ROBOTIC SURGICAL SYSTEM, APPARATUS, AND METHOD

原文（中文）

A flexible fluidic actuator for robotically imparting translational or rotational motion to a tube of a concentric tube manipulator, the flexible fluidic actuator includes a gripper that is actuatable in response to fluid pressure to grasp the tube, and de-actuatable in response to relieving fluid pressure to release the tube. The flexible fluidic actuator also includes one or more actuator bellows that are actuatable in response to fluid pressure to move the gripper to an actuated position, and de-actuatable in response to releasing fluid pressure to return the gripper to a de-actuated position. The gripper is configured to move to the actuated position in a first translational or rotational direction, and to move to the de-actuated position in a second translational or rotational direction, opposite the first translational or rotational direction. The one or more actuator bellows are arranged on an actuator frame and configured to support the gripper, and wherein the flexible fluidic actuator is configured so that the frame, actuator bellows, and gripper occupy the same axial length.