US20250341141A1

US20250341141A1 - Self-propelled tubular apparatus

Info

Publication number: US20250341141A1
Application number: US19/196,080
Authority: US
Inventors: Kathryn Daltorio; Austin Mills; Ali Khosravi; Paolo Celli
Original assignee: Case Western Reserve University
Current assignee: Case Western Reserve University
Priority date: 2024-05-01
Filing date: 2025-05-01
Publication date: 2025-11-06

Abstract

An example peristaltic actuating system can include an elongated body that includes an arrangement of substantially tubular body segments, in which each of the body segments has a radially inner sidewall portion that is elastically deformable in an axial direction and defines a lumen that is coaxial with lumens of the other body segments to define a central body lumen extending longitudinally through the elongated body. The central body lumen can be configured to carry an elongated tubular apparatus therein and/or can itself define a tubular body structure that can carry one or more structures therein. Each of the body segments includes a flexible outer sidewall portion configured to expand radially and provide a radially outward force responsive to axial contraction of the respective body segment and to contract radially responsive to axial elongation of the respective body segment.

Description

RELATED APPLICATIONS

This application claims the benefit of priority to U.S. Provisional Application No. 63/641,141, filed May 1, 2024, and to U.S. Provisional Application No. 63/743,462, filed Jan. 9, 2025, each of which applications is incorporated herein by reference in its entirety.

GOVERNMENT FUNDING

This invention was made with government support under 1850168 and 2047330 awarded by the National Science Foundation; and DE-AR0001854 awarded by the Department of Energy. The government has certain rights in the invention.

TECHNICAL FIELD

This disclosure relates to a self-propelled tubular apparatus, systems, and methods for moving a peristaltic actuator system through a medium.

BACKGROUND

Undergrounding is the process by which electrical power or telecommunications cables are run underground within protective conduits rather than as overhead cables. Running cables overhead is currently significantly less expensive and faster than undergrounding but is much more susceptible to being damaged due to weather or other events. Current methods for undergrounding are labor-intensive, slow, expensive, and unsafe and need to be improved or replaced. For example, the two most common methods for undergrounding are open trenching and horizontal directional drilling (HDD). Open trenching involves a complete excavation for a trench of the length and depth needed to install new conduit. This trenching process is especially labor-intensive in urban environments due to the extensive planning needed to ensure other existing underground systems (such as water, sewer, communications, etc.) are not damaged during excavation and installation of new conduit. Sometimes accurate underground maps of old buried infrastructures don't exist and even with careful planning and accurate maps it is not uncommon for existing infrastructures to be damaged during the trenching process which adds additional labor time and costs for repairs. HDD can install new conduit by drilling new tunnels underground without major disruption to surfaces. HDD utilizes a series of connected metal drill pipes with a slightly steerable drill bit at the end that is all pushed by a directional drill machine on the surface. Drilling fluid is pumped through the drill pipes to the drill bit to hydraulically power the drill bit, remove cuttings from the soil that are pushed back to the surface, and to provide structural support for the new borehole. While HDD is a slightly steerable process and is generally suitable for drilling new holes in well documented and mapped existing underground infrastructures, the HDD drill bit can unintentionally hit an existing piece of infrastructure and cause damage.

SUMMARY

This description relates to self-propelled tubular structures, such as peristaltic actuating apparatuses, systems and methods.
A described example relates to an apparatus that includes a plurality of axially spaced apart rings defining a radially inner surface that defines a hollow central lumen extending longitudinally through the apparatus. Respective actuators are coupled to at least some of the rings outside of the central lumen. An elongated expandable tubular structure extends over the rings and the actuators, in which the actuators are adapted to change a span and/or diameter of the expandable tubular structure at respective locations along the length of the expandable tubular structure, whereby peristaltic movement of the apparatus is provided.
Another example relates to a peristaltic actuating system that can include an elongated body that includes an arrangement of substantially tubular body segments, in which each of the body segments has a radially inner sidewall portion that is elastically deformable in an axial direction and defines a lumen that is coaxial with lumens of the other body segments to define a central body lumen extending longitudinally through the elongated body. The central body lumen can be configured to carry an elongated tubular apparatus therein and/or can itself define a tubular body structure that can carry one or more structures therein. Each of the body segments includes a flexible outer sidewall portion configured to expand radially and provide a radially outward force responsive to axial contraction of the respective body segment and to contract radially responsive to axial elongation of the respective body segment.
Another example relates to a locomotion system that includes an elongated body having a central body lumen extending longitudinally through the elongated body, the central body lumen defines or is configured to carry an elongated tubular apparatus therein. The system includes a first body segment at a first location along the elongated body and a second body segment at a second location along the elongated body, which is spaced axially apart from the first body segment. Each of the first and second body segments is configured to independently actuate radially and/or axially with respect to the elongated body and the other body segment to provide peristaltic motion of the body segments and corresponding longitudinal motion of the elongated body and respective segments through a surrounding media.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram illustrating an example use scenario that can be implemented by a peristaltic actuating apparatus.

FIG. 2 depicts a diagram of a peristaltic waveform that can be implemented by a peristaltic apparatus.

FIG. 3 is a perspective view of an example peristaltic actuating apparatus.

FIG. 4 is a side view of the example apparatus of FIG. 3 .

FIG. 5 is an exploded view showing an example end anchor segment.

FIGS. 6 and 7 are views of example end anchor and actuator sections, in which

FIG. 7 is a cross-sectional view of FIG. 6 .

FIGS. 8 and 9 are views of the example end anchor and actuator sections of FIGS. 6 and 7 , respectively, rotated 90 degrees about a central axis, and in which FIG. 9 is a cross-sectional view of FIG. 8 .

FIG. 10 is an exploded view of an example segment-to-segment section.

FIGS. 11 and 12 are views of an example segment-to-segment anchor section, in which FIG. 12 is a cross-sectional view of FIG. 11 .

FIGS. 13 and 14 are views of the example segment-to-segment anchor section of FIGS. 11 and 12 , respectively, rotated about 90 degrees about a central axis, and in which FIG. 14 is a cross-sectional view of FIG. 13 .

FIG. 15 is a perspective view of a body segment that includes actuating hardware.

FIGS. 16 and 17 are cross-sectional views of an example body segment, in which FIG. 19 also shows some hidden features.

FIGS. 18 and 19 are perspective views of an example body segment showing the motor side of the segment in the exploded condition.

FIGS. 20 and 21 are perspective views of an example body segment showing the non-motor side of the segment in the exploded condition.

FIG. 22 is a partial sectional view of the example peristaltic actuator showing the actuator and sidewall portion in a plurality of different deformation conditions.

FIG. 23 is a perspective view of yet another example peristaltic actuating system that includes a plurality of body segments.

FIG. 24 is a side view of the example system of FIG. 23 .

FIG. 25 is a perspective view of part of the actuating system of FIGS. 23 and 24 showing an exploded view of example end anchor section thereof.

FIG. 26 is a perspective view of part of the actuating system of FIGS. 23 and 24 showing an exploded view of example segment-to-segment anchor section thereof.

FIG. 27 is a partial perspective view of a body segment showing a plurality of fluid conduits within a respective slot.

FIG. 28 is a cross-sectional view of an example body segment for the actuating system of FIGS. 23 and 24 .

FIG. 29 is a cross-sectional view of another example body segment for the actuating system of FIGS. 23 and 24 .

FIG. 30 is a partial sectional view of the example hydraulic powered peristaltic actuator showing the actuator and sidewall portion in a plurality of different deformation conditions.

FIGS. 31A and 31B depict an example of another type of actuator that can be used in a peristaltic actuating apparatus.

FIGS. 32A and 32B depict an example of another type of actuator that can be used in a peristaltic actuating apparatus.

FIG. 33 depicts an example part of a peristaltic actuating apparatus that includes hydraulic cylinders for actuation.

FIG. 34 depicts an example part of a peristaltic actuating apparatus that includes soft actuators.

FIGS. 35 and 36 depict another example body segment configuration for a peristaltic actuating apparatus.

FIGS. 37 and 38 depict yet another example body segment configuration for a peristaltic actuating apparatus.

FIG. 39 depicts an example peristaltic actuating apparatus that includes the segment configuration of FIG. 37 or 38 .

FIG. 40 depicts an example peristaltic actuating apparatus that includes separated axial and radial actuators.

FIG. 41 is a cross-sectional view through a body segment of the apparatus of FIG. 40 .

FIG. 42 is a diagram showing separated actuation scheme to implement peristaltic locomotion.

FIGS. 43A and 43B depict an example of an example operating environment for installing a conduit using a peristaltic actuating apparatus.

