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US 11,577,409 B2Granted
Drive arrangements for robot arms
AssigneeCmr Surgical Limited
InventorsKeith Marshall, Nikki Priyam Su-Ling Phoolchund
Life of this patent
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Abstract
A robot arm comprising a plurality of limbs articulated relative to each other, the robot arm extending from a base to a distal limb carrying a tool or an attachment point for a tool, the distal limb being attached by a revolute joint to a second limb, and the robot arm comprising a motor having a body and a drive shaft configured to drive rotation of the distal limb relative to the second limb about the revolute joint, wherein the body of the motor is fast with the distal limb.
Claims19
A robot arm comprising:
- a plurality of limbs articulated relative to each other, the robot arm extending from a robot arm base to a distal limb, the distal limb being attached by a revolute joint to a second limb, and the robot arm comprising a motor having a body and a drive shaft configured to drive rotation of the distal limb relative to the second limb about a rotation axis of the revolute joint;
- wherein the body of the motor is within the distal limb;
- wherein the distal limb includes:
- a drive interface configured to attach to a tool and having a drive interface element, the drive interface extending in a direction that is parallel to the rotation axis of the revolute joint, and the rotation axis of the revolute joint passing through the drive interface;
- a tool motor having a tool motor body within the distal limb;
- and
- a tool motor drive shaft for driving the drive interface element of the drive interface;
- and
- wherein the motor and the tool motor intersect a common plane perpendicular to the rotation axis of the revolute joint.
6 more elements
Dependencies are inferred from the claim text.