Title:
連続体マニピュレータ
Document Type and Number:
Japanese Patent JP2014521454
Kind Code:
A
Abstract:
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.
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Inventors:
アタオラッヒ, Asghar
A オルソ fur, Kaspar
Shefter, Tobias Richard
loading and Kauar -- deep
A オルソ fur, Kaspar
Shefter, Tobias Richard
loading and Kauar -- deep
Application Number:
JP2014523390A
Publication Date:
August 28, 2014
Filing Date:
August 01, 2012
Export Citation:
Assignee:
Kings College London KINGS COLLEGE LONDON
International Classes:
A61M25/14; A61M25/092
Domestic Patent References:
| JP2007502198A | 2007-02-08 | |||
| JPH08141971A | 1996-06-04 | |||
| JPH05184526A | 1993-07-27 | |||
| JPS53105493U | 1978-08-24 | |||
| JP2007236976A | 2007-09-20 |
Attorney, Agent or Firm:
Yoshiyuki Kawaguchi
佐貫 Shin-ichi
Takeshi Niwa
Takehiko Sekine
佐貫 Shin-ichi
Takeshi Niwa
Takehiko Sekine