DETAILED DESCRIPTION

This disclosure relates to apparatuses, systems, and methods for moving through media based on peristaltic locomotion.
As an example, a self-propelled tubular apparatus (e.g., peristaltic actuating apparatus or a peristaltic sleeve robot) can include an elongated body that extends between distal and proximal ends. The body of the apparatus can include an elongated expandable outer structure (e.g., a water resistant, pliant fabric) that surrounds a hollow interior space defining a central lumen that extends through the body and adapted to support an elongated tubular structure therein. In some examples, a conduit (or other flexible tubular structure) can extend through the lumen and defines a radially inner surface adapted to support one or more elongated tubular structures therein. The apparatus also includes one or more actuators that are configured to change a span and/or or diameter of the expandable outer structure at respective locations along the length of the body to provide for peristaltic movement of the apparatus and any one or more structures (e.g., conduit and/or cables) that may be disposed with the interior space thereof the apparatus.
As another example, a peristaltic actuating apparatus (e.g., a peristaltic or worm-like robot) includes a plurality of axially spaced apart rings. The rings can be formed of rigid materials and adjacent pairs of rings can be coupled together by flexible interconnects (e.g., flexible arches) to define an inner sidewall of the apparatus. For example, the radially inner sidewall surfaces of the rings are arranged and configured to support a length of an elongated tubular structure (e.g., a flexible conduit, pipe, or duct) within the tubular sidewall thereof. For example, the rings can be configured to slide along and/or attach to an outer sidewall surface of an elongated tubular structure (e.g., a flexible conduit), which is to be transported by the apparatus through a medium. The apparatus also includes respective actuators coupled to at least some of the rings. An elongated expandable tubular outer structure (e.g., a skin or covering of a flexible fabric or other material) can extend over a number of the rings, flexible interconnects, and actuators to define a radially outer sidewall of the apparatus. A volume between the outer sidewall (defined by the tubular covering) and the inner sidewall (defined by the rings and interconnects) can define a fluid chamber (e.g., a sealed chamber) that is filled with fluid. The actuators can be configured to change a span (axial length) and/or diameter of the expandable tubular outer structure at respective locations along the length of the apparatus to implement peristaltic movement thereof.
In some examples, the elongated body includes an arrangement of substantially tubular body segments. The elongated body thus can define a multi-segmented worm-like robot, in which respective body segments are configured to actuate in a pattern to implement peristaltic locomotion of the elongated body. Each of the body segments has a radially inner sidewall portion that defines a lumen thereof and is deformable in an axial direction. The lumens of the body segments can be coaxial with respect to each other to define a central body lumen extending longitudinally through the elongated body. In one example, the central body lumen is hollow and configured to carry (e.g., transport) an elongated flexible tubular apparatus (e.g., a conduit) therein through a medium (e.g., underground). In another example, the central body lumen defines a flexible tubular sidewall that contains one or more cables (e.g., electrically conductive wires, optical fibers or the like) that are to be transported through the medium (e.g., underground) by the apparatus.
As a further example, each of the body segments includes a radially flexible outer covering (e.g., an outer membrane). For example, each of the body segments can include a number of rings spaced axially apart by flexible interconnects to define an inner sidewall thereof and the flexible outer covering over the rings and interconnects to define an outer sidewall of the respective body segment. The flexible outer covering can be configured to expand radially and provide a radially outward force responsive to axial contraction of the body segment and to contract radially responsive to axial elongation of the body segment. The radially outward forces can sufficiently radially expand into a surrounding media (e.g., soil) while supporting the forces necessary for advancement of a distal end (e.g., drilling head). One or more actuators can be coupled at least some of the body segments and configured to cause the axial contraction and/or the axial elongation of the at least one of the body segments responsive to a control signal from a controller, which can be implemented on the tubular body or remotely located and coupled to the tubular body through a communications link (e.g., physical or wireless link). As described herein, actuators can be implemented as fluidic (e.g., pneumatic or hydraulic) powered peristaltic actuators. Also, or alternatively, one or more actuators can be implemented as electromotor powered peristaltic actuators (e.g., rotary motors, linear motors, or the like). Other types of actuators can be used in other examples.
In some examples herein, a distal (e.g., front) end of the elongated body can include a tool, such as a drill head tool or other mechanism configured to drill, dig, bore, and/or pierce through the medium (e.g., soil). The distal end can also include an arrangement of sensors (e.g., contact sensors, force sensors, spatial positioning sensors, cameras, and the like) for providing feedback for controlling operation of the apparatus. Removed soil cuttings and other debris can be conveyed from the distal end tool (e.g., drill head) and be deposited into the inside of the tubular body, such as within the main central lumen or a separate lumen (e.g., within or alongside the central lumen) adapted for transporting debris through the tubular body. An industrial vacuum can be located above ground (e.g., in a truck, trailer or other container) and be fluidly coupled to a proximal end of the tubular body conduit. The industrial vacuum can be configured to vacuum out the soil cuttings and debris from within tubular body.
FIG. 1 is a schematic diagram 10 illustrating an example use scenario that can be implemented by a peristaltic actuating apparatus 12 (also referred to herein as a peristaltic sleeve), such as according to any of the example embodiments described herein. The apparatus 12 includes an elongated tubular body 14 extending longitudinally between spaced apart proximal and distal ends 16 and 18 that is adapted to carry a structure within a hollow interior space thereof. In examples described herein, the hollow interior space can define one or more lumens 20 that extend from the distal end 18 longitudinally through the tubular body 14. As shown in FIG. 1 , an elongated tubular structure (e.g., a flexible conduit) 22 can be positioned within the lumen 20, which can be transported within the apparatus 12 during burrowing through a medium (e.g., earth, such as soil, rocks, water, or the like). Also, or alternatively, one or more elongated tubular structures can be inserted into and through the lumen 20 after the apparatus 12 has reached its desired destination.
The apparatus 12 includes a plurality of axially spaced apart rings 24 arranged along a length of the tubular body 14. An inner surface of the rings can be configured according to configuration of the conduit 22 and be adapted to support a length of the conduit 22 therein. The rings 24 (at least some of the rings) can be configured to slide along and/or attach to an outer surface of the conduit 22. One or more actuators 26 can be coupled to at least some of the rings 24. As described herein, various types and configurations of actuators can be implemented.
The apparatus 12 further can include an elongated expandable flexible covering 28 over the rings 24 and the actuators 26. As described herein, the covering 28 can include a flexible tubular membrane or shell formed of one or more layers of flexible material (e.g., fabrics, polymers, etc.). The flexible covering 28 can expand and contract radially responsive to changing an axial distance between two more of the rings 24. The mechanism to change the axial distance between rings depends on the type and arrangement of actuators implemented in the apparatus 12. More than one type of actuators can be implemented in the apparatus for providing peristaltic movement of the apparatus. In the example of FIG. 1 , one or more flexible connecting elements 30 can be coupled between adjacent rings 24 and to one or more actuators 26. For example, the actuator 26 is configured to change the length of the connecting elements 30 and thereby cause a corresponding change in an axial distance between two more of the rings 24. In response to axial contraction (e.g., shortening) of the connecting element(s) 30 the axial distance between rings 24 decreases and the flexible covering 28 can expand radially outwardly, such as shown in region 32 of the elongated tubular body 14. Such radial expansion in the flexible covering 28 can thus provide a radially outward force into surrounding ground, which can fix the region 32 with respect to the surrounding medium. While the region 32 is fixed, one or more other regions 34, which can be distal or proximal or distal to the fixed region 32, can axially elongate (e.g., by increasing the distance between two or more adjacent rings 24) to provide for peristaltic movement of the apparatus 12 through the medium. Also, responsive to the axial elongation between adjacent rings in the other region 34, which can be actively controlled or passively allowed, the flexible covering 28 in such other region(s) contracts radially facilitating the peristaltic movement of the apparatus. In the example of FIG. 1 , the apparatus includes drill tool 36 at the distal end. The radially outward forces applied to the surrounding medium by the expanded region 32 can be sufficient to support the region to enable the drill tool to advance the distal region 34 of the elongated tubular body 14 further into the medium. Also, or alternatively, the radially outward forces applied to the surrounding medium by the expanded region 32 can be sufficient to enable the drill tool 36 to implement turning of the distal end in a desired direction.
As a further example, FIG. 2 depicts a diagram 50 of a peristaltic waveform that can be implemented by a peristaltic apparatus 52 (e.g., a worm-like robot carrying a conduit) described herein. As shown in FIG. 2 , the apparatus 52 includes a plurality of segments 54A, 54B, 54C, 54D, 54E, 54F, 54G, and 54H extending between ends thereof 56 and 58. A conduit 60 that can be carried by the apparatus 52 is shown with dashed lines. A boundary of the surrounding medium is shown at 62. In the diagram 50, hollow circles represent features coupled to the conduit 60 and asterisks represent features coupled to the robotic segments (e.g., actuators) of the apparatus 52. The left side of the segment 54H is shown rigidly attached to the conduit 60 to define a first anchoring point. Given the first anchoring point any other suitable locations for anchoring onto the conduit are shown by their asterisk not moving within their corresponding hollow circle throughout the entire peristaltic motion shown in FIG. 2 . For example, the right side of the segment 54D and the right side of the eighth segment 54G are shown as suitable anchoring locations. Various mechanisms can be utilized to anchor part of a segment to the conduit, which can remain fixed during peristaltic motion or can attach and release through the motion process. Also, or alternatively, some segments of a given apparatus (e.g., one or more segments near a drill head or other distal tool) can be free to slide along the length of the conduit without including any anchoring. As shown in FIG. 2 , each of the segments 54A, 54B, 54C, 54D, 54E, 54F, 54G, and 54H can be configured to implement radial expansion and axial elongation based on a peristaltic waveform applied to the respective segments by controlling respective actuators of the apparatus. In some examples, segments can be controlled together in certain groups, which groups can be configured so that the peristaltic waveform will be in the same position for each worm segment within a given group (e.g., all actuators within a given group will actuate in unison). In an example, segments 54A and 54E can define a first group, segments 54B and 54F can define a second group, segments 54C and 54G can define a third group, and segments 54D and 54H can define a fourth group. Other numbers and arrangements of groups can be used in other examples.
FIGS. 3-22 depict an example embodiment of an electromotor peristaltic actuating apparatus 100, in which the same reference numbers are used to refer to respective parts and features throughout the various views. The peristaltic actuating apparatus 100 is an example of the apparatus of FIG. 1 and can be controlled to implement a peristaltic waveform, such as described herein (e.g., FIG. 2 ). Accordingly, reference can be made to certain aspects of FIGS. 1 and 2 as well as other figures herein in the description of FIGS. 3-22 .
FIG. 3 is a perspective view and FIG. 4 is a side view of the example peristaltic actuating apparatus 100. The apparatus 100 includes an elongated body 102 extending longitudinally between spaced apart ends 104 and 106. The apparatus 100 includes a plurality of body segments 110 arranged along a length of the body 102. While eight body segments 110 as shown in this example, there can be any number of body segments 110 depending on the axial length of respective segments and desired length of the apparatus 100. The body 102 of the apparatus 100 can have a hollow interior, which is configured to hold and/or carry an elongated flexible tubular structure (e.g., a flexible conduit) 112. In other examples, the hollow interior (e.g., the inner periphery) of the apparatus 100 can itself define an elongated tubular structure into which cables can be fed and/or pulled through.
Each of the body segments 110 at respective ends 104 and 106 can define end segments that can be coupled to an outer surface of flexible tubular structure (conduit) 112 by anchor couplings 114 and 116 at respective end locations. The apparatus 100 can also include one or more segment-to-segment anchor couplings 118 at intermediate locations along the body 102 of the apparatus 100. Each segment-to-segment anchor coupling 118 is configured to attach the body 102 to the conduit 112.
FIG. 5 is an exploded view showing an example of an end anchor coupling 116. The anchor coupling can include multiple portions (e.g., separable halves) 120 and 122 that are bolted together at the respective flanges 124 and 126. The anchor couplings 114, 116, 118 can be configured to clamp down on the conduit tightly without causing non-superficial damage. A segment connecting bar further connects the anchor to the body segment 110. There can be a second segment connecting bar (not shown) underneath the conduit and behind the end anchor. Segment connecting bars 130 (see, e.g., FIG. 10 ) can also be used for connecting two adjacent segments together when there is not an anchor in between such segments. Anchor shrouds further can slide over and interlock with the end anchor couplings 116, 118 to prevent soil debris from entering the interior of the body.
