Compact rotary actuator with internal planetary
AssigneeIntuitive Surgical Operations, Inc.
InventorDavid W. Bailey
Life of this patent
Estimating the term…
Abstract
A rotary actuator for use in surgical instruments is provided, including a plurality of engine elements placed symmetrically around a rotation axis; a disk in contact with the engine elements, centered on the rotation axis, the engine elements providing a first rotation to the disk; an input shaft coupled to the disk to rotate with the first rotation; and a coupling mechanism to provide a second rotation to an output shaft from the first rotation of the input shaft. A surgical manipulator is also provided, including a base to provide stability and support; a first rotary actuator as above coupled to the base; and a first arm coupled to the rotary actuator.
Claims20
A rotary actuator for use in surgical instruments comprising:
- a plurality of engine elements placed symmetrically around a rotation axis;
- a disk in contact with the engine elements, centered on the rotation axis, the engine elements providing a first rotation to the disk;
- an input shaft coupled to the disk to rotate with the first rotation;
- and
- a coupling mechanism to provide a second rotation to an output shaft from the first rotation of the input shaft.
A surgical manipulator comprising:
- a base to provide stability and support;
- a first rotary actuator coupled to the base;
- and
- a first arm coupled to the rotary actuator;
- wherein
- the first rotary actuator comprises:
- a plurality of engine elements placed symmetrically around a first rotation axis;
- a disk in contact with the engine elements, centered on the rotation axis, the engine elements providing a first rotation to the disk;
- an input shaft coupled to the disk to rotate with the first rotation;
- and
- a coupling mechanism to provide a second rotation to an output shaft from the first rotation of the input shaft.
Dependencies are inferred from the claim text.