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AssigneeCmr Surgical Limited
InventorsThomas Bates Jackson, Edward John Mottram, Gordon Thomas Deane, Keith Marshall, Paul Christopher Roberts, Ricardo Michael Henderson Da Silva
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A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes (20, 21), the mechanism comprising: an intermediate carrier (28) attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear (33) disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear (37) disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.
A robot arm having a first limb and a second limb connected by a revolute joint, comprising a rotary position sensor arrangement to sense rotary motion about a first rotation axis between a first part and a second part, the rotary position sensor arrangement comprising:
A robot arm having a first limb and a second limb connected by a revolute joint, comprising a rotary position sensor arrangement to sense rotary motion about a first rotation axis between a coupler and the first limb, the first limb being attached to the second limb by the coupler, the rotary position sensor arrangement comprising:
Dependencies are inferred from the claim text.