FIGS. 6 and 7 are views of example end anchor and actuator segments, in which FIG. 7 is a cross-sectional view of FIG. 6 . Similarly, FIGS. 8 and 9 are views of the example end anchor and actuator sections of FIGS. 6 and 7 , respectively, rotated 90 degrees about a central axis 136, and in which FIG. 9 is a cross-sectional view of FIG. 8 .
As shown in the cross-sectional views of FIGS. 7, 9, 12, and 14 , a central lumen 132 extends longitudinally through the plurality of body segments 110 of the elongated body 102. The lumen 132 defines a hollow tubular volume that can hold the conduit 112, as described herein. Additionally, each of the body segments 110 can include a plurality of substantially rigid annular rings 134. The rings 134 can be axially spaced apart along a length of a respective body segment 110 between a proximal end ring and a distal end ring of the respective segment. The rings 134 can be arranged orthogonal with respect to a central axis 136 that extends through the central lumen 132 the respective segment. A radially inner periphery of each ring 134 can be configured to slide along an outer surface of the conduit, such as during axial elongation or axial contraction of the respective segment. In some examples, radially inner surfaces of the rings and connecting elements define a portion of the central lumen 132 associated with the respective body segment or one or more layers of material can be coupled to the radially inner surfaces of the rings to define the lumen.
Each of the body segments 110 can include an arrangement of flexible connecting elements 140. The flexible connecting elements 140 can be configured to enable relative axial movement between the adjacent pair of rings 134 (e.g., to increase or decrease the axial distance between opposing edges of adjacent rings). For example, the flexible connecting elements 140 can be in the form of respective curved arches (or other shapes of interconnects) coupled between adjacent pairs of the rings 134, such as at radially outer ends thereof. In an example, the flexible connecting elements 140 for a respective body segment 110 can be in the form of a cylindrical sheet of flexible material that is revolved about central lumen 132 and coupled to the radially outer ends of the rings 134. The rings 134 and the flexible connecting elements 140 can define an inner sidewall for the respective body segment 110.
Each of the body segments 110 further can include an elongated expandable tubular outer structure 142, which can define a radially outer sidewall of the apparatus 100. The tubular outer structure 142 thus can be revolved around the central axis 136 such as spaced radially outwardly from and substantially coextensive with the inner sidewall defined by the rings 134 and elements 140. For example, the tubular outer structure 142 thus can include one or more layers of a flexible skin or covering (e.g., fabric or other flexible material). In an example, proximal and distal ends of the tubular outer structure 142 can be coupled to respective proximal and distal ends of the inner flexible connecting elements 140, such as by respective end caps or other mounting structures. Such mounting structures can be configured to mount the tubular outer structure 142 around the inner sidewall to define a volume between the outer sidewall (defined by the tubular covering) and the inner sidewall (defined by the rings and elements). As described herein, the volume can define a fluid chamber 144 (e.g., a sealed chamber) that is filled with fluid. In other examples, more than one fluidic chamber can be provided between the tubular outer structure 142 and the inner sidewall structure. The sealed fluidic chamber(s) can be adapted to emulate a constant volume constraint similar to that found on biological earthworm segments. In some examples, each body segment can include a valve coupled with the volume within the chamber 144, which can be used to set a pressure of the fluid within the volume depending on application requirements.
The apparatus 100 further can include an arrangement of elongated protective sleeves configured to carry electrical wires, which can provide power and control signals for controlling respective electromotors, as described herein. The protective sleeves can extend through the central lumen 132 (e.g., along the inner periphery thereof). Also, or alternatively, one or more protective sleeves can define one or more other lumens (e.g. tubular members) that extend along the sidewall of the body 102 radially outwardly from the sidewall of the central lumen 132, which can be axially aligned and connected with respective sleeves in other body segments.
FIG. 10 is an exploded view of an example segment-to-segment anchor coupling 118. The segment-to-segment coupling 118 can be composed of two separable halves that can be fastened together at the shown flanges (e.g., by bolts or other fasteners). The segment-to-segment coupling 150 can also be configured to clamp down on the conduit 112 tightly without causing non-superficial damage. For example, anchor segment connecting bars 150 can be used to connect the coupling 118 to each of the adjacent body segments 110. Anchor shrouds can slide over and interlock with the end anchor to prevent soil and other debris from entering the lumen of the body 102.
FIGS. 11 and 12 are views of another example segment-to-segment anchor coupling 118, in which FIG. 12 is a cross-sectional view of FIG. 11 . FIGS. 13 and 14 are views of the example segment-to-segment anchor section of FIGS. 11 and 12 , respectively, rotated about 90 degrees about the central axis, and in which FIG. 14 is a cross-sectional view of FIG. 13 .
FIGS. 15-21 demonstrate an example of actuating hardware (also referred to herein as an actuator) 152 for a respective body segment 110. As shown in the examples of FIGS. 15-21 , the actuator 152 for a respective body segment 110 can include a motor section 154 (e.g., one or more electric servomotors) located at one end of the body segment 110. The electric actuators in this example can be referred to as electromotor peristaltic actuators (EMPA). As described herein, one or more types of actuators (e.g., rotary actuators or linear actuators) can be utilized to implement the actuating hardware 152 for the body segment 110. Associated non-motor hardware section 156 can be located at the opposite end of the body segment 110. Advantageously, the central lumen 132 not only extends through a central expandable and/or retractable region of the body segment 110 but completely through the segment, including through the motor section 154 and non-motor hardware section 156 at the ends of the segment.
FIG. 15 is a perspective view of a body segment 110 and FIGS. 16 and 17 are cross-sectional views of the example body segment of FIG. 15 . For completeness, the example of FIG. 17 also shows some hidden features. As shown in the cross-sectional views of FIGS. 16 and 17 , the actuator 152 in combination with connecting elements and pulleys running from chambers of the motor section 154 to the mounting flanges can be configured to perform axial contraction of the body segment 110. As shown in the example of FIGS. 16 and 17 , a path of a connecting element 160 (e.g., braided polyethylene wire or cable) is shown as extending between the motor section 154 and the non-motor hardware section 156, such as through the volume (e.g., between the inner and sidewalls of the segment). The connecting element can traverse through the volume one or more times. For example, one end (e.g., a starting end) of the connecting element 160 can connect to a pulley connected to a drive shaft of the motor 154. An opposite end of the connecting element 160 can be terminated by a knot (e.g., or other coupling or fastener) in the non-motor hardware section 156. One or more other motors (not shown) can implement a similar respective path for its connecting element through the body segment 110. Those skilled in the art will appreciate various arrangements of one or more connecting elements that can traverse through the body segment 110, partially and wholly, for changing the length of the body segment. For example, while the arrangement of FIGS. 16-17 is implemented to provide for axial contraction of the body segment 110, other configurations and arrangements could be implemented to provide for axial elongation or a combination of contraction and elongation.
FIGS. 18 and 19 are perspective views of the body segment showing the motor section 154 in an exploded condition. As shown in FIGS. 18 and 19 , the motor section includes two electromotors 162 and 164. Other numbers of motors can be used in other examples. The electromotors 162 and 164 can be assembled within a ring-like frame prior to being attached to the body segment 110 using an arrangement of fasteners (e.g., bolts). In some examples, a valve 166 (e.g., a Schrader air valve or other type of valve) can be communicatively coupled with sealed fluidic chamber 144 to allow gas or other fluid to be removed or added to the volume within the chamber. By way of example, gas or other fluid can be added to further increase the starting pressure of the sealed fluidic chamber 144, increasing the stiffness of the structure, allowing higher radial forces to be achieved during actuation at the cost of requiring higher actuating forces from the motors. Also, or alternatively, during fabrication, by pumping into the valve 166 any gas leaks in the structure can be identified and repaired (e.g., using a simple soapy water or other leak detection method). An air valve access cover can be provided to help to prevent soil debris from entering or otherwise interfering with the valve 166. Various fluidic media can be used in the sealed fluidic chamber 144, such as air, water, oils, gels, etc., and as the incompatibility of the fluidic media increases, greater radial forces are able to be transferred to the surrounding medium (e.g., tunnel walls).
FIGS. 20 and 21 are perspective views of an example body segment 110 showing the non-motor side of the segment with the non-motor section 156 in an exploded condition. The non-motor section 156 can be in the form of a ring-like frame that can be assembled prior to being attached to the body segment using an arrangement of fasteners (e.g., bolts). In the example of FIGS. 20 and 21 , two of the ring-like parts of the frame can include internal channels which can guide the connecting element(s) 160 that are actuated by the motors 162 and 164 (e.g., one motor for each side).
FIG. 22 shows a partial sectional view of a respective body segment 110 of the example peristaltic actuator apparatus 100 in a plurality of different deformation conditions, shown at 170, 172, and 174. In the examples of FIG. 22 , the body segment 110 is demonstrated as including the rings 134, connecting element 140, and the tubular outer structure 142, which define the fluidic chamber 144. The body segment is also shown with a flexible conduit 112 extending through the lumen 132 thereof. Also, in the example of FIG. 22 , the body segment 110 is within an inner periphery of a tunnel (e.g., borehole) 178, such as can result from drilling through a medium (e.g., ground) with the peristaltic actuator apparatus 100 or otherwise forming the tunnel and moving the peristaltic actuator apparatus therethrough by peristaltic motion.
By way of example, the body segment 110 of the example peristaltic actuator apparatus 100 is shown in a resting or initial position at 170. The body segment 110 of the example peristaltic actuator apparatus 100, is shown at 172, as the segment begins undergoing axial contraction and radial expansion responsive to an axial compressive force from the electromotors being applied to the sealed fluidic chamber 144. For example, axial contraction can be implemented based on activation of one or more electromotors 162 and 164 to shorten the length of connecting elements 160 through the body segment 110. As shown at 174, the body segment 110 of the actuator apparatus 100 is undergoing further axial contraction during actuation, which causes the flexible tubular outer structure 142 to contact the tunnel wall 178 surrounding the apparatus. As the sealed chamber 144 is driven to have a shorter axial length by the electromotors 162 and 164, the sealed chamber inherently seeks to increase in diameter or expand radially, which occurs as the outer sidewall 142 of the sealed chamber 144 (e.g., formed of a flexible skin or membrane) contacts the tunnel wall, as shown at 178. Because the sealed chamber 144 is sealed, the flexible tubular outer structure 142 makes conforming contact with the tunnel wall 178. Furthermore, significant radial force acting on the tunnel wall can be transmitted via the sealed fluidic chamber due to the forces from axial contraction. Having large tunnel wall radial forces can be important in undergrounding applications because significant radial grip would be needed to support the drill bit thrust and torques required. Current simulations indicate that the use of simply atmospheric pressure air in the sealed chamber would be more than sufficient to provide these desired radial forces. As the electromotors release tension in the cables, the inherent stiffness of the design will encourage it to return to its original shape (shown at 170), with aid from additional spring-like elements, which can be coupled between some or all the rings 134.
FIGS. 23-29 depict an example embodiment of a fluidic powered peristaltic actuating apparatus 200, in which the same reference numbers are used to refer to respective parts and features throughout the various views. The peristaltic actuating apparatus 200 provides an example of the apparatus 12 of FIG. 1 and can be controlled to implement a peristaltic waveform to move the apparatus through a medium, such as described herein (see, e.g., FIG. 2 ). Accordingly, reference can be made to certain aspects of FIGS. 1 and 2 as well as other figures herein in the description of FIGS. 23-29 .
FIG. 23 is a perspective view and FIG. 24 is a side view of the example peristaltic actuating apparatus 200. The apparatus 200 includes an elongated body 202 extending longitudinally between spaced apart ends 204 and 206. The apparatus 200 includes a plurality of body segments 210 arranged along a length of the body 202. While eight segments 210 as shown in this example, there can be any number of body segments 210 depending on the axial length of respective segments and desired length of the apparatus 200. The body 202 of the apparatus 200 can have a hollow interior, which is configured to hold and/or carry an elongated flexible tubular structure (e.g., a flexible conduit) 212. In other examples, the hollow interior (e.g., the inner periphery) of the apparatus 200 can itself define an elongated tubular structure into which cables can be fed and/or pulled through.
Each of the segments 210 at respective ends 204 and 206 can define end segments that can be coupled to an outer surface of flexible tubular structure (conduit) 212 by end anchor couplings 214 and 216 at respective end locations. The apparatus 200 can also include one or more segment-to-segment anchor couplings 218 at intermediate locations along the body 202. Each segment-to-segment anchor coupling 218 is configured to attach the body 202 to the conduit 212.
