公开(公告)号：US20160151908A1

公开(公告)日：2016-06-02

申请号：US14958520

申请日：2015-12-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Robert Woodley ,  Joshua Oen ,  Aaron W. Brown ,  Christopher A. Julian ,  Keith P. Laby ,  Wade A. Keller ,  Lawrence Kerver ,  Marc S. Kriedler ,  Scott J. Reiner ,  Katherine Whitin

IPC: B25J9/06 ,  B25J18/06 ,  A61B1/005 ,  F16C1/10

CPC classification number: B25J9/065 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  B25J18/06 ,  F16C1/106 ,  G02B23/2476

Abstract: A steerable device may comprise an elongate, flexible body comprising a plurality of articulatable segments along at least part of a length of the body, a plurality of coil pipes extending in a spiral configuration along the articulatable segments, a plurality of tendons respectively received within the plurality of coil pipes, and an actuator coupled to the plurality of tendons, the actuator being configured to apply an actuation force to the tendons to selectively actuate articulation of the articulatable segments.

Abstract translation: 可操纵装置可以包括细长的柔性主体，其沿主体的长度的至少一部分包括多个可铰接部分，多个线圈管沿着可铰接部分沿螺旋形构造，多个筋分别容纳在该内部 多个线圈管和联接到所述多个腱的致动器，所述致动器被配置为向所述腱施加致动力以选择性地致动所述可铰接节段的关节。