Endoscope robot having joint structure with high curvature
US9526582B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 29, 2014 |
| Grant date | Dec 27, 2016 |
| Priority date | — |
| Expiry date | Apr 21, 2035 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/306
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.