A magnetic cleaning device includes a handle unit, a main unit, and a deforming mechanism. The main unit includes a housing and a magnetic member. The deforming mechanism is connected between the handle unit and the main unit. The housing defines an accommodating space extending along an axis. The magnetic member is disposed in the accommodating space, and is movable along the axis between an attraction position, where the magnetic member is adjacent to an end of the housing, and a non-attraction position, where the magnetic member is away from the end of the housing. The main unit is movable relative to the handle unit via operation of the deforming mechanism.

A tool assembly includes a first selectively flexible tool including a first plurality of sequentially arranged links moveable between a slacked position and a tensioned position; and a second selectively flexible tool including a second plurality of sequentially arranged links moveable between a slacked position and a tensioned position, the second plurality of sequentially arranged links moveable over or through the first plurality of sequentially arranged links.

In a linear expansion mechanism, high rigidity is secured in all directions of orthogonal axes without any constraint on installation posture. The linear expansion mechanism includes: a block train made up of a plurality of blocks coupled along a coupling direction; a housing for containing the block train; a mechanism configured to deliver and draw the block train along the coupling direction; and a fixing mechanism configured to fix a relative position of a leading end position of the block train delivered from the housing relative to an entrance/exit position Pe located on the housing at which the block train enters and exits the housing with respect to directions orthogonal to the coupling direction of the block train.

In a linear expansion mechanism, high rigidity is secured in all directions of orthogonal axes without any constraint on installation posture. The linear expansion mechanism includes: a block train made up of a plurality of blocks coupled along a coupling direction; a housing for containing the block train; a mechanism configured to deliver and draw the block train along the coupling direction; and a fixing mechanism configured to fix a relative position of a leading end position of the block train delivered from the housing relative to an entrance/exit position Pe located on the housing at which the block train enters and exits the housing with respect to directions orthogonal to the coupling direction of the block train.

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.

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.

A robot and a method of capturing an image applied to the robot, an electronic device for implementing the method of capturing the image, and a computer-readable storage medium are provided. The robot includes: a robot body; a workbench; a telescopic structure having one end pivotally connected to the robot body and the other end connected to the workbench; a driving mechanism arranged on the robot body and configured to drive the telescopic structure to extend, retract and/or move relative to the robot body; and an image capture device arranged on the workbench. The telescopic structure is configured to allow the image capture device to capture an image of a target object from different angles with the extension, retraction and/or movement of the telescopic structure.

A concentric tube steerable device includes a plurality of tubes having a nested, concentric configuration. The tubes include an outer tube and an inner tube that extends coaxially within the outer tube. The inner tube terminates at a tip, and a pose of the tip is effectuated through individual or collective rotation or translation of the tubes about a tube axis. The concentric tube steerable device includes an actuator for rotating at least one tube about a respective tube axis, and a translator for translating at least one tube along a respective tube axis. Each tube includes a precurved portion and a corresponding axis of precurvature. For at least one tube, a flexural rigidity of the tube along its axis of precurvature is less than a flexural rigidity of the tube along a second axis that is perpendicular to the axis of precurvature, thereby improving stability of the tube.

Robotic arms and surgical robotic systems incorporating such arms are described. A robotic arm includes a roll joint connected to a prismatic link by a pitch joint and a tool drive connected to the prismatic link by another pitch joint. The prismatic link includes several prismatic sublinks that are connected by a prismatic joint. A surgical tool supported by the tool drive can insert into a patient along an insertion axis through a remote center of motion of the robotic arm. Movement of the robotic arm can be controlled to telescopically move the prismatic sublinks relative to each other by the prismatic joint while maintaining the remote center of motion fixed. Other embodiments are also described and claimed.

A walking vehicle including a chassis and a plurality of wheel-leg components is described. The plurality of wheel-leg components are collectively operable to provide wheeled locomotion and walking locomotion.