Extensible Continuum Manipulator Subsegment Coupling
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Solution Overview
Problem
Existing continuum manipulators face limitations in achieving extensive spatial bending and extension mobility, particularly in applications requiring minimally invasive surgery or tube inspection, where base motion may be limited or impossible.
Innovation Solution
The extensible continuum manipulator (ECM) employs a rigid coupling hybrid mechanism (RCHM) and a flexible parallel mechanism to achieve additional motions and degrees-of-freedom, enabling tail-like spatial bending and worm-like extension simultaneously.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If traditional deformable materials and tendon-driven actuation are used, then passive compliance is achieved, but extension mobility and workspace are limited
Solution Approach 1:
The manipulator is divided into multiple subsegments (at least two) that can be independently actuated and connected through coupling mechanisms. Each subsegment contains its own actuation system, allowing independent control and propagation of motion along the manipulator body, thereby achieving extension mobility without excessive overall complexity
Solution Approach 2:
The patent employs nested structures where subsegments are connected in series, with each subsegment containing internal actuation mechanisms (tendons, rods, or flexible elements) nested within the manipulator body. The coupling mechanisms nest between subsegments, allowing compact packaging while maintaining extension capability
2Adaptability or versatility
If base motion is limited or impossible, then minimally invasive surgery or tube inspection applications are enabled, but spatial bending and extension mobility are constrained
Solution Approach 1:
The manipulator employs dynamic actuation where each subsegment can be independently controlled to change its configuration in real-time. The coupling mechanisms dynamically propagate motion from proximal to distal subsegments, allowing the manipulator to adapt its shape and extend autonomously without requiring base motion, thereby achieving high spatial bending capability and ease of operation in constrained environments
3Adaptability or versatility
If additional motions and degrees-of-freedom are achieved, then dexterous manipulation is enhanced, but device complexity increases
Solution Approach 1:
The coupling mechanisms serve multiple functions: they connect adjacent subsegments, propagate actuation forces from proximal to distal segments, enable relative motion between subsegments, and provide structural support. This multi-functionality allows the manipulator to achieve additional motions and degrees-of-freedom while minimizing the addition of separate components, thereby enhancing dexterous manipulation without proportionally increasing device complexity
Data Source
AI summary
Various embodiments for a continuum manipulator are described for use in robotic surgical systems or other desired applications. The continuum manipulator includes an extensible continuum manipulator (ECM) body comprising a plurality of subsegments serially connected to one another. Adjacent ones of the subsegments are coupled by rack-and-pinion transmission sets that are configured to propagate subsegment motion to downstream ones of the subsegments. A multi-chain flexible parallel mechanism is provided in each of the subsegments that is configured to generate a desired spatial bending and extension mobility for each of the subsegments.