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    CONTINUUM MANIPULATOR
    6.
    发明公开
    CONTINUUM MANIPULATOR 审中-公开
    连续机械手

    公开(公告)号：EP2739336A2

    公开(公告)日：2014-06-11

    申请号：EP12753559.9

    申请日：2012-08-01

    申请人： Kings College London

    发明人： ATAOLLAHI, Asghar ,  ALTHOEFER, Kaspar ,  SCHAEFFTER, Tobias Richard ,  RHODE, Kawaldeep

    IPC分类号： A61M25/01

    CPC分类号： A61M25/0138 ,  A61B1/00073 ,  A61B1/0056 ,  A61B1/0057 ,  A61B1/3132 ,  A61M25/0147

    摘要： Embodiments of the present invention provide a continuum manipulator that can be used, for example, as a steerable catheter tip. The manipulator of the embodiments comprises a plurality of segments arranged in a stack, which is then able to bend in a range of directions away from the long axis of the stack. In one embodiment the segments include a helical portion which winds in the direction of the long axis of the stack, and can thus bend away from the long axis in any direction. In some embodiments a carbon fiber rod is included as a backbone for the stack, to minimize hysteresis and improve repeatability of bending. In addition, in embodiments of the invention tendon control channels are provided formed within the segments, through which tendon control wires extend to apply compression and/or bending forces to the stack.