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1. 发明公开

EP4349548A3 GEAR PACKAGING FOR ROBOTIC JOINTS 审中-公开
公开(公告)号：EP4349548A3
公开(公告)日：2024-07-24
申请号：EP24159785.5
申请日：2017-07-19
申请人： CMR Surgical Limited
发明人： Grant, James Oliver , Marshall, Keith , Jackson, Thomas Bates
IPC分类号： B25J9/10 , B25J17/02
CPC分类号： B25J9/102 , B25J17/0283
摘要： A robot arm comprising a first arm segment and a second arm segment coupled to each other by a first revolute joint having a first rotation axis and a second revolute joint having a second rotation axis non-parallel to the first rotation axis, and a joint mechanism for articulating the first arm segment relative to the second arm segment about the first and second rotation axes, the joint mechanism comprising: a first driven gear disposed about an axle coincident with the first rotation axis, the axle being fast with a first arm segment of the robot arm; a second driven gear disposed about the second rotation axis and fast with a second arm segment of the robot arm and fast with the first driven gear about the first rotation axis; a first drive gear configured to drive the first driven gear to rotate about the axle, the first drive gear being arranged to engage the first driven gear; a second drive gear for driving the second driven gear to rotate about the second rotation axis; and an intermediary gear arrangement arranged to engage the second drive gear and the second driven gear and being disposed about the first rotation axis, whereby rotation of the intermediary gear arrangement relative to the first arm segment about the first rotation axis can be driven.

2. 发明公开

EP4275617A3 DRIVE TRANSFER 审中-实审
公开(公告)号：EP4275617A3
公开(公告)日：2024-05-15
申请号：EP23200964.7
申请日：2017-07-27
申请人： CMR Surgical Limited
发明人： Chaplin, Ben Robert , Grant, James Oliver , Marshall, Keith , Phoolchund, Nikki Priyam Su-Ling , Jackson, Thomas Bates
IPC分类号： A61B34/30 , A61B46/10 , A61B17/00
CPC分类号： A61B2017/002320130101 , A61B2017/0047720130101 , A61B46/10 , A61B34/30
摘要： A drive assembly is locatable at or towards a distal end of a surgical robot arm. The drive assembly comprises a drive assembly interface which is engageable with a surgical instrument comprising an end effector so as to transfer drive between the drive assembly and the instrument. The drive assembly interface comprises a drive assembly interface element movable relative to the drive assembly interface and engageable with a corresponding instrument interface element provided on the instrument. The drive assembly comprises a sensor for sensing the position of the drive assembly interface element. The drive assembly is configured to drive the drive assembly interface element to an interfacing position for engaging with the instrument interface element and the sensor is configured to determine whether the drive assembly interface element is in its interfacing position.

3. 发明公开

EP4275617A2 DRIVE TRANSFER 审中-实审
公开(公告)号：EP4275617A2
公开(公告)日：2023-11-15
申请号：EP23200964.7
申请日：2017-07-27
申请人： CMR Surgical Limited
发明人： Chaplin, Ben Robert , Grant, James Oliver , Marshall, Keith , Phoolchund, Nikki Priyam Su-Ling , Jackson, Thomas Bates
IPC分类号： A61B17/00
摘要： A drive assembly is locatable at or towards a distal end of a surgical robot arm. The drive assembly comprises a drive assembly interface which is engageable with a surgical instrument comprising an end effector so as to transfer drive between the drive assembly and the instrument. The drive assembly interface comprises a drive assembly interface element movable relative to the drive assembly interface and engageable with a corresponding instrument interface element provided on the instrument. The drive assembly comprises a sensor for sensing the position of the drive assembly interface element. The drive assembly is configured to drive the drive assembly interface element to an interfacing position for engaging with the instrument interface element and the sensor is configured to determine whether the drive assembly interface element is in its interfacing position.

4. 发明公开

EP4349548A2 GEAR PACKAGING FOR ROBOTIC JOINTS 审中-实审
公开(公告)号：EP4349548A2
公开(公告)日：2024-04-10
申请号：EP24159785.5
申请日：2017-07-19
申请人： CMR Surgical Limited
发明人： Grant, James Oliver , Marshall, Keith , Jackson, Thomas Bates
IPC分类号： B25J17/02
摘要： A robot arm comprising a first arm segment and a second arm segment coupled to each other by a first revolute joint having a first rotation axis and a second revolute joint having a second rotation axis non-parallel to the first rotation axis, and a joint mechanism for articulating the first arm segment relative to the second arm segment about the first and second rotation axes, the joint mechanism comprising: a first driven gear disposed about an axle coincident with the first rotation axis, the axle being fast with a first arm segment of the robot arm; a second driven gear disposed about the second rotation axis and fast with a second arm segment of the robot arm and fast with the first driven gear about the first rotation axis; a first drive gear configured to drive the first driven gear to rotate about the axle, the first drive gear being arranged to engage the first driven gear; a second drive gear for driving the second driven gear to rotate about the second rotation axis; and an intermediary gear arrangement arranged to engage the second drive gear and the second driven gear and being disposed about the first rotation axis, whereby rotation of the intermediary gear arrangement relative to the first arm segment about the first rotation axis can be driven.

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