Insertion tool

Abstract

A feed mechanism for inserting and/or retracting a flexible robotic arm from an area, the feed mechanism including a housing, a passageway extending about a central longitudinal axis through the length thereof, a drive portion and rotational portion, the drive portion not being fixedly connected within the housing and having at least a pair of drive wheels coupled to a drive motor, the drive wheels are connected to a mounting frame with the mounting frame being connected to pivotable linkages with at least one of the linkages being connected to a spring, such that the expansion or contraction of the spring allows the drive wheels to move relative to the longitudinal axis, and the rotational portion being coupled to a motor, the rotational motor having a gear system that connects to the drive portion and causes a rotation of the drive portion about the central longitudinal axis within the housing.

Dependencies are inferred from the claim text.