US 11,937,890 B2
Direct drive for mechanical arm assembly
David F. Martin, Santa Clara, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Nov. 13, 2020, as Appl. No. 17/097,612.
Claims priority of provisional application 62/935,586, filed on Nov. 14, 2019.
Prior Publication US 2021/0145530 A1, May 20, 2021
Int. Cl. B25J 9/10 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 90/10 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/71 (2016.02); A61B 90/10 (2016.02); A61B 2034/715 (2016.02); B25J 9/1045 (2013.01)] 16 Claims
OG exemplary drawing
 
15. A mechanical arm assembly comprising:
a base member rotatable about a base axis;
a first arm member including a first portion and a second portion, the first portion of the first arm member being rotatably coupled to the base member, and the first arm member being rotatable with respect to the base member about a first axis that is orthogonal to the base axis;
a first motor coupled to the base member, the first motor including a first drive shaft coupled to the first arm member, the first drive shaft being rotatable about the first axis;
a second arm member including a first portion and a second portion, the first portion of the second arm member being rotatably coupled to the second portion of the first arm member, and the second arm member being rotatable about a second axis that extends parallel to the first axis;
a second motor coupled to the base member, the second motor including a second drive shaft rotatable about the first axis, and the second drive shaft being coupled to the second arm member;
a first rotary sensor coupled to the first drive shaft and configured to detect an orientation of the first arm member about the first axis;
a second rotary sensor coupled to the second drive shaft and configured to detect an orientation of the second arm member about the second axis;
a grip member coupled to the second portion of the second arm member and movable in one or more degrees of freedom provided by rotation of the first arm member or the second arm member; and
a third motor coupled to a support, the third motor including a third drive shaft rotatable about the base axis and coupled to the base member.