US 12,215,750 B2
Rotational joint assembly for robotic medical system
Eric Klem, Lexington, MA (US)
Assigned to Siemens Healthineers Endovascular Robotics, Inc, Newton, MA (US)
Filed by Corindus, Inc., Newton, MA (US)
Filed on Dec. 18, 2023, as Appl. No. 18/543,144.
Application 18/543,144 is a continuation of application No. 17/812,508, filed on Jul. 14, 2022, granted, now 11,906,009.
Claims priority of provisional application 63/203,787, filed on Jul. 30, 2021.
Prior Publication US 2024/0141965 A1, May 2, 2024
Int. Cl. A61B 6/10 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 90/50 (2016.01); B25J 9/10 (2006.01); B25J 15/02 (2006.01); B25J 19/00 (2006.01); B64C 13/28 (2006.01); F16D 23/12 (2006.01); F16D 67/02 (2006.01); B25J 17/02 (2006.01); F16D 121/14 (2012.01); F16D 125/28 (2012.01); F16D 125/32 (2012.01); F16D 127/02 (2012.01); F16D 127/04 (2012.01); F16D 127/06 (2012.01); G05B 23/02 (2006.01)
CPC F16D 67/02 (2013.01) [A61B 6/105 (2013.01); B64C 13/28 (2013.01); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 2090/508 (2016.02); B25J 9/101 (2013.01); B25J 9/106 (2013.01); B25J 15/0206 (2013.01); B25J 15/0226 (2013.01); B25J 17/0241 (2013.01); B25J 19/0004 (2013.01); F16D 2023/123 (2013.01); F16D 2121/14 (2013.01); F16D 2125/28 (2013.01); F16D 2125/32 (2013.01); F16D 2127/02 (2013.01); F16D 2127/04 (2013.01); F16D 2127/06 (2013.01); G05B 23/0286 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A rotational joint assembly for a robotic medical system, the rotational joint assembly, comprising:
at least one arm segment;
a rotational joint provided at one end of the at least one arm segment, the rotational joint configured to allow the at least one arm segment to rotate about a rotational axis, the rotational joint comprising,
a brake to lock rotation of the at least one arm segment at the rotational joint; and
an actuator to selectively engage or disengage the brake, the actuator comprising a cam having two stable regions separated by two transition regions, the two stable regions comprising a first stable region corresponding to engagement of the brake and a second stable region corresponding to disengagement of the brake, the first stable region including a dwell region; and
bellows enclosing at least substantially an entirety of the brake, the bellows providing torsional rigidity during engagement of the brake to cause substantially zero backlash upon engagement or disengagement.