Method for robotic arms with strap drive trains

• US 20130239392A1
• Filed: 05/08/2013
• Published: 09/19/2013
• Est. Priority Date: 09/30/2004
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Solomon, Todd R., Cooper, Thomas G.
• Granted Patent: US 9,797,484 B2
• Time in Patent Office: Days
• US Class Current: 29/428
• CPC Class Codes: A61B 2017/00845 of moving parts with respect to each other
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: B25J 18/005 having a curved shape
• CPC Class Codes: B25J 18/007 the end effector rotating around a fixed point
• CPC Class Codes: B25J 9/1045 comprising tensioning means
• CPC Class Codes: F16H 7/20 Mountings for rollers or pulleys
• CPC Class Codes: Y10S 901/21 Flaccid drive element
• CPC Class Codes: Y10T 29/49455 Assembly
• CPC Class Codes: Y10T 29/49826 Assembling or joining
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20323 including flaccid drive element

Abstract

In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.

Claims

1-20. -20. (canceled)

21. A method for a robotic arm, the method comprising:

providing a linkage assembly including first, second, third, and fourth links coupled in series together with a strap drive train coupled thereto, the linkage assembly defining a parallelogram with an insertion axis, wherein the third link is a bent link including a bend configured to provide a compact robotic arm with an improved range of pitch;

pitching the linkage assembly to alter a pitch angle of the insertion axis;

ensuring the third link maintains the same angle relative to the first link in response to the pitching of the linkage assembly; and

ensuring the fourth link maintains the same angle relative to the second link in response to the pitching of the linkage assembly.

22. The method of claim 21, wherein

the first link is pivotally coupled to a mounting base;

and

prior to pitching the linkage assembly the method further includes mounting the mounting base to a patient side cart.

23. The method of claim 22, wherein

the mounting base includes a motor to yaw the linkage assembly;

and the method further includes yawing the linkage assembly to alter a yaw angle of the insertion axis.

24. A method for a robotic arm, the method comprising:

coupling first, second, third, and fourth links in series together at respective first, second, and third joints to form a linkage assembly;

coupling a strap drive train to the linkage assembly;

calibrating the linkage assembly to substantially eliminate remote center error and define a parallelogram.

25. The method of claim 24, wherein

the linkage assembly is calibrated by adjusting the strap drive train.

26. The method of claim 25, wherein

the strap drive train is adjusted to rotate the fourth link about the third joint to calibrate a length in a long side of the parallelogram.

27. The method of claim 26, wherein

the strap drive train is adjusted to rotate the third link about the second joint to substantially eliminate the remote center error.

28. A method for a robotic arm, the method comprising:

adjusting a strap drive train to rotate an instrument holder link about a joint to calibrate a length in a long side of a parallelogram;

adjusting the strap drive train to rotate a main link about a joint to substantially eliminate a remote center error;

verifying that the length in the long side of the parallelogram is calibrated; and

verifying that the remote center error is substantially eliminated.

29. The method of claim 28, wherein

the remote center error has been substantially eliminated if a pitched remote center lays on a yaw axis of the robotic arm.

30. The method of claim 28, wherein

the length in the long side of the parallelogram is calibrated if it is set to a correct length.

31. The method of claim 28, wherein

the strap drive train is adjusted by

lengthening a first strap coupled between joint pulleys, and

shortening a second strap coupled between the joint pulleys.

32. The method of claim 31, wherein

the first strap is effectively lengthened by loosening a first tensioning screw of a first tensioning block at an end of the first strap, and

the second strap is effectively shortened by tightening a second tensioning screw of a second tensioning block at an end of the second strap.

33-75. -75. (canceled)