US 11,690,647 B2
Surgical arm system with internally drive gear assemblies
Chung Kwong Yeung, Hong Kong (CN); and Wai Leung William Cheng, Hong Kong (CN)
Assigned to BIO-MEDICAL ENGINEERING (HK) LIMITED, Hong Kong (CN)
Filed by BIO-MEDICAL ENGINEERING (HK) LIMITED, Hong Kong (CN)
Filed on Nov. 5, 2019, as Appl. No. 16/674,958.
Application 16/674,958 is a continuation of application No. 16/457,217, filed on Jun. 28, 2019, granted, now 10,500,008.
Application 16/457,217 is a continuation in part of application No. 16/172,408, filed on Oct. 26, 2018, granted, now 11,103,323.
Application 16/172,408 is a continuation of application No. 15/864,628, filed on Jan. 8, 2018, granted, now 10,172,680, issued on Jan. 8, 2019.
Application 15/864,628 is a continuation of application No. 15/605,864, filed on May 25, 2017, granted, now 9,895,200, issued on Feb. 20, 2018.
Application 15/605,864 is a continuation in part of application No. 15/340,699, filed on Nov. 1, 2016, granted, now 9,827,058, issued on Nov. 28, 2017.
Application 15/340,699 is a continuation in part of application No. 15/340,678, filed on Nov. 1, 2016, granted, now 9,855,108.
Application 15/340,678 is a continuation in part of application No. 15/340,660, filed on Nov. 1, 2016, granted, now 9,724,168, issued on Aug. 8, 2017.
Application 15/340,660 is a continuation in part of application No. 15/044,895, filed on Feb. 16, 2016, granted, now 11,090,123.
Application 15/340,660 is a continuation in part of application No. 15/340,660.
Application 15/340,660 is a continuation in part of application No. 15/044,889, filed on Feb. 16, 2016, granted, now 9,737,372, issued on Aug. 22, 2017.
Application 15/340,660 is a continuation in part of application No. 15/340,678.
Application 15/340,678 is a continuation in part of application No. 15/044,895, filed on Feb. 16, 2016, granted, now 11,090,123.
Application 15/340,678 is a continuation in part of application No. 15/340,660.
Application 15/340,660 is a continuation in part of application No. 15/044,895, filed on Feb. 16, 2016, granted, now 11,090,123.
Application 15/340,660 is a continuation in part of application No. 15/605,864.
Application 15/605,864 is a continuation in part of application No. 15/044,889, filed on Feb. 16, 2016, granted, now 9,737,372.
Application 15/605,864 is a continuation in part of application No. 15/340,678.
Application 15/340,678 is a continuation in part of application No. 15/044,889, filed on Feb. 16, 2016, granted, now 9,737,372.
Application 15/340,678 is a continuation in part of application No. 15/605,864.
Application 15/605,864 is a continuation in part of application No. 14/693,207, filed on Apr. 22, 2015, granted, now 11,154,183.
Application 15/605,864 is a continuation in part of application No. 15/340,678.
Application 15/340,678 is a continuation in part of application No. 14/693,207, filed on Apr. 22, 2015, granted, now 11,154,183.
Application 15/340,678 is a continuation in part of application No. 15/044,895.
Application 15/044,895 is a continuation in part of application No. 14/693,207, filed on Apr. 22, 2015, granted, now 11,154,183.
Application 15/044,895 is a continuation in part of application No. 15/044,889.
Application 15/044,889 is a continuation of application No. 14/693,207, filed on Apr. 22, 2015, granted, now 11,154,183.
Application 15/044,889 is a continuation of application No. 15/340,660.
Application 15/340,660 is a continuation in part of application No. 14/693,207, filed on Apr. 22, 2015, granted, now 11,154,183.
Claims priority of provisional application 61/982,717, filed on Apr. 22, 2014.
Prior Publication US 2020/0060778 A1, Feb. 27, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 17/34 (2006.01); A61B 34/37 (2016.01); A61B 18/14 (2006.01); A61B 90/00 (2016.01); A61B 34/00 (2016.01); A61B 90/30 (2016.01); A61B 1/00 (2006.01); A61B 18/00 (2006.01); A61B 90/57 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 1/05 (2006.01); A61B 1/313 (2006.01)
CPC A61B 17/3421 (2013.01) [A61B 1/00097 (2022.02); A61B 17/3423 (2013.01); A61B 18/1445 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/76 (2016.02); A61B 90/30 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 1/00147 (2013.01); A61B 1/05 (2013.01); A61B 1/3132 (2013.01); A61B 18/1442 (2013.01); A61B 2017/00283 (2013.01); A61B 2017/2906 (2013.01); A61B 2017/345 (2013.01); A61B 2017/346 (2013.01); A61B 2017/3445 (2013.01); A61B 2017/3452 (2013.01); A61B 2018/00589 (2013.01); A61B 2018/00601 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 2034/306 (2016.02); A61B 2090/309 (2016.02); A61B 2090/3612 (2016.02); A61B 2090/571 (2016.02); Y10S 901/02 (2013.01); Y10S 901/27 (2013.01)] 26 Claims
OG exemplary drawing
 
1. A robotic arm assembly, the robotic arm assembly comprising:
a forearm segment, the forearm segment formed as an elongated structure with a proximal end and a distal end;
an upper arm segment, the upper arm segment formed as an elongated structure with a proximal end and a distal end, the upper arm segment having:
a first distal motor, the first distal motor having a first distal motor drive portion at the distal end of the upper arm segment; and
an elbow coupling joint assembly, the elbow coupling joint assembly connecting the distal end of the upper arm segment to the proximal end of the forearm segment via a serial arrangement of a proximal elbow joint and a distal elbow joint, the proximal elbow joint located between the distal end of the upper arm segment and the distal elbow joint, the distal elbow joint located between the proximal elbow joint and the proximal end of the forearm segment, the proximal elbow joint forming a proximal main elbow axis, the distal elbow joint forming a distal main elbow axis, the elbow coupling joint assembly having:
a distal elbow joint subassembly connected at a distal end to the proximal end of the forearm segment, the distal elbow joint subassembly including a gear train system having:
a first distal elbow gear stage, the first distal elbow gear stage having a plurality of interconnected gears, including at least a first gear and a last gear, the first gear of the first distal elbow gear stage configured to be driven by the first distal motor drive portion of the first distal motor so as to drive the last gear of the first distal elbow gear stage to rotate relative to the distal main elbow axis;
a second distal elbow gear stage, the second distal elbow gear stage having a distal elbow planetary gear assembly, the distal elbow planetary gear assembly having:
a distal elbow sun gear configured to be driven by the last gear of the first distal elbow gear stage to rotate relative to the distal main elbow axis;
a distal elbow ring gear configured to not rotate relative to the distal main elbow axis;
a plurality of distal elbow planetary gears drivable by the distal elbow sun gear; and
a distal elbow planetary gear carrier connected at one end to the plurality of distal elbow planetary gears and at another end to the forearm segment, wherein when the distal elbow sun gear is driven to rotate relative to the distal main elbow axis, the distal elbow planetary gear carrier drives the forearm segment to pivotally rotate relative to the distal main elbow axis;
a proximal elbow joint subassembly connecting the distal end of the upper arm segment to the distal elbow joint subassembly, the proximal elbow joint subassembly configurable to be driven in such a way as to rotate the forearm segment relative to the proximal main elbow axis.