Rotational joint assembly for robotic medical system
AssigneeSiemens Healthineers Endovascular Robotics, Inc.
InventorEric Klem
Life of this patent
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Abstract
An example rotational joint assembly for a robotic medical system, the rotational joint assembly comprising at least one arm segment and a rotational joint provided at one end of the arm segment. The rotational joint is to allow the arm segment to rotate about a rotational axis. The rotational joint comprising a brake to lock rotation of the arm segment at the rotational joint and an actuator to selectively engage or disengage the brake. The actuator comprising a cam having two stable regions separated by two transition regions, the two stable regions comprising a first stable region corresponding to engagement of the brake and a second stable region corresponding to disengagement of the brake.
Claims19
A rotational joint assembly for a robotic medical system, the rotational joint assembly, comprising:
- at least one arm segment;
- a rotational joint provided at one end of the at least one arm segment, the rotational joint configured to allow the at least one arm segment to rotate about a rotational axis, the rotational joint comprising,
- a brake to lock rotation of the at least one arm segment at the rotational joint;
- and
- an actuator to selectively engage or disengage the brake, the actuator comprising a cam having two stable regions separated by two transition regions, the two stable regions comprising a first stable region corresponding to engagement of the brake and a second stable region corresponding to disengagement of the brake, the first stable region including a dwell region;
- and
- bellows enclosing at least substantially an entirety of the brake, the bellows providing torsional rigidity during engagement of the brake to cause substantially zero backlash upon engagement or disengagement.
A robotic medical system comprising:
- a brake to lock movement of at least a portion of the robotic medical system;
- an actuator to selectively engage or disengage the brake, the actuator including a cam having two stable regions separated by two transition regions, the two stable regions comprising a first stable region corresponding to engagement of the brake and a second stable region corresponding to disengagement of the brake, the first stable region including a dwell region;
- and
- a bellows enclosing at least substantially an entirety of the brake, the bellows providing torsional rigidity during engagement of the brake to cause substantially zero backlash upon engagement or disengagement.
Dependencies are inferred from the claim text.