Keri Kim,Sung Chul Kang,Woosub Lee,Sangmyung Kim,Soojun Lee
申请号：
US14264579
公开号：
US20150223895A1
申请日:
2014.04.29
申请国别(地区):
US
年份:
2015
代理人:
摘要：
An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.
