Multi-ply strap drive trains for surgical robotic arms

• US 9,261,172 B2
• Filed: 12/15/2006
• Issued: 02/16/2016
• 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.
• Primary Examiner(s): Kelleher, William
• Assistant Examiner(s): PRATHER, GREGORY T
• Application Number:
  US11/611,849
• Publication Number:
  US 20070089557A1
• Time in Patent Office: 3,350 Days
• Field of Search: 744/900.1, 744/900.4, 744/900.5, 744/900.6, 74/892.2, 74/892, 901/15, 901/19, 901/21, 901/27, 901/28, 901/29, 606/1, 606/130, 24/68.A, 24/68.D, 24/68.R, 24/32, 254/208, 254/226, 254/242, 254/280, 254/284, 254/312, 254/325, 254/334, 254/359, 254/385, 254/390
• US Class Current: 1/1
• 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. A surgical robotic arm comprising:

a linkage assembly including

first, second, third, and fourth links pivotally coupled in series together at second, third, and fourth joints, the third link including a bend, and

at least one idler pulley pivotally coupled to the third link near the bend; and

a strap drive train including first and second sets of straps coupled to the linkage assembly to define a parallelogram with a vertex at a remote center point and a side, between the fourth joint and the remote center point, pitched away from an insertion axis through the remote center point, at least one strap of the second set of straps is directed through the third link by the at least one idler pulley;

wherein as the linkage assembly is moved about a pitch axis, the strap drive train ensures the linkage assembly maintains the vertex of the parallelogram at the remote center point.

2. The surgical robotic arm of claim 1, wherein

the first link includes a first joint pulley rigidly coupled thereto,

the third link includes a second joint pulley rigidly coupled thereto, and

the first set of straps connect the first joint pulley to the second joint pulley in a one-to-one ratio.

3. The surgical robotic arm of claim 2, wherein

the second link includes a third joint pulley rigidly coupled thereto, the third joint pulley concentric with but independent of the second joint pulley to pivot independently,

the fourth link includes a fourth joint pulley rigidly coupled thereto, and

the second set of straps connect the third joint pulley to the fourth joint pulley in a one-to-one ratio.

4. The surgical robotic arm of claim 3, wherein

a first strap of the second set of straps connects the third joint pulley to the fourth joint pulley, the first strap rides over the at least one idler pulley to navigate around the bend in the third link.

5. The surgical robotic arm of claim 2, further comprising:

a motor coupled to the first joint pulley to pitch the linkage assembly about the pitch axis.

6. The surgical robotic arm of claim 1, further comprising:

a drive mount pivotally coupled to the first link of the linkage assembly, the drive mount to mount the robotic arm to a patient side system, the drive mount including a motor to yaw the linkage assembly about a yaw axis.

7. The surgical robotic arm of claim 1, wherein

the side of the parallelogram, between the fourth joint and the remote center point, is pitched away from the insertion axis to avoid obstruction of an instrument moved along the insertion axis.

8. The surgical robotic arm of claim 1, wherein

the fourth link offsets the insertion axis from a center of the fourth joint to pitch the side of the parallelogram away from the insertion axis.

9. The surgical robotic arm of claim 1, wherein

in response to the linkage assembly being pitched backward about a pitch axis, the bend allows the third link to fold down over the second link.

10. The surgical robotic arm of claim 9, wherein

in response to the linkage assembly being pitched backward about the pitch axis, the bend further allows the fourth joint to go below a yaw axis and pitch the insertion axis over a wide range of pitch angles.

11. A surgical robotic arm comprising:

a linkage assembly including

first, second, third, and fourth links pivotally coupled in series together at second, third, and fourth joints, the third link including a bend, and

at least one idler pulley pivotally coupled to the third link near the bend,

wherein the first link includes a first joint pulley rigidly coupled thereto, the second link includes a third joint pulley rigidly coupled thereto, the third link includes a second joint pulley rigidly coupled thereto, the fourth link includes a fourth joint pulley rigidly coupled thereto, and the third joint pulley is concentric with but independent of the second joint pulley to pivot independently;

