An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.

A continuum style manipulator is actuated by jammable media within an envelope of a module, which is also actuated by a tensile element, such as a cable and spooler motor. Multiple modules may be reversibly added. Two or more tensile elements may also be used. Three or more actuated tensile elements can actuate three DOFs of each module, and the terminal module, as well as the entire manipulator. Jammable media may be granular, actuated by a pressure change. Coarsely ground coffee works well. Rather than a jammable media, tensile elements may alternatively be used with other phase change media, such as magnetorheological and electrorheological media. A high friction angle of the granular media is desirable, and has been achieved with a particle size dispersion including both small and relatively larger particles. Applications include endoscopes, proctoscopes, laparoscopic instruments, manufacturing and medical manipulators. Methods of actuating include unjamming all modules, positioning the manipulator with tensile elements or otherwise, jamming the base-most module, and then repositioning remaining, not-jammed modules, followed by jamming the base-most not-jammed module, and so on, until all modules are positioned and jammed.

Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section.

A system for controlling the movement of a steerable multi-linked device may include a steerable multi-linked device, a feeder mechanism releasably connected to the steerable multi-linked device and a controller device. The steerable multi-linked device may include a first link, a plurality of intermediate links, and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The controller device may be configured to control movement of the multi-linked device via the feeder mechanism.

There is described apparatus and methods for transporting and processing substrates including wafers as to efficiently produce at reasonable costs improved throughput as compared to systems in use today. A linear transport chamber includes linear tracks and robot arms riding on the linear tracks to linearly transfer substrates along the sides of processing chambers for feeding substrates into a controlled atmosphere through a load lock and then along a transport chamber as a way of reaching processing chambers. A four-axis robot arm is disclosed, capable of linear translation, rotation and articulation, and z-motion.

A force transmission transmits a force to a primary output gimbal plate and a secondary output gimbal plate. The secondary output gimbal plate supports the primary output gimbal plate. Each of three primary levers is supported by a primary pivot. Each primary lever is coupled to the primary output gimbal plate such that the three couplings are not collinear. Each of three secondary levers is supported by a secondary pivot. Each secondary lever is coupled to one of the primary levers by a force applying connector. Each secondary lever is coupled to the secondary output gimbal plate such that the three couplings are not collinear. The output gimbal plates may be coupled to the levers by flexible cables. The cables may be substantially contained within a tube. The output gimbal plates may be substantially smaller than the input gimbal plate.

Disclosed herein is a robot arm including a first joint portion connected to an end portion of a wire and operable to rotate when the wire is pulled, a second joint portion connected to the first joint portion through a link, and a wire guide composed of a rotational plate rotatably installed at the second joint portion and a pair of idle rollers provided to continuously contact the rotational plate, in which the wire passes between the idle rollers.

A force transmission includes a gimbal plate having two degrees of freedom. Each of three lever arms is supported by a pivot between two ends of the lever arm. One end of each lever arm is coupled to the gimbal plate such that the three couplings are not collinear. An equalizer cable has two opposing ends, each end fixedly coupled to one of the lever arms. The equalizer cable is routed over a lever arm pulley pivotally coupled to another of the lever arms between the pivot and one end of the lever arm. The gimbal plate may be coupled to the three lever arms by flexible cables or by links that transmit compression forces but not tension forces. The cables may be substantially contained within a tube. The links may be electrically non-conductive. The force transmission may control a surgical end effector in a teleoperated surgical instrument.

The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.