Methods for robotic arms with strap drive trains
AssigneeIntuitive Surgical Operations, Inc.
InventorsTodd R. Solomon, Thomas G. Cooper
Life of this patent
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Abstract
In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.
Claims6
A method for a robotic arm, the method comprising:
- providing a linkage assembly including first, second, third, and fourth links coupled in series together with a strap drive train coupled thereto, the linkage assembly and the strap drive train are configured to define a parallelogram with a vertex at a remote center point, and a short side pitched away from an insertion axis through the remote center point;
- ensuring the third link maintains the same angle relative to the first link in response to a pitching of the linkage assembly altering a pitch angle of the insertion axis;
- ensuring the fourth link maintains the same angle relative to the second link in response to the pitching of the linkage assembly;
- and
- translating a tool along the insertion axis.
Dependencies are inferred from the claim text.