Strap guide system and methods thereof for robotic surgical arms
First Claim
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.
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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.
151 Citations
11 Claims
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1. A camber adjustable pulley system for a robotic surgical arm comprising:
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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. - View Dependent Claims (2, 3, 4, 5)
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6. A camber adjustable pulley system for a robotic surgical arm comprising:
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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. - View Dependent Claims (7, 8)
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9. A camber adjustable pulley system for a robotic surgical arm comprising:
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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. - View Dependent Claims (10, 11)
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Specification