Back to results
US 12,575,900 B2Granted
Steerable eversion robot system and method of operating the steerable eversion robot system
AssigneeKing's College London
InventorsPierre Berthet-Rayne, Christos Bergeles
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to an eversion robot system and a method of operating an eversion robot system. In particular, it relates to a steerable eversion robot having a steering structure disposed in its lumen, wherein the steering structure is configured to control a direction of growth of the eversion robot. The eversion robot system of the present invention avoids drag to the surrounding environment while still comprising a mechanism for controlling the direction of growth of the eversion robot for navigating a complex environment.
Claims15
An eversion robot system comprising:
- a first tubular structure having a lumen, the first tubular structure arranged to evert and extend at its distal tip;
- a pressurisation unit arranged to apply a pressure to the first tubular structure;
- a control structure operable to control the eversion and extension of the first tubular structure;
- a steering structure operable to navigate the said lumen, wherein the steering structure is configured to control a direction of extension of the first tubular structure;
- and,
- a duty cycle controller configured to coordinate pressurisation of the first tubular structure and eversion and translation of the control structure such that eversion of the first tubular structure occurs only during simultaneous forward motion of the control structure and pressurisation of the first tubular structure;
- wherein a distal end of the first tubular structure is connected to the pressurisation unit and a proximal end of the first tubular structure is connected to the control structure, and
- wherein the control structure is configured to enable the insertion of the steering structure into the lumen of the first tubular structure.
5 more elements
A method of operating an eversion robot system, the method comprising:
- applying a pressure at a predetermined level to a first tubular structure, the first tubular structure being configured to evert at its tip and extend;
- moving a control structure in a first direction along a horizontal axis, wherein the control structure is connected to the first tubular structure, wherein the control structure is operable to control the eversion and extension of the first tubular structure and wherein a duty cycle controller configured to coordinate pressurisation of the first tubular structure and eversion and translation of the control structure such that eversion of the first tubular structure occurs only during simultaneous forward motion of the control structure and pressurisation of the first tubular structure;
- moving a steering structure in the first direction along the horizontal axis at approximately the same time as the control structure, wherein the steering structure is operable to navigate a lumen of the first tubular structure and wherein the steering structure is configured to control a direction of extension of the first tubular structure;
- reducing the pressure applied on the first tubular structure;
- and
- moving the steering structure in a second direction along the horizontal axis, wherein the second direction is opposite to the first direction.
3 more elements
A non-transitory computer-readable medium storing a program causing a computer to operate an eversion robot system, the program comprising instructions to:
- apply a pressure at a predetermined level on a first tubular structure, the first tubular structure being configured to evert at its tip and extend;
- move a control structure in a first direction along a horizontal axis, wherein the control structure is connected to the first tubular structure, wherein the control structure is operable to control the eversion and extension of the first tubular structure and wherein a duty cycle controller configured to coordinate pressurisation of the first tubular structure and eversion and translation of the control structure such that eversion of the first tubular structure occurs only during simultaneous forward motion of the control structure and pressurisation of the first tubular structure;
- move a steering structure in the first direction along the horizontal axis at approximately the same time as the control structure, wherein the steering structure is operable to navigate a lumen of the first tubular structure and wherein the steering structure is configured to control a direction of extension of the first tubular structure;
- reduce the pressure applied on the first tubular structure;
- and
- move the steering structure in a second direction along the horizontal axis, wherein the second direction is opposite to the first direction.
3 more elements
Dependencies are inferred from the claim text.