Multi-degree of freedom manipulator

Details Multi-degree of freedom manipulator Multi-degree of freedom manipulator

1995-02-28

1997-04-29

Apley, Richard J.

Surgery

Endoscope

Having flexible tube structure

600151, 600141, A61B 1008

Patent

active

056243804

ABSTRACT:
A multi-degree-of-freedom manipulator includes a flexible tube having a plurality of flex portions provided therealong, a plurality of actuators made of shape memory alloy and respectively provided near the flex portions to correspond to the flex portions, for flexing the flex portions, two common energy transmission paths, extending along the flexible tube, for transmitting an energy to the actuators, and selective energy supply members, provided between the common energy transmission paths and the actuators in series, for controlling the energy supplied from the common energy transmission path to the actuators, thereby respectively independently driving the actuators to bend the flexible tube.

REFERENCES:
patent: 4298260 (1981-11-01), Takayama
patent: 4884557 (1989-12-01), Takehana et al.
patent: 4930494 (1990-06-01), Takehana et al.
patent: 5060632 (1991-10-01), Hibno et al.
patent: 5235964 (1993-08-01), Abenaim
patent: 5289043 (1994-02-01), Marshall et al.

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