# US 2013/0239392 A1 · Method for robotic arms with strap drive trains

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- Number: US 2013/0239392 A1
- Document ID: US20130239392A1
- Status: Published application
- Kind: A1
- Application number: 13/890,234
- Filed: 2013-05-08
- Published: 2013-09-19
- Earliest claimed: 2004-09-30
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Intuitive Surgical Operations, Inc.
- Inventors: Todd R. Solomon; Thomas G. Cooper
- Web page: https://patentgrep.com/patent/US20130239392A1

## CPC

- F16H 7/20: Mountings for rollers or pulleys
- A61B 34/30: Surgical robots
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- B25J 9/1045: {comprising tensioning means}
- B25J 18/00: Arms
- B25J 18/005: {having a curved shape}
- B25J 18/007: {the end effector rotating around a fixed point}
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- A61B 2017/00845: {of moving parts with respect to each other}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2034/715: {Cable tensioning mechanisms for removing slack}
- Y10S 901/21: Flaccid drive element
- Y10T 29/49455: Assembly
- Y10T 29/49826: Assembling or joining
- Y10T 74/20305: Robotic arm
- Y10T 74/20323: including flaccid drive element
- F16H: GEARING
- 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})
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.

## Claims

### Claim at position 1

1-20. (canceled)

### Claim 21

A method for a robotic arm, the method comprising:
providing a linkage assembly including first, second, third, and fourth links coupled in series together with a strap drive train coupled thereto, the linkage assembly defining a parallelogram with an insertion axis, wherein the third link is a bent link including a bend configured to provide a compact robotic arm with an improved range of pitch;
pitching the linkage assembly to alter a pitch angle of the insertion axis;
ensuring the third link maintains the same angle relative to the first link in response to the pitching of the linkage assembly; and
ensuring the fourth link maintains the same angle relative to the second link in response to the pitching of the linkage assembly.

### Claim 22 (depends on 21)

The method of claim 21, wherein
the first link is pivotally coupled to a mounting base; and
prior to pitching the linkage assembly the method further includes mounting the mounting base to a patient side cart.

### Claim 23 (depends on 22)

The method of claim 22, wherein
the mounting base includes a motor to yaw the linkage assembly;
and the method further includes yawing the linkage assembly to alter a yaw angle of the insertion axis.

### Claim 24

A method for a robotic arm, the method comprising:
coupling first, second, third, and fourth links in series together at respective first, second, and third joints to form a linkage assembly;
coupling a strap drive train to the linkage assembly;
calibrating the linkage assembly to substantially eliminate remote center error and define a parallelogram.

### Claim 25 (depends on 24)

The method of claim 24, wherein
the linkage assembly is calibrated by adjusting the strap drive train.

### Claim 26 (depends on 25)

The method of claim 25, wherein
the strap drive train is adjusted to rotate the fourth link about the third joint to calibrate a length in a long side of the parallelogram.

### Claim 27 (depends on 26)

The method of claim 26, wherein
the strap drive train is adjusted to rotate the third link about the second joint to substantially eliminate the remote center error.

### Claim 28

A method for a robotic arm, the method comprising:
adjusting a strap drive train to rotate an instrument holder link about a joint to calibrate a length in a long side of a parallelogram;
adjusting the strap drive train to rotate a main link about a joint to substantially eliminate a remote center error;
verifying that the length in the long side of the parallelogram is calibrated; and
verifying that the remote center error is substantially eliminated.

### Claim 29 (depends on 28)

The method of claim 28, wherein
the remote center error has been substantially eliminated if a pitched remote center lays on a yaw axis of the robotic arm.

### Claim 30 (depends on 28)

The method of claim 28, wherein
the length in the long side of the parallelogram is calibrated if it is set to a correct length.

### Claim 31 (depends on 28)

The method of claim 28, wherein
the strap drive train is adjusted by
lengthening a first strap coupled between joint pulleys, and
shortening a second strap coupled between the joint pulleys.

### Claim 32 (depends on 31)

The method of claim 31, wherein
the first strap is effectively lengthened by loosening a first tensioning screw of a first tensioning block at an end of the first strap, and
the second strap is effectively shortened by tightening a second tensioning screw of a second tensioning block at an end of the second strap.

### Claim at position 14

33-75. (canceled)