Tube insertion device having end effector capable of changing direction
US9901370B2 · kind B2 · utility
2Cited by
1References
11Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Oct 2, 2013 |
| Grant date | Feb 27, 2018 |
| Priority date | — |
| Expiry date | Dec 4, 2036 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/301
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A tube insertion device which inserts a tube into a line path to perform an operation has an elongated hollow tube, an end effector connected to a front end of the tube such that the direction of the end effector is changed with respect to the tube, a plurality of wires connected to the end effector and extended into the tube and a tension controller controlling tensions of the plurality of wires. The tension controller controls tensions of a pair of wires facing each other in the opposite directions, in order to change the direction of the end effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.