Methods of smoothly articulating medical devices having multi-cluster joints
US12167903B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 29, 2021 |
| Grant date | Dec 17, 2024 |
| Priority date | — |
| Expiry date | Jun 4, 2043 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/104
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
An articulating joint comprising a multi-cluster joint where every consecutive pair of links is interfaced by a gimbal, which offers rotation about two orthogonal axes within the same plane. Thus, the articulating joint comprises an alternating sequence of links and gimbals. Furthermore, there may be multiple cables attached to one or more of the links. As these cables are selectively pulled and released, one can achieve any desired articulation of the articulating joint. There may be a transmission member extending through the links and gimbals, parallel to the central longitudinal axis of the joint in its nominal non-articulated condition. This transmission member may be either a tension member that is pulled on (e.g. a cable or flexible pull rod) and that loads the articulating joint in compression, or the transmission member may be a flexible push rod that loads the articulating joint in tension.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.