# US 11,992,929 B2 · Developable and collapsible shaft deployment mechanism > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,929 B2 - Document ID: US11992929B2 - Status: Granted - Kind: B2 - Application number: 17/277,026 - Filed: 2019-09-18 - Published: 2022-02-03 - Granted: 2024-05-28 - Earliest claimed: 2018-09-18 - Assignees: Brigham Young University - Applicants: Brigham Young University - Inventors: Jacob Sheffield; Kendall Hal Seymour; Lance Hyatt; Scott Cunnington; Spencer Magleby; Larry L. Howell; Robert Lang - Web page: https://patentgrep.com/patent/US11992929B2 ## CPC - A61B 17/3439: {with means for changing the inner diameter of the cannula, e.g. expandable (A61B17/3423, A61B17/3431 take precedence; catheters A61M25/0662)} - B25G 1/04: telescopic; extensible; sectional - A61B 10/04: Endoscopic instruments, e.g. catheter-type instruments - A61B 10/06: Biopsy forceps {, e.g. with cup-shaped jaws} - B25J 15/0061: {mounted on a modular gripping structure} - B25J 15/0066: {with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence)} - B25J 19/023: {including video camera means} - A61B 1/00131: {Accessories for endoscopes} - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 2017/2901: {Details of shaft} - A61B 2017/2939: {Details of linkages or pivot points} - A61B 2017/3445: {used as instrument channel for multiple instruments} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25G: HANDLES FOR HAND IMPLEMENTS (attaching the blades or the like to handles of hand tools for soil working A01B1/22; handles of hand implements for harvesting A01D1/14; handles integral with brushware A46B) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A hollow rod developable actuator tool including a first link comprising an outer cylinder, a deployment ring including second link comprising a first portion pivotably connected to the first link at a first joint mounted in a first cavity in the wall of the outer cylinder and a third link comprising a second tool portion pivotably connected to the first portion at a second link, and a fourth link comprising an inner cylinder to which the second portion of the deployment ring is also pivotably connected at a third link mounted in a second cavity in the wall of the inner cylinder. When the inner cylinder of the fourth link is rotated in relation to the outer cylinder of the first link the actuator tool transitions from a first state where the deployment ring is stowed within the tool to a second state where the deployment ring is deployed externally. ## Claims ### Claim 1 A hollow rod developable actuator tool, the tool comprising: a first link comprising an outer cylinder, the outer cylinder comprising: a first end having a first aperture; a second end having a second aperture, a first wall extending between the first end and second end defining an outer circumference of the hollow rod and a central passage therethrough from the first end to the second end; and a first cavity disposed in the first wall having a first joint mounted therein; a deployment ring comprising: a second link comprising a first portion of the deployment ring, the first portion comprising: a first end pivotably coupled to the first wall of the first link at the first joint; a second end having a second joint; and a body extending between first end and second end; and a third link comprising a second portion of the deployment ring, the second portion comprising: a first end pivotably coupled to the body of the second link at the second joint; a second end pivotably connected to a third joint; and a body extending between the first end and second end; and a fourth link comprising an inner cylinder disposed within the central passage of the outer cylinder of the first link, the inner cylinder comprising: a first end having a first aperture; a second end having a second aperture; a second wall extending between the first end and the second end defining an inner circumference of the hollow rod and a central passage therethrough from the first end to the second end; and a second cavity in the second wall having the third joint pivotably coupled to the body of the third link; wherein, when the inner cylinder of the fourth link is rotated in relation to the outer cylinder of the first link in such a way that moves the first joint and third joint away from each other along the perimeter of the tool, the tool transitions from a first state wherein the deployment ring is within the first cavity and the second cavity of the respective first wall and second wall to a second state where the deployment ring extends outside the outer circumference of the tool. ### Claim 2 (depends on 1) The hollow rod developable actuator tool of claim 1, wherein a device is attached to the deployment ring. ### Claim 3 (depends on 2) The hollow rod developable actuator tool of claim 2, wherein a mount is provided for attaching the device to the deployment ring. ### Claim 4 (depends on 1) The hollow rod developable actuator tool of claim 1, wherein at least one of the body of the second link and the body of the third link are curved to match the curvature of the first link making the second link and third link flush with the outer circumference when the actuator tool is in the first state. ### Claim 5 (depends on 1) The hollow rod developable actuator tool of claim 1, wherein the first cavity and the second cavity are located in proximity to the second end of the first link and the second end of the fourth