# US 2019/0167369 A1 · Cable tensioning in a robotic surgical system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0167369 A1 - Document ID: US20190167369A1 - Status: Published application - Kind: A1 - Application number: 16/250,059 - Filed: 2019-01-17 - Published: 2019-06-06 - Earliest claimed: 2005-12-20 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Roman L. Devengenzo; Thomas G. Cooper; Todd R. Solomon - Web page: https://patentgrep.com/patent/US20190167369A1 ## CPC - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 1/00149: {using articulated arms} - A61B 34/30: Surgical robots - A61B 34/35: for telesurgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - B25J 9/1045: {comprising tensioning means} - G16H 20/30: relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising - G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture - G16H 40/63: for local operation - G16H 40/67: for remote operation - G16Z 99/00: Subject matter not provided for in other main groups of this subclass - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 2017/00212: {using remote controls} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B 2034/715: {Cable tensioning mechanisms for removing slack} - A61B 2046/234: {with means for retaining a catheter} - Y10T 74/20305: Robotic arm - 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}) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA - G16Z: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A cable tensioning system of a surgical system comprises a base, an arm, and 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. A closed loop cable drive extends between the first pulley system and the second pulley system, and the closed loop cable drive passes over the moveable idler pulley. The cable tensioning system also comprises a translation mechanism slidably coupling a second end of the arm to the base. 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. ## Claims ### Claim at position 1 1-19. (canceled) ### Claim 20 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. ### Claim 21 (depends on 20) The cable tensioning system of claim 20, further comprising a stationary idler pulley, wherein the closed loop cable drive passes over the stationary idler pulley. ### Claim 22 (depends on 20) The cable tensioning system of claim 20, further comprising a plurality of stationary idler pulleys. ### Claim 23 (depends on 20) The cable tensioning system of claim 20, wherein the linear path is non-parallel to any portion of the closed loop cable drive. ### Claim 24 (depends on 20) The cable tensioning system of claim 20, wherein a pulley of one of the first pulley system or the second pulley system is configured to rotate in a direction to equalize tension within the closed loop cable drive. ### Claim 25 (depends on 20) The cable tensioning system of claim 20, wherein an overall length of the closed loop cable drive is increased as the moveable idler pulley moves from the first position to the second position. ### Claim 26 (depends on 20) The cable tensioning system of claim 20, wherein the closed loop cable drive includes at least two parallel cables. ### Claim 27 (depends on 20) The cable tensioning system of claim 20, further comprising a rotation mechanism rotatably coupling the 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 rotational position and a second rotational 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 cooperate with the translation mechanism to control the tension of the closed loop cable drive. ### Claim 28 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. ### Claim 29 (depends on 28) The cable tensioning system of claim 28, further comprising a stationary idler pulley, wherein the closed loop cable drive passes over the stationary idler pulley. ### Claim 30 (depends on 28) The cable tensioning system of claim 28, further comprising a plurality of stationary idler pulleys. ### Claim 31 (depends on 28) The cable tensioning system of claim 28, wherein the circular path is non-parallel to any portion of the closed loop cable drive. ### Claim 32 (depends on 28) The cable tensioning system of claim 28, wherein a pulley of one of the first pulley system or the second pulley system is configured to rotate in a direction to equalize tension within the closed loop cable drive. ### Claim 33 (depends on 28) The cable tensioning system of claim 28, wherein an overall length of the closed loop cable drive is increased as the moveable idler pulley moves from the first position to the second position. ### Claim 34 (depends on 28) The cable tensioning system of claim 28, wherein the closed loop cable drive includes at least two parallel cables. ### Claim 35 (depends on 28) The cable tensioning system of claim 28, further comprising a translation mechanism slidably coupling the 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 linear first position and a linear 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 cooperate with the translation mechanism to control the tension of the closed loop cable drive. ### Claim 36 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. ### Claim 37 (depends on 36) The surgical system of claim 36, wherein the tensioning means for controlling the tension in the closed loop cable drive includes 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 the first position and the second position. ### Claim 38 (depends on 36) The surgical system of claim 36, wherein the tensioning means for controlling the tension in the closed loop cable drive includes a rotation mechanism rotatably coupling a second end of the arm to the base, wherein the rotational mechanism is configured to move the arm relative to the base along a circular path between the first position and the second position. ### Claim 39 (depends on 36) The surgical system of claim 36, wherein the tensioning means for controlling the tension in the closed loop cable drive includes a translation mechanism slidably coupling a second end of the arm to the base and a rotation mechanism rotatably coupling the 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 the first position and the second position, and wherein the rotational mechanism is configured to move the arm relative to the base along a circular path between the first position and the second position.