Cable tensioning in a robotic surgical system

A cable tensioning system of a surgical system comprising:

• a base;
• an arm;
• a moveable idler pulley rotatably coupled to a first end of the arm and positioned between a first pulley system and a second pulley system, wherein a closed loop cable drive extends between the first pulley system and the second pulley system, and wherein the closed loop cable drive passes over the moveable idler pulley;
• and
• a translation mechanism slidably coupling a second end of the arm to the base, wherein the translation mechanism is configured to move the arm relative to the base along a linear path between a first position and a second position such that the moveable idler pulley is moved away from at least one of the first pulley system or the second pulley system to control a tension in the closed loop cable drive.

A cable tensioning system of a surgical system comprising:

• a base;
• an arm;
• a moveable idler pulley rotatably coupled to a first end of the arm and positioned between a first pulley system and a second pulley system, wherein a closed loop cable drive extends between the first pulley system and the second pulley system, and wherein the closed loop cable drive passes over the moveable idler pulley;
• and
• a rotation mechanism rotatably coupling a second end of the arm to the base, wherein the rotation mechanism is configured to rotate the arm relative to the base along a circular path between a first position and a second position such that the moveable idler pulley is moved away from at least one of the first pulley system or the second pulley system to control a tension in the closed loop cable drive.

A surgical system comprising:

• a base;
• an arm;
• an idler pulley rotatably coupled to a first end of the arm;
• and
• a tensioning means for controlling a tension in a closed loop cable drive extending over the idler pulley and between a first pulley system and a second pulley system, wherein the tensioning means controls the tension in the closed loop cable drive by moving the arm and the idler pulley relative to the base between a first position and a second position such that the idler pulley is moved away from at least one of the first pulley system and the second pulley system.