Endoscope robot having joint structure with high curvature
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United States of America Patent
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Dec 27, 2016
Grant Date -
Aug 13, 2015
app pub date -
Apr 29, 2014
filing date -
Feb 10, 2014
priority date (Note) -
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status (Latency Note)
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Abstract
An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.
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