US 11,938,643 B2
Developable and collapsable external cutting or gripping mechanism
Lance Hyatt, Provo, UT (US); Jacob Sheffield, Provo, UT (US); Kendall Hal Seymour, Springville, UT (US); Scott Cunnington, Provo, UT (US); Spencer Magleby, Provo, UT (US); and Larry L. Howell, Orem, UT (US)
Assigned to Brigham Young University, Provo, UT (US)
Appl. No. 17/277,014
Filed by Brigham Young University, Provo, UT (US)
PCT Filed Sep. 18, 2019, PCT No. PCT/US2019/051727
§ 371(c)(1), (2) Date Mar. 17, 2021,
PCT Pub. No. WO2020/061190, PCT Pub. Date Mar. 26, 2020.
Claims priority of provisional application 62/732,903, filed on Sep. 18, 2018.
Prior Publication US 2022/0032485 A1, Feb. 3, 2022
Int. Cl. B26B 27/00 (2006.01); B23D 21/14 (2006.01); E02D 9/04 (2006.01); A61B 17/295 (2006.01)
CPC B26B 27/00 (2013.01) [B23D 21/14 (2013.01); B23D 21/145 (2013.01); E02D 9/04 (2013.01); A61B 17/295 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A hollow rod developable actuator tool, the tool comprising:
a first link comprising a cylinder comprising:
a first end having a first aperture;
a second end having a second aperture;
a wall extending between the first end and second end defining an outer circumference of the hollow rod and a central passage therethrough from the first end to the second end; and
a cavity in the wall having a first joint and a second joint offset from the first joint mounted therein;
a first tool mechanism comprising:
second link in a first plane perpendicular to the central passage comprising a first tool member, the first tool member comprising:
a body having a first end and a second end;
a contact area on the first end of the body;
a third joint in proximity to the first end of the body; and
a fourth joint at the second end of the body;
a third link in a second plane perpendicular to the central passage, the third link comprising:
a first end pivotably connected to a first joint on the first link;
a second end pivotably connected to the third joint of the second link; and
a body extending between the first end and second end; and
a fourth link in the second plane perpendicular to the central passage, the fourth link comprising:
a first end pivotably connected to a second joint on the first link;
a second end pivotably connected to the forth joint of the second link; and
a body extending between the first end and second end;
a second tool mechanism comprising:
a fifth link in the second plane perpendicular to the central passage comprising a second tool member, the second tool member comprising:
a body having a first end and a second end;
a contact area on the first end of the body;
a fifth joint in proximity to the first end of the body; and
a sixth joint at the second end of the body;
a sixth link in the first plane perpendicular to the central passage, the sixth link comprising:
a first end pivotably connected to a second joint on the first link;
a second end pivotably connected to the fifth joint of the fifth link; and
a body extending between the first end and second end; and
a seventh link in the first plane perpendicular to the central passage, the seventh link comprising:
a first end pivotably connected to a first joint on the first link;
a second end pivotably connected to the sixth joint of the fifth link; and
a body extending between the first end and second end;
wherein, the actuator tool transitions from a first state wherein first tool mechanism and second tool mechanism are contained entirely inside the outer circumference of the hollow rod to a second state where the first tool mechanism and second tool mechanism pass through the cavity in the wall of the first link to extend outside the outer circumference of the hollow rod.