Asghar Ataollahi,Kaspar Althoefer,Tobias Richard Schaeffter,Kawaldeep Rhode
申请号：
US14236797
公开号：
US09675781B2
申请日:
2012.08.01
申请国别(地区):
US
年份:
2017
代理人:
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.
