Steerable endoscope with continuum manipulator
US11793394B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Dec 1, 2017 |
| Grant date | Oct 24, 2023 |
| Priority date | — |
| Expiry date | Nov 24, 2039 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61M2025/0085
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A steerable endoscope system includes a continuum manipulator, a plurality of syringes, and a steerable tip. The continuum manipulator includes a plurality of spaced discs and a plurality of backbones each extending through all discs. A bending movement of the continuum manipulator changes a varying linear displacement of each backbone. Each backbone is further coupled to a different one of the syringes such that the linear displacement of each backbone pushes or pulls a piston of the corresponding syringe by a varying amount. The steerable tip includes a plurality of bellows each pneumatically coupled to a different syringe such that movement of the piston of a syringe causes the corresponding bellow to inflate or deflate. Because the distal end of each bellow is fixedly coupled to the same end effector, variations in the amount of inflation or deflation on each bellow causes a bending of the steerable tip.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.