Electrically activated multi-jointed manipulator

Details Electrically activated multi-jointed manipulator Electrically activated multi-jointed manipulator

1993-07-28

1996-09-17

Apley, Richard J.

Surgery

Endoscope

Having flexible tube structure

600142, 604 95, A61B 101

Patent

active

055563708

ABSTRACT:
An endoscope comprising a plurality of concatenated joints, each actuated by a negative coefficient of expansion material such as Ti Ni, is capable of performing highly dexterous maneuvers in three dimensions without built in torsional stiffness, and thereby minimizes invasive trauma. The Ti Ni actuators are coiled around the body of opposing joint halves and are capable of maximizing large angular motion while making the joint dimensions as compact as possible. The actuators also operate with low current and thereby minimize heat dissipation.

REFERENCES:
patent: 4601283 (1986-07-01), Chikama
patent: 4790624 (1988-12-01), Van Hoye et al.
patent: 4977886 (1990-12-01), Takehana et al.
Ikuta, Koji, et al. "SMA Selvo Activator System . . . " Proc. of IEEE Internat'l Conf on Robotics, 1988.

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