Tube insertion device having end effector capable of changing direction
AssigneeKorea Institute of Science and Technology
InventorsKeri Kim, Sung Chul Kang, Soojun Lee, Woosub Lee, Sangmyung Kim, Suhyeon Gim
Life of this patent
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Abstract
A tube insertion device which inserts a tube into a line path to perform an operation has an elongated hollow tube, an end effector connected to a front end of the tube such that the direction of the end effector is changed with respect to the tube, a plurality of wires connected to the end effector and extended into the tube and a tension controller controlling tensions of the plurality of wires. The tension controller controls tensions of a pair of wires facing each other in the opposite directions, in order to change the direction of the end effector.
Claims12
A tube insertion device which inserts a tube into a line path to perform an operation, comprising:
- an elongated hollow tube;
- an end effector connected to a front end of the tube such that the direction of the end effector is changed with respect to the tube;
- a plurality of wires connected to the end effector and extended into the tube;
- and
- a tension controller controlling tensions of the plurality of wires,
- wherein the tension controller controls tensions of a pair of wires facing each other in the opposite directions, in order to change the direction of the end effector.
Dependencies are inferred from the claim text.