US 12,257,700 B2
Constraint mechanisms, systems, and methods
Grant M. Kadokura, San Diego, CA (US); and Andrew C. Waterbury, Santa Clara, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on May 16, 2023, as Appl. No. 18/318,360.
Application 18/318,360 is a division of application No. 16/776,753, filed on Jan. 30, 2020, granted, now 11,691,299.
Claims priority of provisional application 62/800,012, filed on Feb. 1, 2019.
Prior Publication US 2023/0286179 A1, Sep. 14, 2023
Int. Cl. B25J 18/00 (2006.01); F16H 19/00 (2006.01)
CPC B25J 18/00 (2013.01) [F16H 19/005 (2013.01); F16H 2019/008 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A tool, comprising:
a transmission mechanism, a shaft, and a rotary device,
wherein the shaft is rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and comprises a protrusion extending from the shaft in a direction normal to the first axis of rotation; and
the rotary device comprising:
a first stop surface,
a second stop surface,
a notch between the first stop surface and the second stop surface, the notch being configured to receive the protrusion extending from the shaft,
a first profiled portion between the first stop surface and the notch, and
a second profiled portion between the second stop surface and the notch,
wherein each of the first and second profiled portions has a profile complementary to a profile of the shaft; and
wherein rotation of the shaft through a midpoint of the defined range of rotational motion causes the protrusion to enter the notch of the rotary device and rotate the rotary device from a first position to a second position.