Multiaxis counterbalance and positioning system using a spatial linkage

• US 7,677,129 B2
• Filed: 09/28/2007
• Issued: 03/16/2010
• Est. Priority Date: 09/28/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Schena, Bruce Michael, Devengenzo, Roman
• Primary Examiner(s): Ridley; Richard W L
• Assistant Examiner(s): Johnson; Phillip A
• Application Number:
  US11/864,702
• Publication Number:
  US 20090084216A1
• Time in Patent Office: 900 Days
• Field of Search: 744/900.5, 744/900.6, 744/900.1, 414/719, 414/917, 901 15- 17, 901/41, 901/48
• US Class Current: 74/490.05
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2090/5025 with a counter-balancing mechanism
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 2090/508 with releasable brake mechanisms
• 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 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20329 Joint between elements
• CPC Class Codes: Y10T 74/20335 Wrist

Abstract

A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end. The pivotal couplings allow the outboard gimbal plate to move relative to the inboard gimbal plate and preventing relative rotation between the outboard gimbal plate and the inboard gimbal plate.

Claims

1. A spatial linkage comprising:

an inboard gimbal plate that provides a ground for the spatial linkage;

an outboard gimbal plate;

three links, each link having a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis, each link pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end, the pivotal couplings allowing the outboard gimbal plate to move relative to the inboard gimbal plate with two degrees of freedom and keeping the outboard gimbal plate parallel to the inboard gimbal plate;

a counterweight link having a first end and an opposing second end on a longitudinal axis, the counterweight link pivotally coupled to the outboard gimbal plate at the first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a third point between the first end and the second end on the longitudinal axis, the distance between the first end and the third point on the longitudinal axis of the counterweight link being the same as the distance between the first end and second end of the longitudinal axis for each of the three links, the longitudinal axis of the counterweight link being parallel to the longitudinal axes of the three links; and

a counterweight coupled to the second end of the counterweight link.

2. The spatial linkage of claim 1 further comprising a cantilevered load rigidly coupled to the outboard gimbal plate.

3. The spatial linkage of claim 2 wherein the cantilevered load has a movable center of gravity.

4. The spatial linkage of claim 1 further comprising:

a grounded sliding support coupled to the inboard gimbal plate such that the inboard gimbal plate is movable laterally along the length of the sliding support and is constrained in all other lateral directions and rotations.

5. The spatial linkage of claim 4 wherein the sliding support includes a counterbalance to maintain the position of the spatial linkage on the sliding support.

6. The spatial linkage of claim 1 further comprising a brake coupled to at least one pivotal coupling such that the brake can be engaged to prevent the outboard gimbal plate from moving relative to the inboard gimbal plate.

7. The spatial linkage of claim 1 wherein the distance between the first end and second end of the longitudinal axis of each link is adjustable such that the distance remains equal for each of the three links.

8. A setup joint system for a robotic arm, the setup joint system comprising:

an inboard gimbal plate that provides a ground for the setup joint system;

an outboard gimbal plate that rigidly supports the robotic arm;

three links, each link having a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis, each link pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end, the pivotal couplings allowing the outboard gimbal plate to move relative to the inboard gimbal plate and keeping the outboard gimbal plate parallel to the inboard gimbal plate;

a counterweight link having a first end and an opposing second end on a longitudinal axis, the counterweight link pivotally coupled to the outboard gimbal plate at the first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a third point between the first end and the second end on the longitudinal axis, the distance between the first end and the third point on the longitudinal axis of the counterweight link beingthe same as the distance between the first end and second end of the longitudinal axis for each of the three links, the longitudinal axis of the counterweight link being parallel to the longitudinal axes of the three links; and

a counterweight coupled to the second end of the counterweight link such that the setup joint system and the supported robotic arm are substantially balanced by the counterweight.

9. The setup joint system of claim 8 wherein the outboard gimbal plate rigidly supports the robotic arm as a cantilevered load rigidly coupled to the outboard gimbal plate.

10. The setup joint system of claim 9 wherein the robotic arm has a movable center of gravity.

11. The setup joint system of claim 8 further comprising:

a grounded sliding support coupled to the inboard gimbal plate such that the inboard gimbal plate is movable laterally along the length of the sliding support and is constrained in all other lateral directions and rotations.

12. The setup joint system of claim 11 wherein the grounded sliding support includes a counterbalance to maintain the position of the spatial linkage on the sliding support.

13. The setup joint system of claim 8 further comprising a brake coupled to at least one pivotal coupling such that the brake can be engaged to prevent the outboard gimbal plate from moving relative to the inboard gimbal plate and hold the robotic arm in a fixed position.

14. The setup joint system of claim 8 wherein the distance between the first end and second end of the longitudinal axis of each link is adjustable such that the distance remains equal for each of the three links.

15. A method of supporting a robotic arm that provides freedom of motion for setting a position of the robotic arm, the method comprising:

rigidly supporting the robotic arm with an outboard gimbal plate;

providing a ground support for the robotic arm with an inboard gimbal plate;

coupling the outboard gimbal plate to the inboard gimbal plate with three links, each link having a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis, each link pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end, the pivotal couplings allowing the outboard gimbal plate to move relative to the inboard gimbal plate and keeping the outboard gimbal plate parallel to the inboard gimbal plate; and

substantially balancing the robotic arm by a counterweight coupled to a counterweight link having a first end and an opposing second end on a longitudinal axis, the counterweight link pivotally coupled to the outboard gimbal plate at the first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a third point between the first end and the second end on the longitudinal axis, the distance between the first end and the third point on the longitudinal axis of the counterweight link being the same as the distance between the first end and second end of the longitudinal axis for each of the three links, the longitudinal axis of the counterweight link being parallel to the longitudinal axes of the three links.

16. The method of claim 15 further comprising rigidly supporting the robotic arm as a cantilevered load rigidly coupled the outboard gimbal plate.

17. The method of claim 15 further comprising sliding the inboard gimbal plate on a grounded sliding support such that the inboard gimbal plate is movable laterally along the length of the sliding support and is constrained in all other lateral directions and rotations.

18. The method of claim 15 further comprising providing a counterbalance on the grounded sliding support to maintain the position of the inboard gimbal plate on the sliding support.

19. The method of claim 15 further comprising engaging a brake coupled to at least one pivotal coupling to prevent the outboard gimbal plate from moving relative to the inboard gimbal plate and hold the robotic arm in a fixed position.

20. The method of claim 15 further comprising adjusting the distance between the first end and second end of the longitudinal axis of each link such that the distance remains equal for each of the three links.