US 11,906,009 B2
Rotational joint assembly for robotic medical system
Eric Klem, Lexington, MA (US)
Assigned to Corindus, Inc., Newton, MA (US)
Filed by Corindus, Inc., Newton, MA (US)
Filed on Jul. 14, 2022, as Appl. No. 17/812,508.
Claims priority of provisional application 63/203,787, filed on Jul. 30, 2021.
Prior Publication US 2023/0036346 A1, Feb. 2, 2023
Int. Cl. A61B 6/10 (2006.01); A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 90/50 (2016.01); B25J 9/10 (2006.01); B25J 15/02 (2006.01); B25J 19/00 (2006.01); F16D 67/02 (2006.01); F16D 23/12 (2006.01); B64C 13/28 (2006.01); B25J 17/02 (2006.01); G05B 23/02 (2006.01); F16D 127/02 (2012.01); F16D 127/04 (2012.01); F16D 127/06 (2012.01); F16D 125/28 (2012.01); F16D 125/32 (2012.01); F16D 121/14 (2012.01)
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; and
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, the brake including,
a cup having a conical inner perimeter; and
a cone for receiving the conical inner perimeter of the cup when the brake is engaged, 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,
wherein engaging of the brake includes moving the conical inner perimeter of the cup into contact with the cone.