanism, said plurality of tension mechanisms, said first actuator and said second actuator each comprises a motor.