FIG. 25 is a perspective view of part of the actuating of apparatus 200 showing an enlarged exploded view of an example end anchor coupling 216. For example, the end anchor coupling 216 can include two separable semi-cylindrical halves 220 and 222 that can be connected together at respective flanges 224 and 226 (e.g., by bolts or other fasteners). Fasteners (e.g., bolts) are used to connect the anchor to the body segment 210. Anchor shrouds can slide over and interlock with the end anchor to prevent soil debris from entering the machine. The anchor coupling 216 includes a number of slots 228 that provide passages for fluid conduits (e.g., tubing) 230 to pass through. The fluid conduits 230 can carry fluid for actuating respective fluidic powered actuators within one or more of the body segments 210. The anchor couplings 214, 216 and 218 are designed to clamp down on the conduit 212 tightly without causing non-superficial damage to the conduit. FIG. 27 is a partial perspective view of an end of body segment 210 showing a plurality of fluid conduits (e.g., tubing) extending into a respective slot 228 of end anchor coupling 216. The maximum number of fluid conduits for a given slot can depend on the size of the slot relative to the size of the respective fluid conduits.
FIG. 26 is a perspective view showing an exploded view of example segment-to-segment anchor coupling 218 between an adjacent pair of body segments 210. For example, the segment-to-segment anchor coupling 218 can include two separable semi-cylindrical halves 232 and 234 that can be connected together at respective flanges 236 and 238 (e.g., by bolts or other fasteners). The segment-to-segment anchor coupling 218 can be arranged and configured to clamp down on the conduit 212 tightly without causing non-superficial damage. The segment-to-segment anchor coupling 218 can be connected to the end of the respective body segment 210 by fasteners. Anchor shrouds further can slide over and interlock with the end anchor in order to prevent soil debris from entering the fluidic actuator of the adjacent segments. The segment-to-segment anchor coupling 218 further can include one or more slots 240 arranged and configured for the tubing 230 to pass through the coupling between adjacent segments 210.
FIG. 28 is a cross-sectional view of an example body segment 210 of the apparatus 200 (taken along line 28-28 in FIG. 24 ) including a fluidic powered actuator. The apparatus 200 thus includes a plurality of such body segments 210 arranged in series along the length of the body, in which at least some of (e.g., less than all or all of) the body segments include respective fluidic powered actuators to implement peristaltic movement of the apparatus, such as described herein.
The body segment 210 includes an inner periphery that defines a central lumen 246 extending longitudinally through the plurality of body segments 210 of the elongated body 202. The lumen 246 can be dimensioned and configured to receive the conduit 212 in the lumen. The conduit 212 can be anchored with respect to a number of segments 210 of the apparatus through anchor couplings 214, 216, 218, as described herein.
The body segment 210 includes at least first and second fluidic chambers 248 and 250 that form part of the fluidic powered actuator. For example, the first and second fluidic chambers 248 and 250 can be revolved around a central axis 252 extending longitudinally through the central lumen 246. The first fluidic chamber 248 can include (or define) one or more sealed chambers filled with a volume of fluid (e.g., gas or liquid). The first fluidic chamber(s) 248 can be adapted to emulate a constant volume constraint similar to that found on biological earthworm segments to facilitate peristaltic movement of the apparatus, as described herein. In some examples, each body segment 210 can include a valve coupled with the fluidic chamber 248, which can be used to set a pressure of the fluid within the volume such as described herein.
The second chamber 250 defines an actuating fluidic chamber configured to receive a change in pressure for implementing a corresponding change in axial and radial dimensions. For example, the actuating fluidic chamber 250 is designed to be at rest or unactuated, such as shown in FIG. 28 (e.g., corresponding to zero gauge pressure). The actuating fluidic chamber 250 can then either receive increase or decrease in gauge pressure. In response to receiving a decrease in pressure, the actuating fluidic chamber 250 contracts axially and expands radially, thereby causing a corresponding axial contraction and radial expansion of the respective body segment 210. In response to receiving an increase in pressure, the actuating fluidic chamber 250 elongates axially and contracts radially, thereby causing a corresponding axial elongation and radial contraction of the respective body segment 210.
As a further example, the first fluidic chamber 248 can include an expandable tubular outer sidewall 254 spaced radially outwardly from a tubular inner sidewall 256. The tubular outer sidewall 254 and inner sidewall 256 of the chamber 248 can be coupled together and spaced radially apart by respective end caps or other mounting structures, shown at 258 and 260, at respective proximal and distal ends of the segment 210. The tubular outer sidewall 254 thus can define a radially outer cylindrical sidewall of each body segment 210 of the apparatus 200. For example, the tubular outer structure 254 can include one or more layers of a flexible skin or covering (e.g., fabric or other flexible material impervious to fluid flow).
The inner sidewall 256 of the chamber 248 is configured to implement axial elongation and contraction. In the example of FIG. 28 , the inner sidewall 256 of the chamber 248 includes a plurality of rigid rings 262 that are axially spaced apart along the length the body segment 210 by flexible connecting elements 264. The rings 262 can be arranged coaxially with respect to the central axis 252. For example, the flexible connecting elements 264 can be in the form of respective curved arches (or other shapes of interconnects) coupled between adjacent pairs of the rings 262, such as at radially outer ends thereof. The flexible connecting elements 264 for a respective segment 210 can be in the form of a cylindrical sheet that extends over the radially outer edge of the respective rings 262 and radially inwardly, forming respective arches (e.g., U-shaped elements), between adjacent pairs of rings 262.
As a further example, the actuating fluidic chamber 250 can include an outer sidewall defined by the inner sidewall 256 of the first fluidic chamber 248 spaced radially outwardly from a second tubular inner sidewall 266. The inner sidewall 266 can be implemented as a concentric cylindrical sidewall having the same construction as the outer sidewall 256. For example, the inner sidewall includes a plurality of rigid rings 268 that are axially spaced apart along the length the body segment 210 by flexible connecting elements 270. The flexible connecting elements 270 can be implemented by a substantially cylindrical sheet of flexible material that extends over the radially inner edges of the respective rings 268 and extends radially outwardly towards the chamber 250, such as forming respective arches (e.g., U-shaped elements), between adjacent pairs of rings. Proximal and distal ends of the respective sidewalls 256 and 266 can be coupled together by respective end caps or other mounting structures, shown at 272 and 274. In the example of FIG. 28 the fluid conduit 230 extends through the fluid chamber and the end mounting structures 272 and 274. The mounting structures 258 and 260 can be integrated with or be separate from the mounting structures 272 and 274.
By way of example, the rigid rings 262 and 268 in conjunction with the flexible connecting elements (e.g., arches) 264 and 270 can be configured to restrict the actuating motion of the respective sidewalls 256 and 266 to be the axial direction. In response to a pressure decrease within the actuating fluidic chamber 250, the rings 262 and 268 are pulled closer together as the axial length shrinks. In response to a pressure increase within the actuating fluidic chamber 250, the flexible connecting elements (e.g., arches) 264 and 270 tend toward a flattened condition due to the pressure increase and resulting axial elongation. The rigid end arches sweep to increase the area for pressure to act towards the end caps, further promoting axial motion.
As a further example, the apparatus 200 includes one or more sources of pressurized fluid (e.g., positive or negative pressure) in fluid communication with the actuating fluidic chamber of at least the respective body segments 210. The actuator for the segment can include one or more valves coupled between the source and the actuating fluidic chamber 250. In the example of FIG. 28 , in which fluid conduits 230 extends through the actuating fluidic chamber 250 each fluid conduit can include one or more valves (e.g., solenoid valves) extending through the sidewall of the fluid conduit 230 to enable an increase or decrease of pressure within the chamber responsive to activation of the valve based on a control signal. Also, or alternatively, the rigid end caps 272 and 274 can include interfaces or ports for fluidic control of the actuating fluidic chamber 250.
A controller can be coupled to the valve(s) and configured to actuate the valve(s) to control flow of the fluid between the source and the actuating fluidic chamber 250 to change the pressure within the actuating fluidic chamber and thereby change an axial length of the respective body segment 210. For example, the controller can include a microcontroller control system and pneumatic circuitry configured for controlling respective valves to switch between positive and negative pressures within the actuating fluidic chamber through selective activation of the respective valves. The controller further can coordinate the activation of the valves to implement a peristaltic waveform among respective groups of the body segments, such as described herein (see, e.g., FIG. 2 ). In some examples, the valve includes an electromechanically operated valve (e.g., a solenoid valve) and the controller is configured to control the valve in a first state to increase pressure within the actuating fluidic chamber and cause an increase in the axial length of the respective body segment. The controller can further be configured to control the same or a different valve in a second state to decrease pressure within the actuating fluidic chamber and cause a reduction in the axial length of the respective body segment.
FIG. 29 is a cross-sectional view of another example of a body segment 210′ in which a prime symbol “′” is used to denote common parts and features described with respect to FIG. 28 . The body segment 210′ provides an alternative example embodiment that can be utilized in the peristaltic actuating apparatus 200 to implement a fluidic powered actuator. The body segment 210′ is modified (compared to the example body segment 210 of FIG. 28 ) to accommodate a larger diameter fluid conduct 230′. In the example of FIG. 29 , the fluid conduct 230′ extends between the actuating fluidic chamber 250′ and the central lumen 246 through which the flexible conduit 212′ extends. As described herein, there can be any number of fluid conduits 230′ to provide pressurized fluid to perform axial elongation and/or contraction of the body segments 210′ of the apparatus 200.
As a further example, FIG. 30 is a partial sectional view of the example hydraulic powered peristaltic actuator showing the fluidic powered actuator and sidewall portions in a plurality of different deformation conditions, shown at 260, 262, and 264. In the examples of FIG. 30 , the body segment 210 is demonstrated as including a first fluidic chamber 248 and a second, actuating fluidic chamber 250. The body segment 210 is also shown with a flexible conduit 212 extending through the lumen 246 thereof. Also, in the example of FIG. 30 , the body segment 210 is within an inner periphery of a tunnel (e.g., borehole) 266, such as can result from drilling through a medium (e.g., ground) with the peristaltic actuator apparatus 200 or otherwise forming the tunnel and moving the peristaltic actuator apparatus therethrough by peristaltic motion.
The actuating fluidic chamber 250 is designed to be at rest or unactuated, such as shown at 262, corresponding to zero gauge pressure. The actuating fluidic chamber 250 can then either receive an increase or decrease in gauge pressure. In response to receiving a decrease in pressure within the actuating fluidic chamber 250, the actuator will contract the length of the body segment 210 axially and expand the segment radially, such as shown at 260. Further, in response to receiving an increase in pressure within the actuating fluidic chamber 250, the actuator will elongate length of the segment 210 axially and contract the diameter of the segment 210 radially, such as shown at 264.
As the sealed chamber 248 is driven to have a shorter length by the actuating chamber 250, as shown at 200, the sealed chamber 248 inherently wants to increase in diameter or expand radially, which causes the flexible outer sidewall 254 to make contact with a surrounding medium (e.g., tunnel wall) 278. Because the chamber 248 is sealed, the flexible outer sidewall 254 (e.g., a flexible skin or covering) makes conforming contact with the surrounding medium 278. Additionally, significant radial force acting on the tunnel wall can be transmitted via the sealed fluidic chamber 248 due to the forces from axial contraction of the segment 210. As described herein, various fluidic media could be used in the sealed fluidic chamber 248, such as air, water, oils, gels, etc. Also, as the incompressibility of the fluidic media increases, greater radial forces are able to be transferred to the surrounding medium 278. Having large radial forces applied to the surrounding medium 278 facilitates undergrounding since significant radial grip would be needed to support required drill bit thrust and torques.
In contrast to many other approaches, the worm-like actuator apparatus 200 and as otherwise described herein, can be configured to implement forceable actuation motion for both elongation and contraction. The actuator design has the capability to further increase or decrease pressure as the actuator moves between elongation and contraction states, which means it can overcome external resistances and keep moving in situations where other approaches could end up stuck.
FIGS. 31A and 31B depict an example of part of a peristaltic actuator apparatus 300 that includes another type of actuator 302. For example, the apparatus 300 includes a plurality of rigid rings 304 and 306 along a length of a tubular body 308 and a hollow interior to carry a length of a conduit 310 therein, as described herein. At least some of the rings 306 include actuator 302 configured to implement radial expansion and/or contraction of respective flexible sidewall portions 312 located the body 308 between rings 304 and 306. For example, the actuator 302 can include an arrangement of gears and teeth, such as shown in FIG. 31B, which can implement the radial expansion and/or contraction of the portion 312 responsive to rotation of a respective gear about a central axis of the apparatus. Such rotation of the actuator ring 306 can also move another ring 304 axially along the length of the body, which causes radial expansion of the portion 312 between the respective rings. Some of the rings can include ribs (or other protrusions) 314 extending axially along an outer surface of the ring to enable axial movement thereof but mitigate or prevent rotation of such rings.
