Transmission with first and second transmission elements

• US 20100170362A1
• Filed: 12/22/2009
• Published: 07/08/2010
• Est. Priority Date: 12/23/2008
• Status: Abandoned Application

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Salcedo, Juan, Schmitz, Brian Donald, Bennett, Richard P., Kang, Hyosig, Ebbitt, Peter L.
• Application Number:
  US12/654,519
• Publication Number:
  US 20100170362A1
• Time in Patent Office: Days
• US Class Current: 74/490.40
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: Y10T 29/53961 with work-holder for assembly
• CPC Class Codes: Y10T 403/32057 Angular and linear
• CPC Class Codes: Y10T 403/32622 Rocking or rolling contact
• CPC Class Codes: Y10T 403/32631 Universal ball and socket
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20323 including flaccid drive element
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

A transmission includes a first component, a second component, and first and second transmission elements. The first component has a drive member and a portion configured to be actuated to inhibit movement of the drive member. The first and second transmission elements are each coupled to the drive member and the second component and configured to cause movement of at least one of the first component and the second component in response to movement of the drive member. At least one of the first and second transmission elements includes a first plurality of transmission sub-elements.

Claims

1. A transmission, comprising:

a first component having a drive member and a portion configured to be actuated to inhibit movement of the drive member;

a second component; and

first and second transmission elements each coupled to the drive member and the second component and configured to cause movement of at least one of the first component and the second component in response to movement of the drive member,

wherein at least one of the first and second transmission elements includes a first plurality of transmission sub-elements.

2. The transmission of claim 1, wherein the first and second transmission elements are configured to cause movement of the first component in response to movement of the drive member.

3. The transmission of claim 2, wherein the first component includes a driven member, and wherein the driven member is unbraked.

4. The transmission of claim 1, wherein the first and second transmission elements are configured to cause movement of the second component in response to movement of the drive member.

5. The transmission of claim 4, wherein the second component is unbraked.

6. The transmission of claim 4, further comprising at least one tensioning mechanism disposed on the second component and configured to apply a tension force to at least one of the first transmission element and the second transmission element and to be adjusted to vary the tension force.

7. The transmission of claim 1, wherein the first component comprises at least one of an actuator and a pulley.

8. The transmission of claim 1, wherein the first plurality of transmission sub-elements is configured such that when a tension force is applied to one transmission sub-element of the first plurality of transmission sub-elements an equivalent tension force is applied to another transmission sub-element of the first plurality of transmission sub-elements.

9. The transmission of claim 1, wherein the first plurality of transmission sub-elements includes a cable having a first connector disposed on a proximal end, a second connector disposed on a distal end, and a third connector disposed between the first and second connectors.

10. The transmission of claim 1, wherein the first plurality of transmission sub-elements includes first and second cable segments connected to the second component and to a connector, wherein the connector is connected to the drive member.

11. The transmission of claim 1, wherein the first plurality of transmission sub-elements includes first and second cable segments connected to the drive member and to a connector, wherein the connector is connected to the second component.

12. The transmission of claim 1, wherein the first plurality of transmission sub-elements includes at least two cables, each cable having a first end connected to the drive member and a second end connected to the second component.

13. The transmission of claim 1, wherein the first plurality of transmission sub-elements comprises first and second transmission sub-elements, and wherein the drive member includes first and second guides configured to position the first and second transmission sub-elements relative to the drive member.

14. The transmission of claim 13, wherein the other of the first and second transmission elements includes a second plurality of transmission sub-elements comprising third and fourth transmission sub-elements, and wherein the first and second guides are configured to position the third and fourth transmission sub-elements relative to the drive member.

15. The transmission of claim 13, wherein the first and second guides extend along a length of the drive member and are adjacent one another along the length of the drive member.

16. The transmission of claim 12, wherein the first guide comprises a first helical channel and the second guide comprises a second helical channel.

17. The transmission of claim 13, wherein the first and second guides are congruent.

18. The transmission of claim 13, wherein the drive member includes a first interface configured to removably secure the first transmission element and a second interface configured to removably secure the second transmission element.

19. The transmission of claim 1, wherein the first plurality of transmission sub-elements comprises first and second transmission sub-elements, and wherein the transmission includes a guide member configured to maintain a portion of the first transmission sub-element substantially parallel to a portion of the second transmission sub-element.

20. The transmission of claim 19, wherein the guide member is disposed remotely from the first component.

21. The transmission of claim 19, wherein the guide member is configured such that there is substantially no relative motion between the guide member and the first plurality of transmission sub-elements in response to movement of the drive member.

22. The transmission of claim 1, wherein the first transmission element crosses the second transmission element at least once between the coupling of the first transmission element to the drive member and the coupling of the first transmission element to the second component.

23. The transmission of claim 1, wherein the drive member and at least one of the second component and an intermediate component move via rotation, and an axis of rotation of the drive member is parallel to an axis of rotation of at least one of the second component and the intermediate component,

wherein the first and second transmission elements each include a portion in contact with the drive member, a portion in contact with the at least one of the second component and the intermediate component, and a portion therebetween, and

wherein the portion therebetween intersects a plane defined by the axis of rotation of the drive member and the axis of rotation of the at least one of the second component and the intermediate component.

24. The transmission of claim 23, comprising a plurality of intermediate components, wherein the first transmission element and the second transmission element contact each of the plurality of intermediate components between the coupling of the first transmission element to the drive member and the coupling of the first transmission element to the second component.