US 11,248,686 B2 · Lever actuated gimbal plate

Abstract

A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

Claims20

Dependent claims

A force transmission comprising:

an input gimbal plate having a first support point, a second support point, and a third support point;
a first fulcrum having a first axis of rotation;
a first lever that rotates about the first axis of rotation and supports the first support point;
a second fulcrum having a second axis of rotation parallel to the first axis of rotation of the first fulcrum;
a second lever that rotates about the second axis of rotation and supports the second support point;
a third fulcrum having a third axis of rotation parallel to the first axis of rotation of the first fulcrum;
and
a third lever that rotates about the third axis of rotation and supports the third support point.

5 more elements

Dependencies are inferred from the claim text.

Lever actuated gimbal plate

Life of this patent

Lever actuated gimbal plate

Life of this patent

Abstract

Claims20