Methods for compact counter balance arms
First Claim
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1. A method for a set-up arm of a robotic surgical system, the method comprising:
- balancing a linkage structure with a balancing mechanism to support a load, wherein the linkage structure includes a first set-up joint coupled to a supporting structure, a second set up joint adapted to couple to a robotic arm, and a counter balancing link pivotally coupled to the first set-up joint at a first pivot point and to the second set-up joint at a second pivot point, wherein the balancing mechanism has a plurality of pulleys including a first pulley rotatably coupled to the linkage structure at the first pivot point, a second pulley rotatably coupled to the first setup joint, and a third pulley rotatably coupled to the counter balancing link such that a distance from the second pulley varies as the counter balancing link pivots around the first pivot point;
moving the linkage structure in a first direction thereby varying a moment at the first pivot point due to the load being near an end of the second set-up joint of the linkage structure;
changing a path length of one or more cables over the plurality of pulleys in the balancing mechanism in response to the movement of the linkage structure in the first direction; and
compressing a spring in response to the change in the path length to increase tension in the one or more cables to balance the variance in the moment.
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Abstract
In one embodiment of the invention, a method for a set-up arm of a robotic surgical system is disclosed. The method includes balancing a linkage structure with a balancing mechanism to support a load; moving the linkage structure varying a moment at a pivot point due to the load at the end of a link of the linkage structure; and changing a path length of one or more cables over a plurality of pulleys in the balancing mechanism to compress or decompress a spring to respectively increase or decrease tension in the one or more cables to balance the variance in the moment.
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Citations
19 Claims
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1. A method for a set-up arm of a robotic surgical system, the method comprising:
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balancing a linkage structure with a balancing mechanism to support a load, wherein the linkage structure includes a first set-up joint coupled to a supporting structure, a second set up joint adapted to couple to a robotic arm, and a counter balancing link pivotally coupled to the first set-up joint at a first pivot point and to the second set-up joint at a second pivot point, wherein the balancing mechanism has a plurality of pulleys including a first pulley rotatably coupled to the linkage structure at the first pivot point, a second pulley rotatably coupled to the first setup joint, and a third pulley rotatably coupled to the counter balancing link such that a distance from the second pulley varies as the counter balancing link pivots around the first pivot point; moving the linkage structure in a first direction thereby varying a moment at the first pivot point due to the load being near an end of the second set-up joint of the linkage structure; changing a path length of one or more cables over the plurality of pulleys in the balancing mechanism in response to the movement of the linkage structure in the first direction; and compressing a spring in response to the change in the path length to increase tension in the one or more cables to balance the variance in the moment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for a set-up arm of a robotic surgical system, the method comprising:
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balancing a parallelogram linkage structure with a balancing mechanism to support a load of a surgical arm, wherein the parallelogram linkage structure includes a first set-up joint coupled to a supporting structure, a second set up joint adapted to couple to the surgical arm, and a counter balancing link pivotally coupled to the first set-up joint at a first pivot point and to the second set-up joint at a second pivot point, wherein the balancing mechanism has a plurality of pulleys including a first pulley rotatably coupled to the parallelogram linkage structure at the first pivot point, a second pulley rotatably coupled to the first setup joint, and a third pulley rotatably coupled to the counter balancing link such that a distance from the second pulley varies as the counter balancing link pivots around the first pivot point; moving the parallelogram linkage structure thereby varying a moment at the first pivot point due to the load being near an end of the second set-up joint of the parallelogram linkage structure; changing a path length of one or more cables over the plurality of pulleys in the balancing mechanism in response to the movement of the parallelogram linkage structure; compressing a spring in response to the change in the path length of the one or more cables to increase tension in the one or more cables to balance the variance in the moment and decompressing the spring in response to the change in the path length of the one or more cables to decrease tension in the one or more cables to balance the variance in the moment; and applying joint brakes to deter further movement in the parallelogram linkage structure. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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Specification