and

a strap drive train including first and second sets of straps coupled to the linkage assembly to define a parallelogram with a remote center point and a side, between the fourth joint and the remote center point, pitched away from an insertion axis through the remote center point, at least one strap of the second set of straps is directed through the third link by the at least one idler pulley, and wherein

first ends of a first strap and a second strap of the second set of straps are wrapped around the at least one idler pulley in opposite directions,

a second end of the first strap is wrapped around the third joint pulley in an opposite direction to the wrapping of the first end of the first strap around the at least one idler pulley, and

a second end of the second strap is wrapped around the fourth joint pulley in an opposite direction to the wrapping of the first end of the second strap around the at least one idler pulley;

wherein 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 sets of straps ensures the fourth link maintains the same angle relative to the second link.

12. The surgical robotic arm of claim 11, wherein

each strap of the second set of straps are formed of multiple plies of metal.

13. The surgical robotic arm of claim 12, wherein

the multiple plies of metal at one end of at least one strap of the second set of straps is joined together by a tab.

14. The surgical robotic arm of claim 12, wherein

the multiple plies of metal at one end of at least one strap of the second set of straps is joined together by a tensioning block to tension the second set of straps.

15. The surgical robotic arm of claim 11, further comprising:

a drive mount pivotally coupled to the first link of the linkage assembly, the drive mount to mount the robotic arm to a patient side system, and

the drive mount includes a motor to yaw the linkage assembly about a yaw axis.

16. The surgical robotic arm of claim 11, wherein

the at least one strap of the second set of straps is directed through the third link by the at least one idler pulley to couple the third joint pulley to the fourth joint pulley.

17. The surgical robotic arm of claim 16, wherein

a first end of the at least one strap of the second set of straps is wrapped around the third joint pulley in an opposite direction to the wrapping of the second end of the second strap;

and

a second end of the at least one strap of the second set of straps is wrapped around the fourth joint pulley in an opposite direction to the wrapping of the second end of the third strap.

18. The surgical robotic arm of claim 11, wherein

the side of the parallelogram is pitched away from the insertion axis so that obstruction of an instrument moved along the insertion axis is avoided.

19. The surgical robotic arm of claim 11, wherein

the fourth link offsets the insertion axis from a center of the fourth joint to pitch the side of the parallelogram away from the insertion axis.

20. The surgical robotic arm of claim 11, wherein

in response to the linkage assembly being pitched backward about a pitch axis, the bend allows the third link to fold down over the second link and the fourth joint to go below a yaw axis and pitch the insertion axis over a wide range of pitch angles.

21. A surgical robotic arm comprising:

a serial linkage pivotally coupled in series together including

an offset yaw link having a first joint pulley rigidly coupled thereto,

a drive link having a second joint pulley rigidly coupled thereto,

a bent link having a third joint pulley rigidly coupled thereto and an idler pulley, the third joint pulley independent of and concentric with the second joint pulley, and

an instrument holder link having a fourth joint pulley rigidly coupled thereto,

wherein the bent link includes a bend;

and

a strap drive train including

a first strap and a second strap in the drive link coupled between the first joint pulley and the third joint pulley;

a third strap in the bent link coupled between the second joint pulley and the fourth joint pulley over the idler pulley;

a fourth strap in the bent link coupled to and between the second joint pulley and the idler pulley, and

a fifth strap in the bent link coupled to and between the idler pulley and the fourth joint pulley;

wherein the serial linkage and the strap drive train constrain the motion of a shaft of a tool to a remote center point.

22. The surgical robotic arm of claim 21, wherein

the offset yaw link to support and pivot the drive link, the bent link, and the instrument holder link together about a yaw axis.

23. The surgical robotic arm of claim 22, further comprising:

a drive mount pivotally coupled to the offset yaw link of the serial linkage, the drive mount to mount the robotic arm to a patient side system, the drive mount including a motor to yaw the serial linkage about the yaw axis.

24. The surgical robotic arm of claim 21, wherein

the drive link further includes at least one motor to pitch the serial linkage about a pitch axis.

25. The surgical robotic arm of claim 21, wherein

each of the straps are formed of multiple plies of metal.

