Steerable, follow the leader device

US9011318B2 · kind B2 · utility

Assignee

• Carnegie Mellon University and University of Pittsburgh—Of the Commonwealth System of Higher Education · US

Inventors

• Howard Choset · Pittsburgh, US
• Alon Wolf · Haifa, IL
• Marco Zenati · Belmont, US

Key dates

• Filing date: Jun 24, 2005
• Grant date: Apr 21, 2015
• Expiry date: May 19, 2029

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/508
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

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.