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    [[Multi-Ply]] Strap guide system and methods thereof for robotic surgical arms Drive Trains for Robotic Arms
    5.
    发明申请
    [[Multi-Ply]] Strap guide system and methods thereof for robotic surgical arms Drive Trains for Robotic Arms 审中-公开
    [[多层]]用于机器人手术臂的带引导系统及其方法用于机器人手臂的驱动火车

    公开(公告)号：US20130244820A1

    公开(公告)日：2013-09-19

    申请号：US13890228

    申请日：2013-05-08

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Todd R. Solomon ,  Thomas G. Cooper

    IPC分类号： F16H7/20

    CPC分类号： F16H7/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00845 ,  A61B2034/305 ,  A61B2034/715 ,  B25J9/1045 ,  B25J18/00 ,  B25J18/005 ,  B25J18/007 ,  Y10S901/21 ,  Y10T29/49455 ,  Y10T29/49826 ,  Y10T74/20305 ,  Y10T74/20323

    摘要： 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.

    摘要翻译： 在本发明的一个实施例中，提供了包括连杆组件和带传动系的机器臂。 连杆组件包括在第一，第二和第三关节处串联地联接在一起的第一，第二，第三和第四连杆，以限定具有插入轴的平行四边形。 带传动系包括耦合到连杆组件的第一组和第二组皮带。 当联动组件围绕俯仰轴线移动时，第一组皮带确保第三连杆相对于第一连杆保持相同的角度，并且第一和第二组皮带确保第四连杆相对于第二连杆保持相同的角度 链接。

    OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY
    7.
    发明申请
    OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY 审中-公开

    公开(公告)号：US20200015919A1

    公开(公告)日：2020-01-16

    申请号：US16577349

    申请日：2019-09-20

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Thomas G. Cooper ,  Todd R. Solomon

    IPC分类号： A61B34/00

    摘要： Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

    Cable Tensioning In A Robotic Surgical System
    10.
    发明申请
    Cable Tensioning In A Robotic Surgical System 审中-公开
    机器人手术系统中的电缆拉伸

    公开(公告)号：US20150238267A1

    公开(公告)日：2015-08-27

    申请号：US14708797

    申请日：2015-05-11

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Roman L. Devengenzo ,  Todd R. Solomon ,  Thomas G. Cooper

    IPC分类号： A61B19/00 ,  A61B1/00 ,  B25J9/10

    CPC分类号： A61B34/71 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00212 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2034/715 ,  A61B2046/234 ,  B25J9/1045 ,  G06F19/00 ,  G06F19/3418 ,  G06F19/3481 ,  G16H40/63 ,  Y10T74/20305

    摘要： An apparatus, system, and method for setting, maintaining, and adjusting a cable tension in a telerobotic surgical system are provided. A cable tensioning apparatus includes, in one example, an arm, a pulley rotatably coupled to the arm, and a base operably coupled to the arm, the base including a translation mechanism for changing the position of the pulley to control a tension of a cable movable along the pulley. A termination block includes, in one example, a block including two cable pathways with each cable pathway having a retaining means for a ball fitting, and a support for moving a cable along the two cable pathways, the cable including a ball fitting in each of the cable pathways.

    摘要翻译： 提供了一种用于设置，维持和调整远程外科手术系统中的电缆张力的装置，系统和方法。 在一个示例中，电缆张紧装置包括臂，可旋转地联接到臂的滑轮和可操作地联接到臂的基座，所述基座包括用于改变皮带轮的位置以控制电缆的张力的平移机构 可沿滑轮移动。 在一个示例中，终端块包括包括两个电缆路径的块，每个电缆路径具有用于球配件的保持装置，以及用于沿着两个电缆路径移动电缆的支撑件，电缆包括在每个电缆路径中的球配件 电缆路径。