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WO2009048796A3 - System for managing bowden cables in articulating instruments - Google Patents

System for managing bowden cables in articulating instruments

Info

Publication number
WO2009048796A3
WO2009048796A3 PCT/US2008/078662 US2008078662W WO2009048796A3 WO 2009048796 A3 WO2009048796 A3 WO 2009048796A3 US 2008078662 W US2008078662 W US 2008078662W WO 2009048796 A3 WO2009048796 A3 WO 2009048796A3
Authority
WO
Grant status
Application
Patent type
Prior art keywords
articulating
coil
bowden
pipes
cables
Prior art date
Application number
PCT/US2008/078662
Other languages
French (fr)
Other versions
WO2009048796A2 (en )
Inventor
Bruce Woodley
Josh Oen
Aaron Brown
Chris Julian
Keith P Laby
Wade Keller
Lawrence Kerver
Marc Kreidler
Scott Reiner
Katherine Whitin
Original Assignee
Neoguide Systems Inc
Bruce Woodley
Josh Oen
Aaron Brown
Chris Julian
Keith P Laby
Wade Keller
Lawrence Kerver
Marc Kreidler
Scott Reiner
Katherine Whitin
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065Snake robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005Flexible endoscopes
    • A61B1/0051Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052Constructional details of control elements, e.g. handles
    • A61B1/0053Constructional details of control elements, e.g. handles using distributed actuators, e.g. artificial muscles
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005Flexible endoscopes
    • A61B1/0051Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055Constructional details of insertion parts, e.g. vertebral elements
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005Flexible endoscopes
    • A61B1/0051Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057Constructional details of force transmission elements, e.g. control wires
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/06Arms flexible
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16CSHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • F16C1/10Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"
    • F16C1/106Plurality of transmitting means, e.g. two or more parallel "Bowden cables"
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B23/00Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476Non-optical details, e.g. housings, mountings, supports

Abstract

The present invention relates, generally, to the reduction or elimination of permanent and catastrophic herniations in Bowden cables or coil pipes in articulating devices or snake-like robots. More particularly, the present invention relates managing the coil pipes in a spiral pattern along the articulating device or snake-like robot to reduce or eliminate the necessity of the Bowden cables or coil pipes to slide along the length of the articulating device or snake-like robot. Reduction or elimination of the necessity for the Bowden cables or coil pipes to slide reduces or eliminates catastrophic herniations in articulating devices or snake-like robots undergoing one or more articulations.
PCT/US2008/078662 2007-10-11 2008-10-03 System for managing bowden cables in articulating instruments WO2009048796A3 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US11871104 US9220398B2 (en) 2007-10-11 2007-10-11 System for managing Bowden cables in articulating instruments
US11/871,104 2007-10-11

Publications (2)

Publication Number Publication Date
WO2009048796A2 true WO2009048796A2 (en) 2009-04-16
WO2009048796A3 true true WO2009048796A3 (en) 2009-06-04

Family

ID=40010473

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/078662 WO2009048796A3 (en) 2007-10-11 2008-10-03 System for managing bowden cables in articulating instruments

Country Status (2)

Country Link
US (2) US9220398B2 (en)
WO (1) WO2009048796A3 (en)

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US20160151908A1 (en) 2016-06-02 application

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