Method and apparatus for reducing at least one friction force opposing an axial force exerted through an actuator element
AssigneeIntuitive Surgical Operations, Inc.
InventorEugene F. Duval
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Abstract
Actuator elements such as cables or push rods in an instrument are used for manipulating an end effector or distal end of the instrument. Each actuator element extends within a tubular housing and either the tubular housing is axially rotated about the actuator element or the actuator element is axially rotated within the tubular housing to reduce at least one force opposing an axial force exerted through or movement of the actuator element.
Claims17
A robotic system comprising:
- an instrument having an end effector, a first actuator element coupled to the end effector, and a first housing through which the first actuator element extends while in physical contact with an inner surface of the first housing;
- at least one actuator mechanically coupled to at least one of the first actuator element and the first housing;
- and
- a processor configured to command the at least one actuator to provide relative rotational motion between the first actuator element and the first housing about a longitudinal axis of the actuator element when the first actuator element is moving in a first axial direction along the longitudinal axis of the first actuator element.
The robotic system according to clam 13, wherein the at least one actuator is configured to inhibit rotation of the first and second actuator elements respectively about the longitudinal axes of the first and second actuator elements.
Dependencies are inferred from the claim text.