Strap guide system and methods thereof for robotic surgical arms

• US 9,803,727 B2
• Filed: 05/08/2013
• Issued: 10/31/2017
• 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
• Application Number:
  US13/890,228
• Publication Number:
  US 20130244820A1
• Time in Patent Office: 1,637 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 camber adjustable pulley system for a robotic surgical arm comprising:

a bracket to mount the camber adjustable pulley system to a link of the robotic surgical arm, 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 idler 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 idler pulley;

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

2. The camber adjustable pulley system of claim 1, 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.

3. The camber adjustable pulley system of claim 2, 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.

4. The camber adjustable pulley system of claim 1, further comprising

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

5. The camber adjustable pulley system of claim 1, 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 idler 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 idler pulley;

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

6. A camber adjustable pulley system for a robotic surgical arm comprising:

a bracket adapted to mount the camber adjustable pulley system to a link of the robotic surgical arm, 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 bearing rotatably coupled to the first pivotable pulley mount;

a first idler pulley coupled to the bearing; and

a first camber adjustment screw coupled to the bracket and the first pivotable pulley mount, the first camber adjustment screw adapted to move the first pivotable pulley mount about the first pivot point thereby changing a camber angle of the first idler pulley;

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

7. The camber adjustable pulley system of claim 6, 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.

8. The camber adjustable pulley system of claim 6, 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 idler 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 idler pulley;

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

9. A camber adjustable pulley system for a robotic surgical arm comprising:

a bracket adapted to mount the camber adjustable pulley system to a link of the robotic surgical arm, 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 idler pulley including a bearing rotatably coupled to the first pivotable pulley mount;

a first camber adjustment screw coupled to the bracket and the first pivotable pulley mount, the first camber adjustment screw adapted to pivot the first pivotable pulley mount about the first pivot point thereby changing a camber angle of the first idler pulley.

10. The camber adjustable pulley system of claim 9, 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.

11. The camber adjustable pulley system of claim 9, 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 idler 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 idler pulley;

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