FIGS. 32A and 32B are a cross-sectional view showing an example of part of a peristaltic actuator apparatus 320. The apparatus 320 includes an actuator 322 between an elongated conduit 324 and an outer flexible sleeve 326. The actuator can be actuated to change the diameter of the outer flexible sleeve 326 between a maximum (rest) condition, shown at 328, and a minimum (contracted) condition, shown at 330. The size of the actuator 322 (e.g., the radial dimension extending between the conduit and sleeve) can be a design parameter to determine the minimum and maximum diameters for contracted and rest conditions. FIG. 32B shows that a smaller size actuator 326 can increase the difference in diameters for contracted and rest conditions 328 and 330.
FIG. 33 depicts an example part of a peristaltic actuating apparatus 340 that includes hydraulic cylinders for actuation. The apparatus 340 includes a plurality of rigid rings 342 along a length of a tubular body 344 and a hollow interior to carry a length of a conduit 346 therein, such as described herein. A flexible outer sleeve 348 can extend between adjacent rings 342 and be configured to radially expand and contract based on the movement of the rings toward or away from each other axially along the body and conduit 346.
FIG. 34 depicts an example part of a peristaltic actuating apparatus 360 that includes soft actuators. The apparatus 360 includes a plurality of rigid rings 362 along a length of a tubular body 364 and a hollow interior to carry a length of a conduit 366 therein, such as described herein. A flexible outer sleeve 368 can extend between adjacent rings 362 and be configured to radially expand and contract based on the movement of the rings toward or away from each other axially along the body and conduit 366.
FIG. 35 depicts another example of a part of a peristaltic actuating apparatus 400 that includes an elongated tubular body (e.g., a flexible conduit) 402 and an arrangement of body segments 404 along the tubular body. For ease of explanation and illustration, one of the body segments is uncovered to show a multi-linkage actuator 406, and the remaining body segments include a covering 408 of flexible material. The materials for the covering 408 can include included woven nylon, polychloroprene, elastane, polyurethane rubbers, or other flexible durable materials. Each of the body segments 404 can include the same actuator configuration (or different actuator configurations can be implemented in different body segments of the apparatus 400).
As shown in FIG. 35 , each of the body segments 404 can include a respective multi-linkage actuator 406 distributed at spaced apart locations along an outer surface of the elongated body conduit 402. In the example of FIG. 35 , each of the actuators 406 includes a linkage having two bars 410 coupled together at adjacent ends by a joint 412. A number of such 2-bar linkages 410 can be distributed (e.g., revolved) around the elongated body conduit 402. Opposing ends of each of the respective bar linkages are coupled to the elongated body conduit by respective couplings 414, such as by substantially rigid spaced apart rings. Adjacent ends of each of the bar of the respective linkages 410 are coupled to each other through a hinge joint 412 (e.g., pin and leaves, a pivot joint, etc.) spaced radially outwardly from the elongated body conduit 402. In the example two-bar linkage configuration, each of the bar linkages 410 of a respective actuator of plurality of actuators includes a pair of bars extending between couplings 414 of the respective actuator. Adjacent ends of the first and second bars are coupled together and moveable relative to each other through the joint 412, and opposing ends of the respective bars are coupled to the couplings of the respective actuator to define joints (e.g., hinge or pivot joints) between the linkage and couplings.
The resulting actuator apparatus 400 can include a series of multi-bar actuator segments 404 that are coupled together, end to end, along the length of the elongated body conduit 402, such as shown in FIG. 35 . An end coupling 410 of a given body segment of the multiple actuator segments can be fixed to the elongated body conduit 402. In some examples, one of the couplings 410 of a given actuator 406 is moveable axially along and relative to the elongated body conduit 402 and the other coupling 410 is fixed. In other examples, both can be movable along the conduit and/or can be configured to anchor, selectively intermittently, to the conduit 402 during actuation.
The apparatus 400 further can include means for actuating each of the actuators 406 (e.g., coupled to couplings 414 and/or at respective joints) to provide for motion of the respective actuators 406 to implement peristaltic movement of the apparatus. As described herein, the actuator means can be implemented as electromotor and/or fluidic powered actuators to provide axial contraction and/or expansion between the respective couplings 410 of a respective actuator to causes radial expansion and/or contraction, respectively, of the joint 412 and respective bars 410 of the linkage.
FIG. 36 depicts another body segment 420 having an alternative actuator construction of the body segment 402 of FIG. 35 . For example, body segment 420 includes living hinges 422 in place of at least some of the mechanical joints 412. Also, or alternatively, living hinges could also be used to replace the hinges used to connect the bars 406 to the coupling 410. The living hinges 422 can be formed of the same material as the bar pieces 424 that the living hinge couples together. Also, or alternatively, the living hinges 422 can be made of a different material and/or have different mechanic properties (e.g., a different stiffness and/or of better bending fatigue performance). Such living hinges are expected to exhibit lower friction and facilitate manufacturing, such as through an additive manufacturing process.
FIGS. 37 depicts yet another example multi-bar body segment 430 that can be used to implement a peristaltic actuating apparatus (see, e.g., FIG. 39 ). In the example of FIG. 37 , the body segment 430 implements a multi-linkage actuator 432, in which each of a plurality of linkages has three bars 434, 436, and 438 extending between couplings 440. For example, first and second bars 434 and 436 are coupled together by a first joint 442 and the second and third bars 436 and 438 are coupled together by a second joint 444. Opposing ends of the end bars 434 and 438 are coupled to the couplings 440 of the respective actuator 432 to define respective joints (e.g., hinge or pivot joints) between the linkage and couplings. A number of such three-bar linkages 432 can be distributed (e.g., revolved) around the elongated body conduit 446. In the example two-bar linkage configuration, each of the bar linkages 432 of a respective actuator of plurality of actuators includes a pair of bars extending between couplings 440 of the respective actuator. One or both of couplings 440 can be movable along or be fixed with respect to the conduit, such as described herein.
FIG. 38 depicts another body segment 450 having an alternative linkage configuration compared to the body segment 430 of FIG. 37 . For example, body segment 450 includes living hinges 452 and 454 in place of at least some of the mechanical joints 442 and 444. Also, or alternatively, living hinges could also be used to replace the hinges used to connect the bars end bars 434 and 438 to the couplings 440. The living hinges 452 and 454 can be formed of the same or different materials as bar pieces 456, 458, and 460 that the living hinges couple together.
FIG. 39 depicts an example peristaltic actuating apparatus 462 that includes a plurality of body segments 464 distributed along a length of an elongated flexible conduit 466. For example, the body segments 464 each can be implemented to include three-bar linkage actuators, such as the body segments 430 and 450 of FIGS. 37 and 38 .
FIG. 40 depicts an example peristaltic actuating apparatus 470 that includes a separated actuation system. As used herein, separated actuation system refers to a configuration in which actuation in the radial and axial directions are partially or fully decoupled. For example, separate actuators can be used to implement actuation in a radial direction and in an axial direction. In a separated actuation system, a given body segment can be configured to implement actuation in a radial direction only, an axial direction only, or in both axial and radial directions.
The peristaltic actuating apparatus 470 includes an arrangement of body segments 472 along elongated tubular body (e.g., a flexible conduit) 474. In the example of FIG. 40 , at least some of the body segments 472 includes a radial actuator 476 configured to implement radial expansion and/or contraction of the body segments. The radial expansion and/or contraction can be implemented by fluidic powered or electric powered actuators, such as described herein. One or more linear actuators 478 can be coupled between adjacent pairs of the body segments 472 to implement axial motion (e.g., axial elongation and/or axial contraction) of at least one or more body segments relative to the conduit 474. The axial elongation and/or axial contraction can be implemented by fluidic powered or electric powered linear actuators 478, such as described herein. For example, the linear actuators 478 can be fluidic linear actuators, linear motors, other types of linear actuation mechanisms. One or more segments 472 along the length of the conduit 474 can also be anchored to the conduit, such as by an end anchor coupling 479. Other means to attach a body segment 472 to the conduit 474 can be used in other examples.
As shown in the cross-sectional view of FIG. 41 , the radial actuator 476 of the body segment 472 includes an actuating fluidic chamber 480 can be implemented as a fluidic powered actuator configured to radially expand and/or contract an actuating chamber 476. An outer sidewall 482 of the fluidic chamber 480 can be formed of a flexible material to enable the sidewall to expand and contract based on pressure within the chamber. An inner sidewall 484 of the fluidic chamber 480 can be formed of a flexible material such as to enable axial and/or radial expansion and contraction. Alternatively, the inner sidewall 484 of the fluidic chamber 480 can be formed of a rigid material (or partially flexible), such as being capable of bending motion but resistant to (e.g., constraining) axial elongation. By allowing inner sidewall 484 to bend, the body segments 472 can be better able to bend to accommodate curves in the conduit. The rotated nature (segment to segment) of the linear fluidic actuators further allows multi-directional steering/turning capabilities.
As a further example, with a pair of diametrically opposed linear actuators 478, a controller can actuate one of the actuators more than the other to implement a bending motion. The location and flexibility of the mount of the linear actuators to the radial actuators can be adjusted as desired to better permit bending motion.
While the separated (e.g., decoupled) radial and axial actuation method can operate within a peristaltic manner, such a configuration is also capable of non-peristaltic motion, offering some advantages. For example, when such separated actuation configuration is used at one or more segments near the drilling head, the linear actuators 478 can be controlled to independently move the drill head forward or back as desired while maintaining full anchoring with the radial actuators, without having to have the whole body undergo peristalsis to move. Also, or alternatively, by implementing one or more segments near the drilling head, turning of the drill head can also be facilitated.
FIG. 42 is a diagram showing separated actuation scheme that can be used to implement peristaltic locomotion using the apparatus 470 of FIG. 40 . Accordingly, reference can be made to the description of FIGS. 40 and 41 . As shown, radial actuators 476 of each of the body segments 472 can be capable of radial expansion or contraction at different phases of peristaltic motion. Also, or alternatively, linear actuators 478 are configured to implement axial elongation or contraction. The respective actuators 476 and 478 thus can be controlled to implement peristaltic locomotion, such as shown in FIG. 42 .
FIGS. 43A and 43B depict an example of an example operating environment 500 for demonstrating installation of a conduit through a medium (e.g., soil) 502 using a peristaltic actuating apparatus (e.g., apparatus 12, 100, 200, 300, 320, 340, 360). The example operating environment 500 includes manholes 504 and 506 spaced apart by a distance, shown at 508. The medium can include an existing length of conduit 510 between manholes as well as various potential obstacles distributed throughout the medium 502, such as a fiber cable 512, traffic signal 514, water distribution pipes 516, water main lines 518, a sewer 520 and a length of obsolete conduit 522. Such obstacles make traditional undergrounding impracticable or potentially impossible.
As shown in FIG. 43B, a peristaltic actuating apparatus 530 (e.g., apparatus 12, 100, 200, 300, 320, 340, 360) can be installed between the respective manholes 504 and 506. For example, an individual can insert a distal end, which includes a drill tool 532 at the end, into the medium at or adjacent the manhole 504. For example, the peristaltic actuating apparatus 530 can be supplied from a spool 534 that contains a length (e.g., 100 feet, 200 feet, 700 feet or 1000 feet or more) of the peristaltic actuating apparatus. The spool 534 can be loose or supported on a trailer or other container, which can be hauled by a truck 536. The peristaltic actuating apparatus 530 can then be controlled to perform drilling and peristaltic movement through the medium 502, such as described herein. In some examples, the peristaltic actuating apparatus 530 can include a flexible conduit therein, which is carried within a central lumen extending through the tubular body of the peristaltic actuating apparatus 530. The conduit can be preinstalled in the peristaltic actuating apparatus 530 that is wound on the spool 534, for example. Alternatively, an inner periphery of the central lumen extending through the tubular body of the peristaltic actuating apparatus 530 can define a conduit through which cabling can be inserted during and/or after installation at a target site. Any one or more combinations of body segments and actuation mechanisms, as described herein, can be combined to implement peristaltic actuating apparatus 530.
As described herein, the system can also be configured to deposit the drilled soil into the conduit (e.g., within the lumen) that then gets sucked out during drilling via the drill tool 532. For example, an industrial vacuum can be located above ground, such as truck (trailer or other container) 536. The truck 536 can also carry one or more spools that hold a length of the peristaltic actuating apparatus 530 wound on the spool. The vacuum can be fluidly coupled to a proximal end of the tubular body conduit of the peristaltic actuating apparatus 530. The industrial vacuum can be configured to vacuum out the soil cuttings and debris from within the tubular body during drilling through the medium 502.

