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 |
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.
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