Strain wave gearing with input to output braking
AssigneeVerb Surgical Inc.
InventorBharat Thakkar
Life of this patent
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Abstract
A braking assembly for a strain wave gearing of a surgical robotic manipulator, the braking assembly including a first braking member fixedly coupled to an input portion of a strain wave gearing of a surgical robotic manipulator; and a second braking member fixedly coupled to an output portion of the strain wave gearing, and wherein during a braking operation the first braking member contacts the second braking member to mechanically brake the input portion to the output portion.
Claims20
A braking assembly of a surgical robotic manipulator, the braking assembly comprising:
- a first braking member fixedly coupled to an input portion of a strain wave gearing of a surgical robotic manipulator, the first braking member having a first portion and a second portion operable to move relative to the first portion;
- and
- a second braking member fixedly coupled to an output portion of the strain wave gearing, and wherein during a braking operation the second portion contacts the second braking member to mechanically brake the input portion to the output portion.
A braking assembly of a surgical robotic manipulator comprising:
- an input portion comprising a wave generator fixedly coupled to an input shaft;
- an output portion comprising a flex cup fixedly coupled to an output shaft and having a number of flex cup teeth formed along an exterior surface of the flex cup, and the input portion is positioned within the output portion and rotates to drive a relative movement between the input portion and the output portion;
- a fixed portion comprising a circular spline with a number of circular spline teeth formed along an interior surface of the circular spline, wherein the output portion is positioned within the fixed portion and the circular spline teeth engage with the flex cup teeth to rotate the output portion relative to the fixed portion;
- and
- a first braking member coupled to the input portion and a second braking member coupled to the output portion, and wherein the first braking member is operable to contact the second braking member to prevent a relative movement between the input portion and the output portion during a braking operation.
A surgical robotic system comprising:
- a surgical table;
- a surgical robotic manipulator coupled to the surgical table, the surgical robotic manipulator comprising a plurality of links and a plurality of joints that are operable to move with respect to one another to move the surgical robotic manipulator;
- and
- a braking assembly coupled to at least one of the plurality of joints, the braking assembly comprising a first braking member fixedly coupled to an input portion of a strain wave gearing of the surgical robotic manipulator, the strain wave gearing having a wave generator, a flex cup and a circular spline, the first braking member having a first portion and a second portion operable to move relative to the first portion, and
- a second braking member fixedly coupled to an output portion of the strain wave gearing, and wherein during a braking operation the second portion contacts the second braking member to mechanically brake the input portion to the output portion.
Dependencies are inferred from the claim text.