Example Embodiments

Several aspects of the present technology are set forth in the following numbered examples.
Example 1. A peristaltic actuating system, comprising:

- an elongated body comprising a plurality of body segments arranged along a length of the body, in which a central lumen extends longitudinally through the plurality of body segments of the elongated body, the lumen defines an inner periphery that is configured to hold and/or carry an elongated tubular apparatus, and at least some of the body segments comprise:
- a plurality of substantially rigid annular rings, in which the rings are axially spaced apart along a length of a respective body segment between a proximal end ring and a distal end ring;
- an arrangement of flexible connecting elements, in which each connecting element extends between an adjacent pair of the rings and is configured to enable relative axial movement between the adjacent pair of rings, and a radially inner surface of the rings and connecting elements defines a portion of the lumen associated with the respective body segment; and
- a flexible membrane spaced radially outwardly from and surrounding the rings and the connecting elements and having proximal and distal end portions coupled to the proximal and distal end rings, respectively, in which a space between the flexible membrane and the rings and connecting elements of the respective body segment defines a fluidic chamber thereof.

Example 2. The system of example 1, wherein the elongated tubular apparatus comprises a pipe and/or an electrical conduit.
Example 3. The system of example 1 or 2, further comprising:

- means for modifying an axial length of a subset of the body segments to cause a corresponding radial expansion or contraction of the flexible membrane of the subset of the body segments and provide peristaltic motion of a portion of the elongated body.

Example 4. The system of example 1 or 2, further comprising:

- an electric motor; and
- a length of a flexible connecting element coupled between the electric motor and an end portion of a respective body segment, in which the electric motor is configured to change the length of the connecting element and thereby cause a corresponding change in an axial length of the respective body segment.

Example 5. The system of example 4,

- wherein the electric motor comprises a plurality of electric motors, in which each of the electric motors is each of the electric motors is coupled at one of the ends of a respective one of the body segments, and
- where the connecting element comprises a plurality of lengths of connecting elements, in which each of the connecting elements is coupled between a given electric motor and an opposing end of a respective body segment to which the given electric motor is coupled.
  The system can also include multiple motors on one segment configured to allow motors to help turn/curve/steer the segment by having motor(s) on one side pull more than motor(s) on another side. This can be implemented also for the fluidic powered design as well, for example, by just splitting up the actuating fluidic chamber into 2 or 3 or 4 or other numbers of different chambers that would be controlled independently.

Example 6. The system of example 4 or 5,

- wherein the electric motor is configured to apply a motive force in a first direction to reduce the axial length of the respective body segment and to apply a motive force in a second direction, which is opposite the first direction, to increase the length of the respective connecting element, and
- wherein the connecting elements are configured to mechanically bias the rings away from each other to increase the axial length of the respective body segment in the absence of an applied force.

Example 7. The system of example 1 or 2, wherein the fluidic chamber is a first fluidic chamber, and each of the at least some of the body segments further comprises:

- a second fluidic chamber between the first fluidic chamber and a portion of the lumen coextensive with the respective body segment; and
- a source of pressurized fluid in fluid communication with the second fluidic chamber of at least the respective body segment;
- a valve coupled between the source and the respective body segment; and
- a controller coupled to the valve and configured to actuate the valve to control flow of the fluid between the source and second fluidic chamber and thereby change an axial length of the respective body segment.

Example 8. The system of example 7, wherein the source of pressurized fluid includes the fluid at a pressure that is greater than or less than the second fluidic chamber.
Example 9. The system of example 7 or 8, wherein the valve comprises an electromechanically operated valve and the controller is configured to control the valve in a first state to increase pressure within the second fluidic chamber and cause an increase in the axial length of the respective body segment and to control the valve in a second state to decrease pressure within the second fluidic chamber and cause a reduction in the axial length of the respective body segment.
Example 10. The system according to any of examples 7, 8, or 9, wherein the second fluidic chamber includes a radially outer cylindrical sidewall portion defined by the rings and connecting elements of the respective body segment, a radially inner cylindrical sidewall portion, and axially spaced apart ends extending between the radially outer and inner cylindrical sidewall portions.
Example 11. The system according to any one of the preceding examples, further comprising a valve coupled to the fluidic chamber or the first fluidic chamber, in which the valve is configured to add or remove fluid from the fluidic chamber or the first fluidic chamber to change a volume thereof.
Example 12. The system according to any one of the preceding examples, further comprising:

- the conduit extending axially through at least a portion of the elongated body; and
- an anchor fixed with respect to the elongated body and coupled to the conduit.

Example 13. The system of example 12, further comprising a generally cylindrical coupling positioned axially between an adjacent pair of the body segments, in which the coupling includes or is coupled to the anchor.
Example 14. The system according to any one of the preceding or following examples, further comprising:

- a drill bit at a distal end of the elongated body, in which the drill bit is configured to drill a hole in media concurrently with advancing the elongated tubular apparatus within the lumen of the elongated body.

Example 15. The system according to any one of the preceding or following examples, further comprising:

- a sensor configured to detect force at a distal end of the elongated body.

Example 16. The system according to any one of the preceding or following examples, further comprising:

- a control system configured to control axial expansion and contraction of at least some of the body segments.

Example 17. A peristaltic actuating system, comprising:

- an elongated body that includes an arrangement of substantially tubular body segments, in which each of the body segments has a radially inner sidewall portion that is elastically deformable in an axial direction and defines a lumen that is coaxial with the lumens of the other body segments to define a central body lumen extending longitudinally through the elongated body, the central body lumen is configured to carry an elongated tubular apparatus therein, and each of the body segments includes a radially flexible outer membrane configured to expand radially and provide a radially outward force responsive to axial contraction of the body segment and to contract radially responsive to axial elongation of the body segment; and
- an actuator coupled to at least one of the body segments and configured to cause at least one of the axial contraction or the axial elongation of the at least one of the body segments based on a control signal.

