Snaking robotic arm with movable shapers

摘要

Presented is a method and apparatus comprising one or more robotic members which are curvaceous or snake-like; having movable shapers through which may pass an articulable column having successive joints formed of alternating ball and socket members. The shapers can be directed up and down the articulable column, to create virtually any radius of curvature, in any direction. The robotic member may also include discrete microelectronic mechanical devices (MEMS) shapers with embedded addressable controllers. Thus the device, with computerized control is capable of negotiating a tortuous path to access the site of a given operation and to retreat along the same path, without injury to the body in which the arm is directed. Once at the work site, the articulating columns, or parts of them, may be put in compression, causing them to become rigid.

主权项

1. A controllable robotic arm, comprising:
(a) an articulable column comprised of:
(i) a plurality of segments connected together end-to-end, wherein each segment defines a longitudinal axis and has a first end and a second end spaced apart from one another along said axis;(ii) a plurality of joints between said segments, wherein each joint is located between a first end of one segment and the second end of an adjacent segment, and wherein each joint is movable so as to permit variation in the axial alignment of an adjacent pair of segments;wherein said articulable column is transformable from a low energy state in which said joints are freely movable so as to produce bending in said column, and a high energy state in which at least one of said joints is compressed so as to constrain its movement and thereby increase rigidity in the column along at least part of its length; (b) at least one compression element which acts on said articulable column so as to produce compression in at least one of said joints and thereby transform said articulable column from said low energy state to said high energy state; (c) at least one shaping element, each of which extends along at least a portion of the articulable column and, when in position for actuation, extends along at least one of said joints; wherein each of said shaping elements is flexible and bends when actuated so as to produce bending movement of said joint; (d) a compression control mechanism for controlling rigidity of said articulable column, wherein said compression control mechanism selectively actuates one or more of said compression elements so as to reversibly and controllably produce compression in at least one of said joints; and (e) a shape control mechanism for controlling shape of said articulable column, wherein said shape control mechanism selectively actuates one or more of said shaping elements so as to reversibly and controllably produce movement in at least one of said joints.