Robotic linkage
AssigneeIntuitive Surgical Operations, Inc.
InventorsChristoph Matthias PISTOR, Joshua T. OEN
Life of this patent
Estimating the term…
Abstract
A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear.
Claims24
(canceled)
A link of a controllable kinematic chain, comprising:
- a first end, a second end, and a wall extending between the first end and the second end, wherein the wall comprises an outer wall surface and an inner wall surface;
- an outer ear extending in a first axial direction away from the first end;
- an inner bearing surface defined at the first end of the wall, the inner bearing surface extending between the outer ear and the inner wall surface;
- an inner ear extending in a second axial direction away from the second end;
- and
- an outer bearing surface defined at the second end of the wall, the outer bearing surface extending between the inner ear and the outer wall surface,
- wherein the link is configured to mate with links of a corresponding structure such that the outer bearing surface is configured to support an outer ear of a link with a corresponding structure, and the inner bearing surface is configured to support the inner ear of another link with a corresponding structure.
A flexible instrument, comprising:
- a first link and a second link, each link comprising:
- a first end, a second end, and a wall extending between the first end and the second end, the wall comprising an outer wall surface and an inner wall surface;
- an outer ear extending in a first axial direction away from the first end of the link;
- an inner bearing surface defined at the first end of the link, the inner bearing surface extending between the outer ear and the inner wall surface;
- an inner ear extending in a second axial direction away from the second end of the link;
- and
- an outer bearing surface defined at the second end of the wall, the inner bearing surface extending between the inner ear and the outer wall surface,
- wherein the outer bearing surface of the first link is configured to slidably support the outer ear of the second link, and wherein the inner bearing surface of the second link is configured to slidably support the inner ear of the first link.
A method of manufacturing a link of a controllable kinematic chain, comprising:
- introducing a polymer into a mold;
- and
- recovering from the mold a link comprising:
- a first end, a second end, and a wall extending between the first end and the second end, wherein the wall comprises an outer wall surface and an inner wall surface;
- an outer ear extending in a first axial direction away from the first end;
- an inner bearing surface defined at the first end of the link and extending between the inner wall surface and the outer ear;
- an inner ear extending in a second axial direction away from the second end;
- and
- an outer bearing surface defined at the second end of the link and extending between the outer wall surface and the inner ear,
- wherein the link is configured to mate with links of a corresponding structure such that the outer bearing surface is configured to support an outer ear of a link with a corresponding structure, and the inner bearing surface is configured to support the inner ear of another link with a corresponding structure.
Dependencies are inferred from the claim text.