# US 12,004,826 B2 · Dual brake setup joint > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,004,826 B2 - Document ID: US12004826B2 - Status: Granted - Kind: B2 - Application number: 17/043,550 - Filed: 2019-03-29 - Published: 2021-01-21 - Granted: 2024-06-11 - Earliest claimed: 2018-03-29 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Bram Gilbert Antoon Lambrecht; Arjang M. Hourtash; Saleh Tabandeh - Web page: https://patentgrep.com/patent/US12004826B2 ## CPC - A61B 34/30: Surgical robots - A61B 34/35: for telesurgery - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - B25J 19/0004: {Braking devices (brakes in general F16D)} - A61B 34/74: {Manipulators with manual electric input means} - A61B 2017/00973: {pedal-operated} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2090/508: {with releasable brake mechanisms} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A system, e.g., a computer-aided medical system, includes a first link, a second link, a joint, and a dual brake assembly. The first link has a first end portion and a second end portion. The second link has a first end portion and a second end portion. The joint is connected to the second end portion of the first link and to the first end portion of the second link. The dual brake assembly is coupled to the first link and to the second link. The dual brake assembly includes a first brake and a second brake. Braking provided by the dual brake assembly reduces relative motion between the first and second links. ## Claims ### Claim 1 A system comprising: a first link having a first end portion and a second end portion; a second link having a first end portion and a second end portion; a joint connected to the second end portion of the first link and to the first end portion of the second link; a dual brake assembly coupled to the first link and to the second link, wherein the dual brake assembly includes a first brake and a second brake, wherein braking the dual brake assembly reduces relative motion between the first and second links, wherein the first brake provides a first brake holding strength when physically engaged, wherein the second brake provides a second brake holding strength when physically engaged, and wherein the second brake holding strength is different from the first brake holding strength; and a controller, wherein: in response to a clutch activation being commanded, the controller issues a command that causes the dual brake assembly to transition to a clutch state in which the first brake is physically disengaged and the second brake is physically disengaged, and in response to the clutch activation being dropped subsequent to the clutch activation being commanded, the controller causes the dual brake assembly to transition from the clutch state to a first state in which the first brake and the second brake are physically disengaged. ### Claim 2 (depends on 1) The system of claim 1, wherein: the first brake is physically engaged when unpowered; and the second brake is physically disengaged when unpowered. ### Claim 3 (depends on 1) The system of claim 1, wherein: the first brake comprises an actuator brake; and the second brake comprises a joint brake. ### Claim 4 (depends on 1) The system of claim 1, wherein: in response to the system being in a fault state, the controller causes the first brake to be physically engaged and the second brake to be physically disengaged. ### Claim 5 (depends on 1) The system of claim 1, wherein during a procedure performed using the system, the controller causes the first brake to be physically disengaged and the second brake to be physically engaged. ### Claim 6 (depends on 1) The system of claim 1, further comprising: an actuator coupled to the joint, wherein activation of the actuator causes the joint to move the second link relative to the first link; and the controller configured to cause the first brake to be physically engaged and the second brake to be physically engaged to restrict movement of the second link relative to the first link upon failure of the actuator in a state configured to cause movement of the second link relative to the first link. ### Claim 7 (depends on 1) The system of claim 1, wherein: the first brake comprises a housing; the second brake comprises a housing; the housing of the first brake is mounted on the first link and the first brake is coupled to the second link to brake the second link; and the housing of the second brake is mounted on the first link and the second brake is coupled to the second link to brake the second link. ### Claim 8 (depends on 1) The system of claim 1, further comprising: an actuator mounted on the first link; and a transmission assembly coupled to the actuator and to the second link; wherein: the first brake is coupled to the actuator; and the second brake is mounted on the first link and is coupled to the second link. ### Claim 9 (depends on 1) The system of claim 1, further comprising: a transmission assembly mounted on the first link and coupled to the second link; and an actuator connected to the transmission assembly; wherein: the first brake is coupled to the actuator; and the second brake is mounted on the first link and is coupled to the second link. ### Claim 10 (depends on 1) The system of claim 1, the controller being configured