26. The surgical robotic arm of claim 21, wherein

the serial linkage and the strap drive train define a parallelogram with a vertex at the remote center point.

27. The surgical robotic arm of claim 26, wherein

a side of the parallelogram, between the fourth joint and the remote center point, is pitched away from an insertion axis through the remote center point to avoid obstruction of an instrument moved along the insertion axis.

28. The surgical robotic arm of claim 21, wherein

the serial linkage and the strap drive train further define a parallelogram with a vertex at the remote center point so that a side of the parallelogram between the fourth joint pulley and the remote center point is angled away from an insertion axis through the remote center point to avoid obstruction of an instrument that is moved along the insertion axis.

29. A surgical robotic arm for a surgical system, the robotic arm comprising:

a linkage assembly including first, second, third, and fourth links pivotally coupled in series together at second, third, and fourth joints;

a strap drive train coupled to the linkage assembly to define a parallelogram having a vertex at a remote center point and a side, between the fourth joint and the remote center point, pitched away from an insertion axis through the remote center point, the strap drive train including

a first pulley with a first pocket including a first lip extending from a side of the first pocket;

a second pulley with a second pocket including a second lip extending from a side of the second pocket; and

a first multi-ply strap coupled between the first pulley and the second pulley, the first multi-ply strap including

a first coupler coupled to a first end of the first multi-ply strap, the first coupler hooked into the first pocket of the first pulley, the first coupler restrained by the first lip to couple the first end of the first multi-ply strap to the first pulley,

a second coupler coupled to a second end of the first multi-ply strap, the second coupler hooked into the second pocket of the second pulley, the second coupler restrained by the second lip to couple the second end of the first multi-ply strap to the second pulley,

wherein the first coupler and the second coupler are each selected from the group consisting of a tab, a hooked tab, and a tensioning block;

wherein as the linkage assembly is moved about a pitch axis, the strap drive train ensures the linkage assembly maintains the vertex of the parallelogram at the remote center point.

30. The surgical robotic arm of claim 29, wherein

the first pulley further has a third pocket;

the second pulley further has a fourth pocket; and

the strap drive train further includes a second multi-ply strap coupled between the first pulley and the second pulley opposite the first multi-ply strap, the second multi-ply strap including

a third coupler coupled to a first end, the third coupler hooked into the third pocket of the first pulley to couple the first end of the second multi-ply strap thereto,

a fourth coupler coupled to a second end, the fourth coupler hooked into the fourth pocket of the second pulley to couple the second end of the second multi-ply strap thereto,

wherein the third coupler and the fourth coupler are each selected from the group consisting of a tab, a hooked tab, and a tensioning block.

31. The surgical robotic arm of claim 30, wherein

the first multi-ply strap and the second multi-ply strap are formed of multiple plies of metal generating a spring force to keep the couplers locked into the pockets of the pulleys to avoid complete collapse of the arm if the first or second strap is slackened.

32. The surgical robotic arm of claim 29, wherein

the first lip and the second lip are configured to exert a force on the first coupler and the second coupler respectively to maintain the first and second couplers inside the respective first and second pockets.

33. The surgical robotic arm of claim 29, wherein:

the first pulley further includes a first stop configured to restrain the first coupler; and

the second pulley further includes a second stop configured to restrain the second coupler.

34. The surgical robotic arm of claim 29, wherein:

the first pulley further includes a first side protrusion configured to restrain the first coupler; and

the second pulley further includes a second side protrusion configured to restrain the second coupler.

35. The surgical robotic arm of claim 29, wherein

the side of the parallelogram is pitched away from the insertion axis to avoid obstruction of an instrument moved along the insertion axis.

36. The surgical robotic arm of claim 29, wherein

the fourth link offsets the insertion axis from a center of the fourth joint to pitch the side of the parallelogram away from the insertion axis.

37. The surgical robotic arm of claim 29, wherein

in response to the linkage assembly being pitched backward about a pitch axis, the bend allows the third link to fold down over the second link.

38. The surgical robotic arm of claim 37, wherein

in response to the linkage assembly being pitched backward about the pitch axis, the bend further allows the fourth joint to go below a yaw axis and pitch the insertion axis over a wide range of pitch angles.