US6162171A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures
Assignee: Individual
•
Filing: 1998-12-07
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Granted: 2000-12-19
•
Expires: 2018-12-07
Abstract
Abstract A robotic endoscope for performing endoscopic procedures in a tubular organ comprising: (a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end; (b) a plurality of flexible linear actuators attached, skewed sideways with respect to the longitudinal axis of said robot, circumferentially round each segment; (c) a central cavity running longitudinally through said robotic endoscope which houses a plurality of optical fibres, a water/air hose, an instrumentation channel and a plurality of electrical wires associated with an imaging means being mounted at the distal end of the robotic endoscope; and (d) a network of tributary channels for the distribution of pressure to said linear actuators. The present invention is also applicable to an autonomous pipe robot.
Inventors
- 👤 Wan Sing Ng
- 👤 Soo Jay Louis Phee
- 👤 Choen Francis Seow
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 12:28
CPC Classifications
A; A61; A61B; A61B1/00; A61B1/00147; A61B1/00156; A61B1/005; A61B1/0051; A61B1/0055; A61B1/04; A61B1/05; A61B1/12
Claims Analysis
Total Claims: 22
Claim 1
Independent Claim
143 words
A robotic endoscope for performing endoscopic procedures in a tubular organ comprising: (a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end; (b) a plurality of flexible linear actuators attached circumferentially around each segment, each of said linear actuators including a portion that is extendible and retractable along a longitudinal axis of that linear actuator, wherein the longitudinal axis of each linear actuator is skewed sideways with respect to the longitudinal axis and diametrical axis of each respective segment; (c) a central cavity running longitudinally through said robotic endoscope which houses a plurality of optical fibers, a water/air hose, an instrumentation channel and a plurality of electrical wires associated with an imaging means being mounted at the distal end; and (d) a network of tributary channels for the distribution of pressure to said linear actuators.
Claim 2
Dependent Claim
143 words
A robotic endoscope for performing endoscopic procedures in a tubular organ comprising: (a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end; (b) a plurality of flexible linear actuators attached circumferentially around each segment, each of said linear actuators including a portion that is extendible and retractable along a longitudinal axis of that linear actuator, wherein the longitudinal axis of each linear actuator is skewed sideways with respect to the longitudinal axis and diametrical axis of each respective segment; (c) a central cavity running longitudinally through said robotic endoscope which houses a plurality of optical fibers, a water/air hose, an instrumentation channel and a plurality of electrical wires associated with an imaging means being mounted at the distal end; and (d) a network of tributary channels for the distribution of pressure to said linear actuators.
Claim 3
Dependent Claim
29 words
The robotic endoscope of claim 1, wherein said articulated joints connecting the segments possess three passive degrees of freedom to allow the robotic endoscope to conform to different curvatures.
Claim 4
Dependent Claim
15 words
The robotic endoscope of claim 1, wherein the plurality of linear actuators are rubber bellows.
Claim 5
Dependent Claim
16 words
The robotic endoscope of claim 1, wherein the linear actuators are driven by pneumatics or hydraulics.
Claim 6
Dependent Claim
33 words
The robotic endoscope of claim 1, further comprising a control means for implementing a plurality of gaits relating to speed, and ability to advance against gravity or ability of advance through difficult bends.
Claim 7
Dependent Claim
23 words
The robotic endoscope of claim 1, wherein the distal end of the segments is steered by lead wires connected to an electric motor.
Claim 8
Dependent Claim
27 words
The robotic endoscope of claim 1, wherein the distal end of the segments is steered by lead wires connected to a plurality of shape memory alloy wires.
Claim 9
Dependent Claim
18 words
The robotic endoscope of claim 1, wherein the linear actuators are padded at the tips of the bellows.
Claim 10
Dependent Claim
15 words
The robotic endoscope of claim 1, wherein tone imaging means is a charge couple camera.
Claim 11
Dependent Claim
11 words
The robotic endoscope of claim 1, wherein the segments are cylindrical.
Claim 12
Dependent Claim
112 words
An autonomous robot capable of advancing in pipes of small diameters comprising: (a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end; (b) a plurality of electrically (pneumatically or hydraulically) driven linear actuators attached circumferentially around each segment, each of said linear actuators including a portion that is extendible and retractable along a longitudinal axis of that linear actuator, wherein the longitudinal axis of each linear actuator is skewed sideways with respect to the longitudinal axis of each respective segment; (c) a central cavity running longitudinally through the robot which houses a power source, a control means, and a transmitter for an autonomous robot.
Claim 13
Dependent Claim
112 words
An autonomous robot capable of advancing in pipes of small diameters comprising: (a) a plurality of segments, connected together by a plurality of flexible articulated joints, having a distal end; (b) a plurality of electrically (pneumatically or hydraulically) driven linear actuators attached circumferentially around each segment, each of said linear actuators including a portion that is extendible and retractable along a longitudinal axis of that linear actuator, wherein the longitudinal axis of each linear actuator is skewed sideways with respect to the longitudinal axis of each respective segment; (c) a central cavity running longitudinally through the robot which houses a power source, a control means, and a transmitter for an autonomous robot.
Claim 14
Dependent Claim
31 words
The autonomous pipe robot of claim 11, wherein the plurality of the articulated joints connecting the segments possess three degrees of freedom to allow the robot to conform to different curvatures.
Claim 15
Dependent Claim
32 words
The robotic endoscope of claim 11, further comprising a control means for implementing a plurality of gaits relating to speed, ability to advance against gravity or ability of advance through difficult bends.
Claim 16
Dependent Claim
20 words
The autonomous pipe robot of claim 11, wherein said distal end of the segments is steered by a miniature motor.
Claim 17
Dependent Claim
21 words
The autonomous pipe robot of claim 11, wherein said distal end of the segments is steered by shape memory alloy wires.
Claim 18
Dependent Claim
20 words
The autonomous pipe robot of claim 11, wherein an imaging means is mounted at the distal end of the segments.
Claim 19
Dependent Claim
16 words
The autonomous pipe robot of claim 16, wherein the imaging means is a charge couple camera.
Claim 20
Dependent Claim
21 words
The autonomous pipe robot of claim 11, wherein the linear actuators are swivellable to an opposite direction to facilitate backwards propulsion.
Claim 21
Dependent Claim
18 words
The autonomous pipe robot of claim 11, wherein the plurality of segments are rigid and cylindrical in shape.
Claim 22
Dependent Claim
16 words
The autonomous pipe robot of claim 11, wherein the plurality of linear actuators are rubber bellows.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2003-12-19 | 2004-06-19 | 2004-12-19 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2007-12-19 | 2008-06-19 | 2008-12-19 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2011-12-19 | 2012-06-19 | 2012-12-19 | $7700.00 | Window Closed / Lapsed |