[[Multi-Ply]] Strap guide system and methods thereof for robotic surgical arms Drive Trains for Robotic Arms

• US 20130244820A1
• 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 9,803,727 B2
• Time in Patent Office: Days
• US Class Current: 474/58
• 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

1-52. -52. (canceled)

53. A strap guide bearing system comprising:

a mounting block to couple to a link;

a pair of spaced apart roller bearings rotatably coupled to the mounting block substantially in parallel to each other, the pair of spaced apart roller bearings to straddle a strap and maintain proper tracking of the strap; and

an anti-friction mechanism coupled to the mounting block, the anti-friction mechanism to reduce abrasion of the strap straddled between the pair of spaced apart roller bearings.

54. The strap guide bearing system of claim 53, wherein

the anti-friction mechanism is an anti-friction pad coupled to the mounting block.

55. The strap guide bearing system of claim 53, wherein

the anti-friction mechanism is a roller rotationally coupled to the mounting block and parallel to a width of the strap.

56. The strap guide bearing system of claim 53, further comprising:

one or more fasteners to couple the mounting block to the link.

57. The strap guide bearing system of claim 53, further comprising:

a pair of dowel pins to rotatably couple the pair of roller bearings to the mounting block, respectively.

58. A method in a link of a robotic arm, the method comprising:

mounting a first strap guide bearing system to a link such that a first pair of roller bearings to straddle a strap;

laterally guiding sides of the strap to maintain tracking of the strap on a first pulley; and

wherein ordinarily a first gap exist between the strap and an anti-friction mechanism of the first strap guide system.

59. The method of claim 58, further comprising:

if the first gap becomes substantially zero, reducing abrasion on the strap by the anti-friction mechanism providing a low coefficient of friction.

60. The method of claim 59, wherein

the anti-friction mechanism further presses back on the strap to reduce abrasion.

61. The method of claim 58, wherein

the anti-friction mechanism is an anti-friction pad.

62. The method of claim 58, wherein

the anti-friction mechanism is a roller parallel to a width of the strap.

63. The method of claim 58, further comprising:

mounting a second strap guide bearing system to the link such that a second pair of roller bearings to straddle the strap;

laterally guiding sides of the strap to maintain tracking of the strap on a second pulley; and

wherein ordinarily a second gap exist between the strap and an anti-friction mechanism of the second strap guide system.

64. A camber adjustable pulley system comprising:

a bracket to mount the camber adjustable pulley system to a link, the bracket having a first pivot valley;

a first pivotable pulley mount having a first pivot point mounted in the first pivot valley of the bracket, the first pivot point to pivot the first pivotable pulley mount in the bracket,

a first pulley rotatably coupled to the first pivotable pulley mount; and

a first camber adjustment mechanism coupled to the bracket and the first pivotable pulley mount, the first camber adjustment mechanism to adjust the first pivotable pulley mount to set the camber of the first pulley;

wherein the first pivot point is substantially near a first pulley axis of the first pulley.

65. The camber adjustable pulley system of claim 64, wherein

the first camber adjustment mechanism is a first camber adjustment screw inserted through a first opening in the bracket and threaded into the first pivotable pulley mount.

66. The camber adjustable pulley system of claim 65, further comprising:

a first snap ring around the first camber adjustment screw between the bracket and the first pivotable pulley mount, the first snap ring to retain the first camber adjustment screw in the first opening in the bracket; and

a first spring washer around the first camber adjustment screw between the bracket and the first pivotable pulley mount, the first spring washer to apply pressure to force away the first pivotable pulley mount from the bracket against the first camber adjustment screw.

67. The camber adjustable pulley system of claim 64, further comprising

a first bearing rotatably coupled between the first pulley and the first pivotable pulley mount, the first bearing to rotatably couple the first pulley to the first pivotable pulley mount.

68. The camber adjustable pulley system of claim 64, wherein

the bracket further has a second pivot valley spaced apart from the first pivot valley;

and the camber adjustable pulley system further comprises;

a second pivotable pulley mount having a second pivot point mounted in the second pivot valley of the bracket, the second pivot point to pivot the second pivotable pulley mount in the bracket,

a second pulley rotatably coupled to the second pivotable pulley mount; and

a second camber adjustment mechanism coupled to the bracket and the second pivotable pulley mount, the second camber adjustment mechanism to adjust the second pivotable pulley mount to set the camber of the second pulley;

wherein the second pivot point is substantially near a second pulley axis of the second pulley.

69. A method in a link of a robotic arm, the method comprising:

rotatably supporting a first pulley in a bracket, the first pulley to rotate about a first axis;

setting a first adjustment mechanism to pivot the first pulley in the bracket and tilt the first axis;

wherein the first adjustment mechanism sets the camber of the first pulley.

70. The method of claim 69, further comprising:

rotatably supporting a second pulley in the bracket, the second pulley to rotate about a second axis;

setting a second adjustment mechanism to pivot the second pulley in the bracket and tilt the second axis;

wherein the second adjustment mechanism sets the camber of the second pulley different from the camber of the first pulley.

71. The method of claim 69, wherein

the setting of the first adjustment mechanism pivoting a first pivotable pulley mount against the bracket, the first pivotable pulley mount rotatably coupled to the first pulley to pivot the first pulley in the bracket.

72. The method of claim 69, further comprising:

maintaining the camber setting of the first pulley in the bracket.

73. The method of claim 72, wherein

the camber setting of the first pulley is maintained by

deterring movement in the first adjustment mechanism that pivots the first pulley in the bracket.

74. The method of claim 70, further comprising:

maintaining the camber settings of the first pulley and the second pulley in the bracket.

75. The method of claim 74, wherein

the camber settings of the first pulley and the second pulley are maintained by

deterring movement in the first adjustment mechanism that pivots the first pulley in the bracket;

and

deterring movement in the second adjustment mechanism that pivots the second pulley in the bracket.