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公开(公告)号：US20210145530A1
公开(公告)日：2021-05-20
申请号：US17097612
申请日：2020-11-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David F. MARTIN
Abstract: Implementations relate to a direct drive for a mechanical arm assembly. In some implementations, a mechanical arm assembly includes a base member, a first arm member rotatably coupled to the base member at a first portion of the first arm member, and a second arm member having a first portion rotatably coupled to a second portion of the first arm member. The first arm member is rotatable with respect to the base member about a first axis, and the second arm member is rotatable with respect to the first arm member about a second axis. A first motor coupled to the base member, the first motor including a first drive shaft rotatable about the first axis and coupled to the first arm member. A grip member is coupled to a second portion of the second arm member.
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公开(公告)号：US20210322127A1
公开(公告)日：2021-10-21
申请号：US17234655
申请日：2021-04-19
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David F. MARTIN , Lawton N. VERNER , Hsien-Hsin LIAO
Abstract: Implementations relate to breakage detection of a tension element for a counterbalance mechanism. In some implementations, a tension element breakage detection mechanism includes a tension element, a moveable detection element contacting the tension element, and an actuator. The moveable detection element is biased by the tension element toward a first configuration in a range of motion of the moveable detection element. The moveable detection element is biased toward a second configuration in the range of motion of the moveable detection element by a force generated by the actuator on the moveable detection element. The breakage detection mechanism includes a sensor of a change of the moveable detection element from the first configuration to the second configuration, the change being in response to breakage of the tension element.
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