Steerable multi-linked device having a modular link assembly
AssigneeCarnegie Mellon University
InventorsBrett Zubiate, Howard M. Choset, Amir Degani, Michael Schwerin
Life of this patent
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Abstract
A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base.
Claims69
A steerable multi-linked device, comprising:
- a first multi-linked mechanism;
- and
- a second multi-linked mechanism, wherein at least one of the first and second multi-linked mechanisms is steerable and comprises a modular link assembly at an end of at least one of the first and second multi-linked mechanisms, wherein the modular link assembly comprises:
- a base;
- and
- a tip removably connected to the base,
- wherein the base defines a plurality of through-holes substantially parallel to a longitudinal axis which passes through a center of a first end of the base and through a center of a second end of the base.
A steerable multi-linked device, comprising:
- a first multi-linked mechanism;
- and
- a second multi-linked mechanism, wherein at least one of the first and second multi-linked mechanisms is steerable and comprises a modular link assembly at an end of at least one of the first and second multi-linked mechanisms, wherein the modular link assembly comprises:
- a base;
- and
- a tip removably connected to the base,
- wherein the steerable multi-linked device defines at least two working ports along a length thereof, and wherein the base defines portions of the at least two working ports.
A steerable multi-linked device, comprising:
- a first multi-linked mechanism;
- and
- a second multi-linked mechanism, wherein at least one of the first and second multi-linked mechanisms is steerable and comprises a modular link assembly at an end of at least one of the first and second multi-linked mechanisms, wherein the modular link assembly comprises:
- a base;
- and
- a tip removably connected to the base,
- wherein the base defines a plurality of threads.
A steerable multi-linked device, comprising:
- a first multi-linked mechanism;
- and
- a second multi-linked mechanism, wherein at least one of the first and second multi-linked mechanisms is steerable and comprises a modular link assembly at an end of at least one of the first and second multi-linked mechanisms, wherein the modular link assembly comprises:
- a base;
- and
- a tip removably connected to the base,
- wherein the tip comprises a plurality of threads.
A steerable multi-linked device, comprising:
- a first multi-linked mechanism;
- and
- a second multi-linked mechanism, wherein at least one of the first and second multi-linked mechanisms is steerable and comprises a modular link assembly at an end of at least one of the first and second multi-linked mechanisms, wherein the modular link assembly comprises:
- a base;
- and
- a tip removably connected to the base,
- wherein the steerable multi-linked device defines at least two working ports along a length thereof, and wherein the base and the tip cooperate to define portions of the at least two working ports.
A steerable multi-linked device, comprising:
- a first multi-linked mechanism;
- and
- a second multi-linked mechanism, wherein at least one of the first and second multi-linked mechanisms is steerable and comprises a modular link assembly at an end of at least one of the first and second multi-linked mechanisms, wherein the modular link assembly comprises:
- a base,
- a tip removably connected to the base, and
- a printed circuit board positioned between the tip and the base.
Dependencies are inferred from the claim text.