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

Claim 0:
1. A downhole robotic fishing tool, comprising:
a main body configured to be positioned in a wellbore;
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;
a camera positioned on the palm, the camera having an optical axis that intersects the grasp center area proximate the center point; and
a fluid nozzle positioned on the palm and configured to flow a substantially optically clear fluid to the grasp center area.