Example 18. The system of example 17, wherein the radially inner sidewall of a respective body segment is mechanically biased to resist the at least one of the axial contraction or the axial elongation of the respective body segment and return the sidewall portion towards an initial or rest position.
Example 19. The system of example 17 or 18, wherein the sidewall portion of each of the body segments comprises:

- a plurality of substantially rigid annular rings, in which the rings are axially spaced apart along a length of a respective body segment between a proximal end ring and a distal end ring; and
- an arrangement of flexible connecting elements, in which each connecting element extends between an adjacent pair of the rings and is configured to enable relative axial movement between the adjacent pair of rings, and a radially inner surface of the rings and connecting elements defines the lumen associated with the respective body segment.

Example 20. A locomotion system, comprising:

- an elongated body having a central body lumen extending longitudinally through the elongated body, the central body lumen defines or is configured to carry an elongated tubular apparatus therein;
- a first body segment at a first location along the elongated body;
- a second body segment at a second location along the elongated body that is spaced axially apart from the first body segment,
- wherein each of the first and second body segments is configured to independently actuate radially and/or axially with respect to the elongated body and the other body segment to provide peristaltic motion of the body segments and corresponding axial motion of the elongated body and respective segments through a surrounding media.

Example 21. The system of example 20, further comprising:

- a first radial actuator coupled to the first body segment to provide a radially outward force for holding the first body segment with respect to the surrounding media, the first radial actuator also configured to terminate the radially outward force and/or to contract radially inwardly for releasing the first body segment from the surrounding media; and
- a second radial actuator coupled to the second body segment to provide a radially outward force for holding the second body segment with respect to the surrounding media, the second radial actuator also configured to terminate the radially outward force and/or to contract radially inwardly for releasing the second body segment from the surrounding media.

Example 22. The system according to any one of examples 20 or 21, further comprising:

- a linear actuator system including one or more linear actuators configured to move the first body segment axially towards and/or away from the second body segment.

Example 23. The system according to any one of examples 20, 21 or 22, wherein each of the first and second body segments has a substantially fixed axial length.
Example 24. The system according to any one of examples 20, 21, 22, or 23, wherein the first body segments defines an anchor segment having a fixed fix an axial position with respect to the elongated body, and the second body segment is configured to allow axial movement of the elongated body therethrough at least when the second body segment exerts radially outward force to hold the second body segment with respect to the surrounding media.
Example 25. The system of example 20, further comprising:

- a third body segment at a third location along the elongated body that is spaced axially apart from the first body segment, the second body segment being spaced apart from and intermediate the first and third body segments.

Example 26. A peristaltic actuating system, comprising:

- an elongated body conduit;
- a plurality of actuators distributed at spaced apart locations along an outer surface of the elongated body conduit, in which each of the plurality of actuators includes at least two bar linkages distributed around the elongated body conduit, opposing ends of each of the respective bar linkages are coupled to the elongated body conduit and adjacent ends of each of the bar linkages are coupled to each other through at least one joint spaced radially outwardly from the elongated body conduit; and
- means for actuating each of the actuators to provide for peristaltic motion for moving the elongated body conduit longitudinally.

Example 27. The system of example 26, wherein each of the bar linkages of a respective actuator of plurality of actuators includes first and second bars extending between couplings of the respective actuator, in which adjacent ends of the first and second bars are coupled together and moveable relative to each other through the at least one joint, and opposing ends of the first and second bars are coupled to the couplings of the respective actuator.
Example 28. The system of example 26, wherein each of the bar linkages of a respective actuator of plurality of actuators includes first, second, and third bars extending between the couplings of the respective actuator, in which the first and second bars are coupled together by a first joint and the second and third bars are coupled together by a second joint and the opposing ends of the first and third bars coupled to the couplings of the respective actuator.
Example 29. The system according to any one of examples 27 or 28, wherein at least one of the couplings is moveable axially along and relative to the elongated body conduit, and

- wherein the means for actuating includes an electromotor or fluid powered actuator to provide axial contraction and/or expansion between the respective couplings of a respective actuator, which causes radial expansion and/or contraction, respectively, of the at least one joint of the bar linkages thereof.

Example 30. The system according to any one of examples 26, 27, 28, or 29, further comprising a flexible covering over the bar linkages of each of the actuators.
Example 31. The system according to any one of examples 26, 27, 28, 29, or 30, wherein a series of multiple actuator segments are coupled together, end to end, along the length of the elongated body conduit, the end of a given actuator segment of the multiple actuator segments is fixed to the elongated body conduit.
Example 32. A peristaltic sleeve comprises an elongated expandable outer structure and a radially inner surface that defines a hollow lumen extending longitudinally through the sleeve that is one of adapted to support an elongated tubular structure therein or includes the elongated tubular structure therein extending longitudinally through at least a substantial portion of the sleeve, in which one or more actuators are configured to change a span and/or or diameter of the expandable outer structure at respective locations along the length of the sleeve to provide for peristaltic movement of at least the sleeve and the conduit if/when inside of the sleeve.
Example 33. An apparatus comprising:

- a plurality of axially spaced apart rings defining a radially inner surface adapted to support an elongated tubular structure therein, in which the radially inner surface of the rings is configured to slide along and/or attach to an outer surface of the elongated tubular structure (e.g., an inner surface of rings can be configured according to configuration of the outer surface of the elongated tubular structure);
  - respective actuators coupled to at least some of the rings; and
  - an elongated expandable tubular structure over the rings and the actuators, in which the actuators coupled to the expandable tubular structure and adapted to change a span and/or diameter of the expandable tubular structure at respective locations along the length of the expandable tubular structure.

Example 34. The apparatus of example 33, wherein the apparatus has a body extending between proximal and distal ends, and the apparatus further comprises a tip at distal end, in which the rings and expandable tubular structure are proximally located from the tip, and the tip is adapted to move through a medium.
Example 35. The apparatus of example 34, wherein the tip includes a tool adapted to drill, dig, bore, and/or pierce through the medium.
Example 36. The apparatus of any of examples 33, 34, or 352, 3, or 4, wherein an adjacent pair of rings are spaced apart from each other by an axial distance and at least one actuator is configured to change the axial distance between the adjacent pair of rings.
Example 37. The sleeve of example 32 or the apparatus of claim 33, further comprising an outer sheath over the expandable tubular structure, in which the outer sheath is conforming to an outer surface of the expandable tubular structure.
Example 38. The sleeve of example 32 or the apparatus of claim 33, further comprising a cable extending therethrough and configured to carry at least one of power and data.
Example 39. A method of using a peristaltic sleeve to carry, within an interior of the peristaltic sleeve, an elongated flexible structure (e.g., conduit) through a medium from a first location to a second location.
Example 40. A system comprising:

- an elongated flexible conduit, such as for carrying wires;
- an elongated peristaltic sleeve extending longitudinally between spaced apart proximal and distal ends, in which the peristaltic sleeve has a tip at the distal end and a radially inner surface, a length of the flexible conduit within the peristaltic sleeve extending proximally from a location near the tip; and
  a controller configured to control motion of the peristaltic sleeve through a medium.

The actuating systems and methods described in this document are designed to address drawbacks of existing undergrounding methods, including cost, labor time, safety, and/or steerability. The systems and methods herein can be self-propelling, which is significant for two reasons. For example, it allows for an unlimited length of conduit to be installed, as increasing frictional forces are not countered by a single source, such as the drilling machine in Horizontal Directional Drilling (HDD). Second, in the event that a drill bit attached to the end of a series of actuators (not shown in Figures) makes accidental contact with underground existing infrastructure, such as a pipe, the increase in force due to the contact could be much more noticeable near the actuators closest to drill bit. This increased force could be detected by sensors, preventing damage from occurring. As described herein, actuators can be repeated in series along the outside of the conduit, serving as a “skin” for the conduit. Each actuator is capable of earthworm-like peristaltic locomotion, meaning that as the diameter of the actuator decreases the axial length of the actuator increases and vice-versa. Similar to an earthworm, as a peristaltic wave travels down the actuators, the system would move longitudinally (e.g., forward or backward) in response. The actuators can be attached (directly or indirectly) to the outside of the conduit being carried in certain locations. Additionally, the peristaltic locomotion can be utilized to compress the surrounding soils, to aid in supporting the created borehole without the use of drilling fluid, which as stated previously, can sometimes leak pass the borehole damaging the surrounding environment. In other examples, a fluid can be used to facilitate traversing through the medium.
The systems and methods described herein thus can reduce conduit installation and labor times, thereby lowering costs, due to its inherent integration with the conduit. Since the conduit can, in some example embodiments, move along with the actuator system, the drilling of a hole and installation of the conduit can occur simultaneously in a single step. In comparison, though HDD would likely be able to create an initial hole faster than the approach described herein, the extra two steps that the HDD methods require afterwards can lead to an expected longer total time for installation compared to the example apparatuses, systems, and methods described herein.
The flexible nature of electromotor powered peristaltic actuators would allow increased steering capabilities when compared to conventional undergrounding methods. Due to the flexible skin and arches used in the design, the actuator would be able to bend with the conduit such that the limiting factor for bending radius would be only the structural limits of the conduit itself. The proposed technology is expected to be significantly more flexible underground and able to steer around much more existing underground infrastructure than methods such as HDD. This steering capability alongside the ability to detect underground collisions prior to damage could allow this technology to be used in complex urban underground environments where conventional methods are not safe to be allowed.
What have been described above are examples. It is, of course, not possible to describe every conceivable combination of components or methodologies, but one of ordinary skill in the art will recognize that many further combinations and permutations are possible. Accordingly, the disclosure is intended to embrace all such alterations, modifications, and variations that fall within the scope of this application, including the appended claims.
It will be understood that when an element is referred to as being “on,” “attached” to, “connected” to, “coupled” with, “contacting”, “adjacent”, etc., another element, it can be directly on, attached to, connected to, coupled with, contacting, or adjacent the other element or intervening elements may also be present. In contrast, when an element is referred to as being, for example, “directly on,” “directly attached” to, “directly connected” to, “directly coupled” with, “directly contacting”, or “directly adjacent” another element, there are no intervening elements present. It will also be appreciated by those of skill in the art that references to a structure or feature that is disposed “directly adjacent” another feature may have portions that overlap or underlie the adjacent feature, whereas a structure or feature that is disposed “adjacent” another feature might not have portions that overlap or underlie the adjacent feature.
Spatially relative terms, such as “under,” “below,” “lower,” “over,” “upper”, “proximal”, “distal”, and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms can encompass different orientations of a device in use or operation, in addition to the orientation depicted in the figures. For example, if a device in the figures is inverted, elements described as “under” or “beneath” other elements or features would then be oriented “over” the other elements or features.
There also may be any desired seals, gaskets, connectors, and/or other components provided to the delivery system as appropriate for a particular use environment and can readily be provided by one of ordinary skill in the art taking into account, for example, durability, affordability, sterilizability, ease of manufacture, and/or any other desired factors or combinations thereof.
While aspects of this disclosure have been particularly shown and described with reference to the example aspects above, it will be understood by those of ordinary skill in the art that various additional aspects may be contemplated. For example, the specific methods described above for using the apparatus are merely illustrative; one of ordinary skill in the art could readily determine any number of tools, sequences of steps, or other means/options for placing the above-described apparatus, or components thereof, into positions substantively similar to those shown and described herein. In an effort to maintain clarity in the Figures, certain ones of duplicative components shown have not been specifically numbered, but one of ordinary skill in the art will realize, based upon the components that were numbered, the element numbers which should be associated with the unnumbered components; no differentiation between similar components is intended or implied solely by the presence or absence of an element number in the Figures. Any of the described structures and components could be integrally formed as a single unitary or monolithic piece or made up of separate sub-components, with either of these formations involving any suitable stock or bespoke components and/or any suitable material or combinations of materials; however, the chosen material(s) should be biocompatible for many applications. Any of the described structures and components could be disposable or reusable as desired for a particular use environment. Any component could be provided with a user-perceptible marking to indicate a material, configuration, at least one dimension, or the like pertaining to that component, the user-perceptible marking potentially aiding a user in selecting one component from an array of similar components for a particular use environment.
The term “substantially” is used herein to indicate a quality that is largely, but not necessarily wholly, that which is specified—a “substantial” quality admits of the potential for some relatively minor inclusion of a non-quality item. Unless expressly specified, substantially means+/−5% of a stated condition or quality.
Though certain components described herein are shown as having specific geometric shapes, all structures of this disclosure may have any suitable shapes, sizes, configurations, relative relationships, cross-sectional areas, or any other physical characteristics as desirable for a particular application. Any structures or features described with reference to one aspect or configuration could be provided, singly or in combination with other structures or features, to any other aspect or configuration, as it would be impractical to describe each of the aspects and configurations discussed herein as having all of the options discussed with respect to all of the other aspects and configurations. A device or method incorporating any of these features should be understood to fall under the scope of this disclosure as determined based upon the claims below and any equivalents thereof.
As used herein, the term “includes” means includes but not limited to, the term “including” means including but not limited to. The term “based on” means based at least in part on. Additionally, where the disclosure or claims recite “a,” “an,” “a first,” or “another” element, or the equivalent thereof, it should be interpreted to include one or more than one such element, neither requiring nor excluding two or more such elements.
Spatially relative terms, such as “under,” “below,” “lower,” “over,” “upper”, “proximal”, “distal”, and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms can encompass different orientations of a device in use or operation, in addition to the orientation depicted in the figures. For example, if a device in the figures is inverted, elements described as “under” or “beneath” other elements or features would then be oriented “over” the other elements or features.
It will be understood that, although the terms “first,” “second,” etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. Thus, a “first” element discussed below could also be termed a “second” element without departing from the teachings of the present disclosure. The sequence of operations (or steps) is not limited to the order presented in the claims or figures unless specifically indicated otherwise.
All references, publications, and patents cited in the present application are herein incorporated by reference in their entirety.

