Actuation of a device comprising mechanical arms
AssigneeMomentis Surgical Ltd
InventorsDvir Cohen, Yaron Levinson
Life of this patent
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Abstract
Some embodiments of the invention relate to a mechanism for actuating a shaft having two degrees of freedom, comprising: a first actuator configured to rotate the shaft around the shaft axis, and a second actuator configured to bend the shaft using one or more elongated elements attached to the shaft, wherein actuation of the first actuator indirectly manipulates the elongated elements controlled by the second actuator, thereby affecting operation of the second actuator. Some embodiments relate to motorized actuation of a system comprising at least one surgical arm.
Claims19
A mechanism for actuating movement of a shaft having two degrees of freedom, comprising:
- a first actuator in a first operable coupling with said shaft and configured to rotate said shaft around a shaft longitudinal axis;
- a second actuator in a second operable coupling with said shaft and configured to bend said shaft using one or more elongated elements attached to said shaft;
- wherein rotation of the shaft about said longitudinal axis by actuation of said first actuator via said first operable coupling, indirectly affects said elongated elements via said second operable coupling, thereby affecting the operation of said second actuator.
A method of maintaining calibration of a surgical arm, comprising:
- positioning an extension of a surgical arm in a motor unit, said motor unit comprising one or more gears operably coupled to engagement elements of said extension to actuate articulation of said surgical arm, said arm being calibrated by a given state of said engagement elements;
- during said positioning, using interfering elements to interfere with movement of said one or more gears to thereby prevent a change in the state of said one or more interfering elements, thereby maintaining a calibrated state of said surgical arm;
- and
- closing a cover door of said motor unit to release said interfering elements from said gear-locking position.
Dependencies are inferred from the claim text.