ROBOTIC LINKAGE
Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a single type of link.
1 . A robotic link, comprising:
a link having an outer wall surface and an inner wall surface;
a pair of outer hinge portions on a first end of the link, each outer hinge portion having an inner bearing surface positioned between the inner wall surface and an outer ear; and
a pair of inner hinge portions on a second end of the link, each inner hinge portion having an outer bearing surface positioned between the outer wall surface and an inner ear.
2 . The robotic link of claim 1 wherein the robotic link comprises a polymer.
3 . The robotic link of claim 1 wherein each of the pair of outer hinge portions are diametrically opposed across the link.
4 . The robotic link of claim 1 wherein each of the pair of inner hinge portions are diametrically opposed across the link.
5 . The robotic link of claim 1 wherein an axis of rotation of the outer hinge portions are substantially perpendicular to an axis of rotation of the inner hinge portions.
6 . The robotic link of claim 1 further comprising a guide block positioned along each inner and outer hinge portion.
7 . The robotic link of claim 1 further comprising a tendon guide positioned integrally within the link along each inner and outer hinge portion.
8 . The robotic link of claim 1 further comprising an integrated pulley and tendon guide positioned integrally within the link along each outer hinge portion.
9 . The robotic link of claim 1 further comprising an integrated pulley and tendon guide positioned integrally within the link along each inner and outer hinge portion.
10 . A flexible robotic instrument, comprising:
a first link and a second link each having an outer wall surface and an inner wall surface;
a pair of outer hinge portions disposed on a first end of each link, each outer hinge portion having an inner bearing surface positioned between the inner wall surface and an outer ear of each link; and
a pair of inner hinge portions on a second end of each link, each inner hinge portion having an outer bearing surface positioned between the outer wall surface and an inner ear of each link;
wherein the outer bearing surface of the first link is configured to slidably support the outer ear of the second link, and wherein the inner bearing surface of the second link is configured to slidably support the inner ear of the first link.
11 . The flexible robotic instrument of claim 10 wherein the first and second links comprise a polymer.
12 . The flexible robotic instrument of claim 10 wherein each of the pair of outer hinge portions are diametrically opposed across the first and second links.
13 . The flexible robotic instrument of claim 10 wherein each of the pair of inner hinge portions are diametrically opposed across first and second links.
14 . The flexible robotic instrument of claim 10 wherein the outer hinge portions are substantially perpendicular to the inner hinge portions.
15 . The flexible robotic instrument of claim 10 further comprising a guide block positioned along each inner and outer hinge portion.
16 . The flexible robotic instrument of claim 10 further comprising a tendon guide positioned integrally within the first and second links along each inner and outer hinge portion.
17 . The flexible robotic instrument of claim 10 further comprising an integrated pulley and tendon guide positioned integrally within the first and second links along each outer hinge portion.
18 . The flexible robotic instrument of claim 10 further comprising an integrated pulley and tendon guide positioned integrally within the first and second links along each inner and outer hinge portion.
19 . The flexible robotic instrument of claim 10 wherein the first and second links can articulate up to approximately 30 degrees.
20 . A method of manufacturing a robotic link comprising:
introducing a polymer into a mold; and
recovering from the mold a link having an outer wall surface and an inner wall surface, a pair of outer hinge portions on a first end of the link, each outer hinge portion having an inner bearing surface positioned between the inner wall surface and an outer ear, the link also having a pair of inner hinge portions on a second end of the link, each inner hinge portion having an outer bearing surface positioned between the outer wall surface and an inner ear.