Actuation of a device comprising mechanical arms
AssigneeMemic Innovative Surgery Ltd.
InventorsDvir COHEN, Yaron LEVINSON
Life of this patent
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Abstract
Some embodiments of the invention relate to a mechanism for actuating a shaft having two degrees of freedom, comprising: a first actuator configured to rotate the shaft around the shaft axis, and a second actuator configured to bend the shaft using one or more elongated elements attached to the shaft, wherein actuation of the first actuator indirectly manipulates the elongated elements controlled by the second actuator, thereby affecting operation of the second actuator. Some embodiments relate to motorized actuation of a system comprising at least one surgical arm.
Claims48
A mechanism for actuating movement of a shaft having two degrees of freedom, comprising:
- a first actuator configured to rotate said shaft around the shaft axis;
- a second actuator configured to bend said shaft using one or more elongated elements attached to said shaft;
- wherein actuation of said first actuator indirectly manipulates said elongated elements controlled by said second actuator, thereby affecting operation of said second actuator.
A surgical system comprising
- a surgical arm comprising at least one joint;
- a motor unit configured to actuate articulation of said at least one joint of said surgical arm, said motor unit comprising a proximal extension of said arm;
- wherein said motor unit comprises at least one actuation mechanism configured for one or both of rotating at least a portion of said arm around its axis and bending said at least one joint, said actuation mechanism operably coupled to said proximal extension of said arm.
A mechanism for linear movement of elongated elements driven by rotational movement, comprising:
- a gear operably coupled to a threaded screw, said gear configured to rotate said screw around the screw axis;
- at least two rider elements coupled to the thread of said screw;
- wherein a first rider element is attached to at least one first elongated element and a second rider element is attached to at least one second elongated element;
- wherein rotation of said screw moves said rider elements laterally in opposing directions, tensioning said first elongated element and releasing tension of said second elongated element or vice versa.
A mechanism for actuating a shaft having two degrees of freedom, comprising:
- a tubular shaft;
- first and second actuators disposed at an end of said tubular shaft, said actuators collinear to said tubular shaft;
- wherein said first actuator is configured to actuate shaft movement of a first type, and said second actuator is configured to actuate shaft movement of a second type, said movement of a second type different than said movement of a first type.
A method of maintaining calibration of a surgical arm, comprising:
- positioning an extension of a surgical arm in a motor unit configured to actuate articulation of said surgical arm by comprising one or more gears operably coupled to said extension;
- during said positioning, interfering with movement of said one or more gears to maintain a calibrated state of said surgical arm.
Dependencies are inferred from the claim text.