Telescoping insertion tool
An insertion tool is provided. The tool includes an insertion portion, a telescoping link, a joint actuation assembly, and an extension actuator. The telescoping link having a base part and an extension part, the extension part being configured to slide longitudinally relative to the base part from a retracted state to an extended state. The joint actuation assembly is configured to change an angle between the base part of the telescoping link and the insertion portion via a joint. The extension actuator is configured to actuate the extension part of the telescoping link from the retracted state to the extended state.
1 . An insertion tool comprising:
an insertion portion;
a telescoping link, the telescoping link having a base part and an extension part, the extension part being configured to slide longitudinally relative to the base part from a retracted state to an extended state;
a joint actuation assembly configured to change an angle between the base part of the telescoping link and the insertion portion via a joint; and
an extension actuator configured to actuate the extension part of the telescoping link from the retracted state to the extended state;
wherein the extension actuator comprises:
a rotation element with a first threaded surface that engages a second threaded surface on one of the base part and the extension part;
wherein the rotation element is configured to rotate relative to the base part and the extension part; and
wherein a rotation of the rotation element along the second threaded surface actuates the extension part of the telescoping link from the retracted state to the extended state.
2 . The insertion tool of claim 1 , further comprising an end effector on the extension part.
3 . The insertion tool of claim 2 , wherein the end effector comprises one or more of a brush, a drill, a burr, a grinding tool, a cutting tool, a polishing tool, a profiling tool, a bore-blending tool, a cleaning tool, an imaging tool, an eddy current imager, or an ultrasound imager.
4 . The insertion tool of claim 2 , further comprising an end effector connector coupled to the end effector and inserted through a first hole in the insertion portion and a second hole in the telescoping link.
5 . The insertion tool of claim 4 , further comprising a connector tension controller for affecting a tension of the end effector connector within the insertion portion and the telescoping link.
6 . The insertion tool of claim 4 , wherein the telescoping link comprises a spring around the end effector connector for supporting the end effector connector in a gap between the base part and the extension part when the telescoping link is in the extended state.
7 . The insertion tool of claim 1 , wherein the telescoping link comprises an anti-rotation feature to limit a rotation of the extension part relative to the base part.
8 . The insertion tool of claim 7 , wherein the anti-rotation feature comprises one or more of a non-cylindrical contact surface, a key and keyway interface, or a tab and slot interface.
9 . The insertion tool of claim 1 , wherein the extension actuator further comprises:
a connector guide around an end effector connector;
wherein the connector guie is coupled to the rotation element and configured to rotate the rotation element.
10 . The insertion tool of claim 1 , wherein the insertion tool further comprises an end effector connector inserted through the rotation element via a hole in the rotation element;
wherein the hole has an inner friction surface contacting the end effector connector, such that the rotation of the end effector connector rotates the rotation element via the inner friction surface to actuate the extension part.
11 . The insertion tool of claim 1 , wherein the extension actuator further comprises a rope assembly for causing the rotation of the rotation element, the rope assembly comprise a first rope looped around the rotation element in a first direction when the telescoping link in in the retracted state.
12 . The insertion tool of claim 11 , wherein the rope assembly comprises a second rope looped around the rotation element in a second direction opposite the first direction.
13 . An insertion tool comprising:
an insertion portion;
a telescoping link, the telescoping link having a base part and an extension part, the extension part being configured to slide longitudinally relative to the base part from a retracted state to an extended state;
a joint actuation assembly configured to change an angle between the base part of the telescoping link and the insertion portion via a joint; and
an extension actuator configured to actuate the extension part of the telescoping link from the retracted state to the extended state;
wherein the extension actuator comprises:
a rigid tube affixed to a portion of an end effector connector inserted through the insertion portion.
14 . A method for operating an insertion tool comprising:
inserting the insertion tool into a confined space, the insertion tool comprising an insertion portion, a joint actuation assembly, an extension actuator and a telescoping link having a base part and an extension part configured to slide longitudinally relative to the base part from a retracted state to an extended state, wherein the insertion portion comprises one or more rigidizable segments forming a rigidizable guide tube extending from a proximal end to a distal end, wherein the extension actuator comprises a rigid tube affixed to a portion of an end effector connector inserted through the insertion portion;
actuating, via the joint actuation assembly of the insertion tool, a joint between the base part of the telescoping link and the insertion portion to change an angle between the base part of the telescoping link and the insertion portion; and
actuating, via an extension actuator of the insertion tool, the base part of the telescoping link from a retracted state to an extended state;
wherein the joint actuation assembly further tensions the one or more rigidizable segments of the insertion portion to a predefined shape; and
wherein the joint comprises a first interface of the base part of the telescoping link and a second interface on the insertion portion, and when the first interface and the second interface are engaged by via tension, the joint limits a relative motion between the base part of the telescoping link and the insertion portion.