Patent
Spring counterbalance for rotating load
TLDR
In this paper, a counterbalance mechanism counterbalances an eccentric mass on a rotating shaft supported by a frame, and a second arm is coupled to the shaft to rotatably support a second at a first distance from the first pulley.Abstract:
A counterbalance mechanism counterbalances an eccentric mass on a rotating shaft supported by a frame. A first pulley is coupled to and concentric with the shaft. An arm is coupled to the shaft to rotatably support a second at a first distance from the first pulley. A third pulley is fixedly coupled to the frame at a second distance from the first pulley. A fourth pulley is rotatably coupled to and concentric with the third pulley. A spring is fixed at a first end to the frame and has a second end that is coupled to the fourth pulley such that the spring provides a restoring force as the fourth pulley is rotated. A first cable has a first end that is coupled to the fourth pulley and a second end that is coupled to the frame through the third pulley after passing over the first and second pulleys.read more
Citations
More filters
Patent
Robotic surgery system including position sensors using fiber bragg gratings
David Q. Larkin,David C. Shafer +1 more
TL;DR: In this paper, a detection system coupled with the optical fiber bend sensor was proposed to determine a position of at least one joint region of an articulatable arm based on the detected light reflected by or transmitted through the sensor, and a control system comprising a servo controller for effectuating movement of the arm.
Patent
Minimally invasive surgical system
TL;DR: In this paper, a telemanipulation system was used to move the distal end of a surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.
Patent
Surgical system instrument sterile adapter
TL;DR: In this article, a sterile adapter, a drape including the adapter, and a method of draping a manipulator arm is provided, which includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs and a membrane interface disposed at the distal end of the housing.
Journal ArticleDOI
Gravity compensation in robotics
TL;DR: An overview of gravity compensation methods applied in robotics is proposed and three principal groups are distinguished due to the nature of the compensation force: counterweight, spring or active force developed by an auxiliary actuator.
Patent
Methods and apparatus to shape flexible entry guides for minimally invasive surgery
Abstract: In one embodiment of the invention, an apparatus for performing surgical procedures is disclosed including a flexible entry guide tube, and a first steering device. The flexible entry guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool to perform surgery near the distal end of the flexible entry guide tube. The first steering device is insertable into the instrument lumen to shape the flexible entry guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the flexible entry guide tube to hold its shape. The flexible entry guide tube may be steered by remote control with one or more actuators.
References
More filters
Journal ArticleDOI
A simple technique to passively gravity-balance articulated mechanisms
TL;DR: In this paper, a simple method to counter the effects of gravity in articulated mechanisms is proposed, which uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment.
Patent
Counterbalancing mechanism for X-ray tubeheads
TL;DR: In this paper, an X-ray tubehead counterbalancing mechanism without springs, cams, and chains is presented, which requires only a single adjustment to precisely counterbalance objects such as tubeheads.
Patent
Counterbalanced arm assembly
TL;DR: In this article, a spring counterbalanced arm assembly including a base member, a lower arm, an upper arm, a knee bearing member and object supporting means is presented to provide counterbalancing force.
Patent
Movable hospital room equipment column
TL;DR: In this article, a double articulating arm allowed moving of a column on a base supported by wheels through 340° around the bed of a patient, and a brake in the base prevented inadvertent movement of the column.
Patent
Articulated task lamp
TL;DR: An articulated task lamp for exemplary use as a counterbalanced drafting table lamp including pivotally interconnected base assembly, lower support arm, upper support arm and lamp head, and counterbalance linkage operable within said lower support arms and base assembly.