Claims

1. An apparatus comprising:

a plurality of axially spaced apart rings defining a radially inner surface that defines a hollow central lumen extending longitudinally through the apparatus;

respective actuators coupled to at least some of the rings outside of the central lumen; and

an elongated expandable tubular structure extending over the rings and the actuators, in which the actuators are adapted to change a span and/or diameter of the expandable tubular structure at respective locations along the length of the expandable tubular structure, whereby peristaltic movement of the apparatus is provided.

2. The apparatus of claim 1, wherein an adjacent pair of the rings are spaced apart from each other by an axial distance, and at least one of the actuators is configured to change the axial distance between the adjacent pair of the rings.

3. The apparatus of claim 1, further comprising an outer sheath over the expandable tubular structure, in which the outer sheath is pliant and conforming to an outer surface of the expandable tubular structure.

4. The apparatus of claim 1,

wherein the radially inner surface of at least some of the rings is one of adapted to support an elongated flexible structure within the central lumen such that the at least some of the rings are configured to slide along and/or attach to an outer surface of the elongated flexible structure, or

wherein the apparatus includes the elongated flexible structure, in which the elongated flexible structure extends longitudinally through at least a substantial portion of the central lumen, and the at least some of the rings are configured to slide along and/or attach to an outer surface of the elongated flexible structure.

5. The apparatus of claim 1, wherein the elongated expandable tubular structure defines an elongated tubular body of the apparatus that extends longitudinally between a proximal end and a distal end of the apparatus, and the apparatus further comprises:

a tip at the distal end, in which the rings and expandable structure are proximally located from the tip at spaced apart locations along the length of the body.

6. The apparatus of claim 5, wherein the tip comprises a tool adapted to drill, dig, bore, and/or pierce through a medium to facilitate the peristaltic movement of the apparatus through the medium.

7. The apparatus of claim 5, wherein the apparatus further comprises:

an elongated flexible tubular structure extending longitudinally through at least a substantial portion of the central lumen, in which at least one cable or wire is within the elongated flexible tubular structure, and at least some of the rings are configured to slide along and/or attach to an outer surface of the elongated flexible tubular structure based on activation of the actuators to cause the peristaltic movement of the apparatus along with the elongated flexible tubular structure therein.

8. The apparatus of claim 5, wherein the body comprises:

an arrangement of body segments, in which each of the body segments has a cylindrical sidewall portion that is extensible in an axial direction and defines a respective lumen that is coaxial with lumens of the other body segments to define the central lumen through elongated tubular body of the apparatus, each of the body segments includes a flexible sidewall portion configured to expand radially and provide a radially outward force responsive to axial contraction of the respective body segment and to contract radially responsive to axial elongation of the respective body segment, at least one of the respective actuators is coupled to at least one respective body segment and configured to cause at least one of the axial contraction or the axial elongation of the at least one respective body segment based on a control signal.

9. The apparatus of claim 8, wherein at least some of the respective actuators comprise:

an electric motor having an input;

a length of a flexible connecting element coupled between the electric motor and an end portion of a respective body segment, in which the electric motor is configured to change the length of the connecting element and thereby cause a corresponding change in an axial length of the respective body segment; and

a controller having an output coupled to the input of the electric motor and configured to provide the control signal to the input of the electric motor.

10. The apparatus of claim 8, further comprising:

a flexible membrane spaced radially outwardly from and surrounding the flexible sidewall portion of at least one of respective body segment, in which the flexible membrane has proximal and distal end portions coupled to proximal and distal end rings of the at least one of respective body segment, a space between the flexible membrane and the flexible sidewall portion of the at least one of respective body segment defines at least one fluidic chamber.

11. The apparatus of claim 10, wherein the at least one fluidic chamber is a first fluidic chamber, and the apparatus further comprises:

a second fluidic chamber between the first fluidic chamber and a portion of the central lumen coextensive with the respective body segment; and

a source of pressurized fluid in fluid communication with the second fluidic chamber of at least the respective body segment;

a valve coupled between the source and the respective body segment; and

a controller coupled to the valve and configured to actuate the valve to control pressure within the second fluidic chamber and thereby change an axial length of the respective body segment.

12. A peristaltic actuating system, comprising:

an elongated body comprising a plurality of body segments arranged along a length of the elongated body, in which a central lumen extends longitudinally through the plurality of body segments of the elongated body, the central lumen defines an inner periphery that is configured to hold and/or carry an elongated tubular apparatus, and at least some of the body segments comprise:

a plurality of substantially rigid annular rings, in which the rings are axially spaced apart along a length of a respective body segment between a proximal end ring and a distal end ring;

an arrangement of flexible connecting elements, in which each connecting element extends between an adjacent pair of the rings and is configured to enable relative axial movement between the adjacent pair of rings, and a radially inner surface of the rings and connecting elements defines a portion of the central lumen associated with the respective body segment; and

a flexible membrane spaced radially outwardly from and surrounding the rings and the connecting elements and having proximal and distal end portions coupled to the proximal and distal end rings, respectively, in which a space between the flexible membrane and the rings and connecting elements of the respective body segment defines one or more fluidic chambers thereof.

13. The system of claim 12, wherein the elongated tubular apparatus comprises a pipe and/or an electrical conduit.

14. The system of claim 12, further comprising:

means for modifying an axial length of a subset of the body segments to cause a corresponding radial expansion or contraction of the flexible membrane of the subset of the body segments and provide peristaltic motion of a portion of the elongated body.

15. The system of claim 12, further comprising:

an electric motor; and

a length of a flexible connecting element coupled between the electric motor and an end portion of a respective body segment, in which the electric motor is configured to change the length of the connecting element and thereby cause a corresponding change in an axial length of the respective body segment.

16. The system of claim 15,

wherein the electric motor comprises a plurality of electric motors, in which each of the electric motors is each of the electric motors is coupled at one of the ends of a respective one of the body segments, and

where the connecting element comprises a plurality of lengths of connecting elements, in which each of the connecting elements is coupled between a given electric motor and an opposing end of a respective body segment to which the given electric motor is coupled.

17. The system of claim 15,

wherein the electric motor is configured to apply a motive force in a first direction to reduce the axial length of the respective body segment and to apply a motive force in a second direction, which is opposite the first direction, to increase the length of the respective connecting element, and

wherein the connecting elements are configured to mechanically bias the rings away from each other to increase the axial length of the respective body segment in an absence of an applied force.

18. The system of claim 12, wherein the one or more fluidic chambers is a first fluidic chamber, and each of the at least some of the body segments further comprises:

a valve coupled between the source and the respective body segment; and

19. The system of claim 18, wherein the valve comprises an electromechanically operated valve,

wherein the controller is configured to control the valve in a first state to increase pressure within the second fluidic chamber and cause an increase in the axial length of the respective body segment, and to control the valve in a second state to decrease pressure within the second fluidic chamber and cause a reduction in the axial length of the respective body segment, and

wherein the second fluidic chamber includes a radially outer cylindrical sidewall portion, a radially inner cylindrical sidewall portion opposite the outer cylindrical sidewall portion, and axially spaced apart end portions extending between the outer cylindrical sidewall portion and the inner cylindrical sidewall portion.

20. A locomotion system, comprising:

an elongated body having a central body lumen extending longitudinally through the elongated body, the central body lumen defines or is configured to carry an elongated tubular apparatus therein;

a first body segment at a first location along the elongated body; and

a second body segment at a second location along the elongated body that is spaced axially apart from the first body segment,

wherein each of the first and second body segments is configured to independently actuate radially and/or axially with respect to the elongated body and the other body segment to provide peristaltic motion of the body segments and corresponding longitudinal motion of the elongated body and respective segments through a surrounding media.