Steerable multi-linked device having multiple working ports

Patent metadata

Field	Value
Publication number	US-9386911-B2
Application number	US-201213670797-A
Country	US
Kind code	B2
Filing date	Nov 7, 2012
Priority date	Aug 14, 2006
Publication date	Jul 12, 2016
Grant date	Jul 12, 2016

Abstract

A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. The first mechanism defines a first plurality of grooves. The second mechanism defines a second plurality of grooves. The first and second pluralities of grooves cooperate to define at least two working ports along a length of the device. At least one of the first and second mechanisms are steerable.

First claim

What is claimed is:

1. A steerable multi-linked device, comprising:
a first multi-linked mechanism, wherein the first multi-linked mechanism comprises a first plurality of grooves; and
a second multi-linked mechanism, wherein the second multi-linked mechanism comprises a second plurality of grooves,
wherein the first and second pluralities of grooves cooperate to define at least two working ports along a length of the device,
wherein one of the first multi-linked mechanism and the second multi-linked mechanism is configured to operate in a rigid mode while the other of the first multi-linked mechanism and the second multi-linked mechanism is configured to operate in a limp mode.

2. The steerable multi-linked device of claim 1 , wherein the second multi-linked mechanism is configured to surround at least a portion of the first multi-linked mechanism.

3. The steerable multi-linked device of claim 1 , wherein the first multi-linked mechanism comprises a passage that extends from a first end of the first multi-linked mechanism toward a second end of the first multi-linked mechanism.

4. The steerable multi-linked device of claim 1 , wherein the second multi-linked mechanism further comprises a plurality of through-holes that each extend along a length of the second multi-linked mechanism.

5. The steerable multi-linked device of claim 4 , further comprising a plurality of cables, wherein each cable is configured to be surrounded by at least one of the through-holes.

6. The steerable multi-linked device of claim 1 , wherein the first multi-linked mechanism comprises:
a first link;
a plurality of intermediate links, wherein one of the intermediate links is movably coupled to the first link; and
a second link movably coupled to another of the intermediate links.

7. The steerable multi-linked device of claim 6 , wherein the first link defines a passage extending from a first end of the first link to a second end of the first link.

8. The steerable multi-linked device of claim 6 , wherein at least one of the intermediate links defines a passage extending from a first end of the intermediate link to a second end of the intermediate link.

9. The steerable multi-linked device of claim 6 , wherein the second link defines a passage extending from a first end of the second link to a second end of the second link.

10. A steerable multi-linked device, comprising:
a first multi-linked mechanism comprising a plurality of first links; and
a second multi-linked mechanism comprising a plurality of second links,
wherein the second multi-linked mechanism is configured to surround at least a portion of the first multi-linked mechanism,
wherein the second multi-linked mechanism is configured to operate in a rigid mode while the first multi-linked mechanism is configured to operate in a limp mode and advance beyond the second multi-linked mechanism.

11. The steerable multi-linked device of claim 10 , wherein the first multi-linked mechanism comprises a passage that extends from a first end of the first multi-linked mechanism toward a second end of the first multi-linked mechanism.

12. The steerable multi-linked device of claim 11 , wherein the second multi-linked mechanism further comprises a plurality of through-holes that each extend along a length of the second multi-linked mechanism.

13. The steerable multi-linked device of claim 12 , further comprising a plurality of cables, wherein each cable is configured to be surrounded by at least one of the through-holes.

14. The steerable multi-linked device of claim 11 , wherein the first multi-linked mechanism comprises:
a first link;
a plurality of intermediate links, wherein one of the intermediate links is movably coupled to the first link; and
a second link movably coupled to another of the intermediate links.

15. The steerable multi-linked device of claim 14 , wherein the first link defines a passage extending from a first end of the first link to a second end of the first link.

16. The steerable multi-linked device of claim 14 , wherein at least one of the intermediate links defines a passage extending from a first end of the intermediate link to a second end of the intermediate link.

17. The steerable multi-linked device of claim 14 , wherein the second link defines a passage extending from a first end of the second link to a second end of the second link.

18. The steerable-multi-linked device of claim 10 , wherein the first multi-linked mechanism is configured to operate in a rigid mode while the second multi-linked mechanism is configured to operate in a limp mode and advance over and beyond the first multi-linked mechanism.

Assignees

• Univ Carnegie Mellon

Inventors

• Zubiate Brett
• Degani Amir
• Choset Howie

Classifications

• G02B23/2476

  Non-optical details, e.g. housings, mountings, supports · CPC title

• A61B1/008

  Articulations · CPC title

• Y10T74/20305

  Robotic arm · CPC title

• A61B1/018 Primary

  for receiving instruments · CPC title

• A61B1/00073

  with externally grooved shaft · CPC title