Constraint mechanisms, systems, and methods
AssigneeIntuitive Surgical Operations, Inc.
InventorsGrant M. Kadokura, Andrew C. Waterbury
Life of this patent
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Abstract
A tool includes a transmission mechanism, a shaft, and a rotary device. The shaft is rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and includes a protrusion extending from the shaft in a direction normal to the first axis of rotation. The rotary device includes a first stop surface, a second stop surface, and a notch between the first stop surface and the second stop surface, with the notch configured to receive the protrusion extending from the shaft. Rotation of the shaft through a midpoint of the range of rotational motion causes the protrusion to enter the notch of the rotary device and rotate the rotary device from a first position to a second position.
Claims15
A tool, comprising:
- a transmission mechanism, a shaft, and a rotary device,
- wherein the shaft is rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and comprises a protrusion extending from the shaft in a direction normal to the first axis of rotation;
- and
- the rotary device comprising:
- a first stop surface,
- a second stop surface,
- a notch between the first stop surface and the second stop surface, the notch being configured to receive the protrusion extending from the shaft,
- a first profiled portion between the first stop surface and the notch, and
- a second profiled portion between the second stop surface and the notch,
- wherein each of the first and second profiled portions has a profile complementary to a profile of the shaft;
- and
- wherein rotation of the shaft through a midpoint of the defined range of rotational motion causes the protrusion to enter the notch of the rotary device and rotate the rotary device from a first position to a second position.
A tool, comprising:
- a transmission mechanism comprising:
- a capstan,
- a pulley coupled to the shaft, and
- at least one drive cable operably coupled to the pulley and the capstan;
- a shaft rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and comprises a protrusion extending from the shaft in a direction normal to the first axis of rotation;
- and
- a rotary device comprising:
- a first stop surface,
- a second stop surface, and
- a notch between the first stop surface and the second stop surface,
- wherein the notch is configured to receive the protrusion extending from the shaft;
- and
- wherein rotation of the shaft through a midpoint of the defined range of rotational motion causes the protrusion to enter the notch of the rotary device and rotate the rotary device from a first position to a second position.
Dependencies are inferred from the claim text.