to: physically disengage the first brake and physically disengage the second brake to allow free movement of the second link relative to the first link; and physically engage the first brake and physically disengage the second brake to restrict movement of the second link relative to the first link. ### Claim 11 (depends on 10) The system of claim 10, the controller being further configured to: physically disengage the first brake and physically engage the second brake during a procedure performed using the system; and physically engage the first brake and physically engage the second brake to restrict movement of the second link relative to the first link upon failure of an actuator in a state configured to cause movement of the second link relative to the first link. ### Claim 12 A method of controlling motion of a second link relative to a first link in a system comprising a dual brake assembly coupled to the first link and to the second link, wherein the dual brake assembly includes a first brake and a second brake, the method comprising: causing at least one brake to be physically engaged to restrict movement of the second link relative to the first link, wherein the at least one brake is selected from the group consisting of: the first brake and the second brake, wherein the first brake provides a first brake holding strength when physically engaged, wherein the second brake provides a second brake holding strength when physically engaged, and wherein the second brake holding strength is different from the first brake holding strength; and in response to a clutch activation being commanded, issuing a command that causes the dual brake assembly to transition to a clutch state in which the first brake is physically disengaged and the second brake is physically disengaged, and in response to the clutch activation being dropped subsequent to the clutch activation being commanded, causing the dual brake assembly to transition from the clutch state to a first state in which the first brake and the second brake are physically disengaged. ### Claim 13 (depends on 12) The method of claim 12, further comprising: physically disengaging the first brake and physically engaging the second brake during a procedure performed using the system; and physically engaging the first brake and physically engaging the second brake to restrict movement of the second link relative to the first link upon failure of an actuator in a state configured to cause movement of the second link relative to the first link. ### Claim 14 (depends on 12) The method of claim 12, further comprising: when the system enters a powered off state, physically engaging the first brake and physically disengaging the second brake. ### Claim 15 A computer-aided medical system comprising: a patient side support system comprising: a first link having a first end portion and a second end portion; a second link having a first end portion and a second end portion; a joint assembly connected to the second end portion of the first link and to the first end portion of the second link, the joint assembly comprising: an actuator configured to cause the joint assembly to move the second link relative to the first link; and a dual brake assembly coupled to the first link, to the second link, and to the actuator, wherein the dual brake assembly includes a first brake and a second brake, wherein the first brake provides a first brake holding strength when physically engaged, wherein the second brake provides a second brake holding strength when physically engaged, and wherein the second brake holding strength is different from the first brake holding strength; and a controller coupled to the actuator and to the dual brake assembly, wherein the controller is configured to command the dual brake assembly, wherein: in response to a clutch activation being commanded, the controller issues a command that causes the dual brake assembly to transition to a clutch state in which the first brake is physically disengaged and the second brake is physically disengaged, and in response to the clutch activation being dropped subsequent to the clutch activation being commanded, the controller causes the dual brake assembly to transition from the clutch state to a first state in which the first brake and the second brake are physically disengaged. ### Claim 16 (depends on 15) The computer-aided medical system of claim 15, wherein: the first brake is physically engaged when unpowered; and the second brake is physically engaged when powered. ### Claim 17 (depends on 16) The computer-aided medical system of claim 16, wherein the controller is configured to command the dual brake assembly by: in response to the computer-aided medical system being in a fault state, commanding the first brake to be physically engaged and to command the second brake to be physically disengaged; or commanding, during a procedure performed using the computer-aided medical system, the first brake to be physically disengaged and to command the second brake to be physically engaged. ### Claim 18 (depends on 15) The computer-aided medical system of claim 15, wherein if the computer-aided medical system is in a power off state, the first brake is unpowered and physically engaged and the second brake is unpowered and physically disengaged.