Integrated robotic intraocular snake
AssigneeThe Johns Hopkins University
InventorsIulian I. Iordachita, Makoto Jinno
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Abstract
A dexterous manipulation device is provided that includes disc element and actuation wires. In preferred systems, the disc elements each have a curved top surface and a corresponding curved bottom surface. The actuation wires are threaded through apertures of each disc element. In certain aspects, the disc elements are stacked alternating with the curved top and bottom surfaces of adjacent disc elements forming a rolling joint. In preferred systems, the device has a total of 45 degrees of bending motion with two degrees of freedom.
Claims21
A dexterous manipulation device, comprising:
- a plurality of disc elements, each having a curved top surface and a corresponding curved bottom surface;
- and
- actuation wires threaded through apertures of each disc element,
- wherein the disc elements are stacked alternating with the curved top and bottom surfaces of adjacent disc elements forming a rolling joint, and
- wherein the dexterous manipulation device has a total of 45 degrees of bending motion with two degrees of freedom.
A surgical system, comprising:
- a dexterous manipulation device including at least one bending portion actuated by wires;
- and
- a drive mechanism mounted at a right angle relative to an actuation direction of the dexterous manipulation device.
A dexterous manipulation device, comprising:
- a plurality of disc elements, each having a partially curved top surface and a partially curved bottom surface corresponding to the curved top surface;
- and
- actuation wires threaded through apertures of each disc element,
- wherein the disc elements are stacked alternating with the curved top and bottom surfaces of adjacent disc elements forming a rolling joint,
- wherein the dexterous manipulation device has a total of 45 degrees of bending motion with two degrees of freedom.
21-22. (canceled)
Dependencies are inferred from the claim text.