link. ### Claim 6 (depends on 1) The hollow rod developable actuator tool of claim 1, wherein the second joint connecting the second link and third link of the deployment ring is a compliant segment. ### Claim 7 (depends on 1) The hollow rod developable actuator tool of claim 1, wherein the first joint and third joint are compliant segments. ### Claim 8 (depends on 1) The hollow rod developable actuator tool of claim 1 further comprising a second deployment ring, the second deployment ring comprising: a fifth link comprising a first portion of the second deployment ring, the first portion comprising: a first end pivotably coupled to the first wall of the first link at a fourth joint in a third cavity in the first link; a second end having a fifth joint; a body extending between first end and second end; a sixth link comprising a second portion of the deployment ring, the second portion comprising: a first end pivotably coupled to the body of the fifth link at the fifth joint; a second end pivotably connected to the second wall of the fourth link at a sixth joint in a fourth cavity in the fourth link; and a body extending between the first end and second end; wherein, when the inner cylinder of the fourth link is rotated in relation to the outer cylinder of the first link in such a way that moves the fourth joint and sixth joint away from each other along the perimeter of the hollow rod, the actuator tool transitions from a first state wherein the second deployment ring is within the first cavity and the second cavity of the respective first wall and second wall to a second state where the second deployment ring extends outside the outer circumference of the hollow rod. ### Claim 9 (depends on 8) The hollow rod developable actuator tool of claim 8, wherein a device is attached to the second deployment ring. ### Claim 10 (depends on 9) The hollow rod developable actuator tool of claim 9, wherein a mount is provided for attaching the device to the second deployment ring. ### Claim 11 (depends on 8) The hollow rod developable actuator tool of claim 8, wherein at least one of the body of the fifth link and the body of the sixth link are curved to match the curvature of the first link making the fifth link and sixth link flush with the outer circumference when the actuator tool is in the first state. ### Claim 12 (depends on 8) The hollow rod developable actuator tool of claim 8, wherein the fifth joint connecting the fifth link and sixth link of the second deployment ring is a compliant segment. ### Claim 13 (depends on 8) The hollow rod developable actuator tool of claim 8, wherein the fourth joint and sixth joint are compliant segments. ### Claim 14 A method of using a hollow rod developable actuator tool, the method comprising: Providing a hollow rod developable actuator tool, the tool comprising: a first link comprising an outer cylinder, the outer cylinder comprising: a first end having a first aperture; a second end having a second aperture, a first wall extending between the first end and second end defining an outer circumference of the hollow rod and a central passage therethrough from the first end to the second end; and a first cavity disposed in the first wall having a first joint mounted therein; a deployment ring comprising: a second link comprising a first portion of the deployment ring, the first portion comprising: a first end pivotably coupled to the first wall of the first link at the first joint; a second end having a second joint; and a body extending between first end and second end; a third link comprising a second portion of the deployment ring, the second portion comprising: a first end pivotably coupled to the body of the second link at the second joint; a second end pivotably connected to a third joint; and a body extending between the first end and second end; a fourth link comprising an inner cylinder disposed within the central passage of the outer cylinder of the first link, the inner cylinder comprising: a first end having a first aperture; a second end having a second aperture; a second wall extending between the first end and the second end defining an inner circumference of the hollow rod and a central passage therethrough from the first end to the second end; and a second cavity in the second wall having the third joint pivotably coupled to the body of the third link; wherein, when the inner cylinder of the fourth link is rotated in relation to the outer cylinder of the first link in such a way that moves the first joint and third joint away from each other along the perimeter of the tool, the actuator tool transitions from a first state wherein the deployment ring is within the first cavity and the second cavity of the respective first wall and second wall to a second state where the deployment ring extends outside the outer circumference of the tool; and actuating the tool by rotating the inner cylinder of the fourth link in relation to the outer cylinder of the first link in such a way that moves the first joint and third joint away from each other along the perimeter of the tool to transition the tool from a first state to the second state. ### Claim 15 (depends on 14) The method of claim 14, further comprising: rotating the inner cylinder of the fourth link in relation to the outer cylinder of the first link in such a way that moves the first joint and third joint toward each other along the perimeter of the tool to transition the tool from a second state to the first state.