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US 2026/0090852 A1Published application
Instrument articulation dampening
AssigneeAuris Health, Inc.
InventorsJames Hayes, Adrian Hairrell
Life of this patent
Estimating the term…
Abstract
An instrument, such as a robotically-articulable medical instrument, includes a base, a shaft that projects from the base, the shaft having one or more articulation pull wires disposed at least partially therein, a robotic drive input, a pulley having at least one of the one or more articulation pull wires coupled thereto, the pulley being rotatable about an axis by the robotic drive input, and a pulley brake configured to apply friction to the pulley to provide resistance to rotational movement of the pulley.
Claims20
An instrument comprising:
- a base;
- a shaft that projects from the base, the shaft having one or more articulation pull wires disposed at least partially therein;
- a robotic drive input;
- a pulley having at least one of the one or more articulation pull wires coupled thereto, the pulley being rotatable about an axis by the robotic drive input;
- and
- a pulley brake configured to apply friction to the pulley to provide resistance to rotational movement of the pulley.
3 more elements
An instrument comprising:
- an elongate shaft having associated therewith a plurality of articulation pull wires that run a length of the elongate shaft;
- one or more robotically actuatable pulleys configured to tension the plurality of articulation pull wires;
- and
- pulley braking means configured to apply friction to a first pulley of the one or more robotically actuatable pulleys.
1 more element
A robotic system comprising:
- a robotic end effector comprising one or more drive outputs configured to cause articulation of an elongate shaft of an instrument coupled to the robotic end effector at least in part by causing a pulley of the instrument to rotate;
- and
- control circuitry configured to:
- determine a rotation position of the pulley;
- and
- cause braking to be applied to the pulley based at least in part on the rotation position.
3 more elements
Dependencies are inferred from the claim text.