Patent ID: 11867016
Assignee: SAUDI ARABIAN OIL COMPANY
Field: Handling (Mechanical engineering)
Classification: CPC B  E | IPC B  E

Claim 15:
16. A system for fishing an object from a wellbore, the system comprising:
a fishing tool configured to be positioned in the wellbore, the tool comprising:
a main body;
an intermediate body connected to a downhole end of the main body by an upper articulating joint;
a robotic hand connected to a downhole end of the intermediate body by a lower articulating joint, the robotic hand configurable between an open configuration and a closed configuration and comprising:
a palm;
a robotic thumb and a robotic finger attached at their respective proximal ends to the palm in opposition such that, when the robotic hand is in the closed configuration, a distal end of the robotic thumb and a distal end of robotic finger are within a grasp center area centered on a center point defined by an intersection of a grasping axis and an opposition axis of the robotic hand; and

a camera positioned on the palm, the camera having an optical axis that intersects the grasp center area proximate the center point, wherein the camera comprises a plurality of lenses configured to provide an operator with binocular images; and

a control system operable to transmit instructions to position the robotic hand within the wellbore and to variably position the robotic thumb and the robotic finger relative to each other and thereby opening and closing the robotic hand.