Methods for robotic arms with strap drive trains

• US 9,797,484 B2
• Filed: 05/08/2013
• Issued: 10/24/2017
• 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:
  US13/890,234
• Publication Number:
  US 20130239392A1
• Time in Patent Office: 1,630 Days
• Field of Search: 7449001, 7449004, 7449005, 7449006, 74 8922, 74 892, 901 15, 901 19, 901 21, 901 27, 901 28, 901 29, 606 1, 606130, 24 68 A, 24 68 D, 24 68 R, 24 32, 254208, 254226, 254242, 254280, 254284, 254312, 254325, 254334, 254359, 254385, 254390
• 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 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 and the strap drive train are configured to define a parallelogram with a vertex at a remote center point, and a short side pitched away from an insertion axis through the remote center point;

ensuring the third link maintains the same angle relative to the first link in response to a pitching of the linkage assembly altering a pitch angle of the insertion axis;

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

translating a tool along the insertion axis.

2. The method of claim 1, 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.

3. The method of claim 2, 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.

4. The method of claim 1, wherein

a portion of the fourth link of the linkage assembly is offset from a center of a joint pitching the short side of the parallelogram away from the insertion axis to avoid obstructing the tool translating along the insertion axis, wherein the joint is between the third and fourth links.

5. The method of claim 1, wherein

the third link includes a bend between a third joint and a fourth joint, and

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.

6. The method of claim 5, wherein

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