US 12,564,938 B2 · Apparatus of continuum robot

Abstract

A wire-driven manipulator including a driver, a first deforming section including a first distal member, a plurality of first guide members, and a plurality of first wires, and a second deforming section provided between the first deforming section and the driver with the second deforming section including a second distal member, a plurality of second guide members, and a plurality of second wires. The plurality of first wires are fixed to the first distal member, and at least one of the plurality of first wires is further fixed to the plurality of first guide members and other wires of the plurality of the first wires are slidable with respect to the plurality of first guide members. The plurality of second wires are fixed to the second distal member, and at least one of the plurality of second wires is further fixed to the plurality of second guide members and the other wires of the plurality of the first wires are slidable with respect to the plurality of second guide members. In addition, the length of the first deforming section is shorter than the length of the second deforming section.

Claims9

Dependent claims

A continuum robot control apparatus, comprising:

a continuum robot including a distal bending section and a follower bending section, the distal bending section and the follower bending section driven by wires independently;
a base with the continuum robot mounted thereon;
a controller configured to:
control a movement amount of the base in a longitudinal direction;
control a wire driving amount, applied to the follower bending section, based on the displacement of the base;
and
determine the wire driving amount to be applied to the follower bending section,
wherein the follower bending section has a length longer than that of the distal bending section, and
wherein the controller controls to drive the wire so that the follower bending section is bent to a predetermined bending angle during a period after the controller drives the wire so that the distal bending section is bent to the predetermined bending angle and before advancement of the base by a second advancement amount smaller than a first advancement amount corresponding to the length of the follower bending section is finished.

6 more elements

A control method for a continuum robot control apparatus including:

a continuum robot including a distal bending section and a follower bending section, the distal bending section and the follower bending section driven by wires independently;
a base with the continuum robot mounted thereon;
a controller configured to:
control a movement amount of the base in a longitudinal direction;
control a wire driving amount, applied to the follower bending section, based on a displacement of the base;
and
determine the wire driving amount to be applied to the follower bending section,
wherein the follower bending section has a length longer than that of the distal bending section, the control method comprising:
integrally advancing the distal bending section, the follower bending section and the base;
and
controlling to drive the wire so that the follower bending section is bent to a predetermined bending angle during a period after the controller drives the wire so that the distal bending section is bent to the predetermined bending angle and before advancement of the base by a second advancement amount smaller than a first advancement amount corresponding to the length of the follower bending section in the advancing is finished.

8 more elements

Dependencies are inferred from the claim text.

Apparatus of continuum robot

Life of this patent

Apparatus of continuum robot

Life of this patent

Abstract

Claims9