US 12,263,583 B2
Counterbalance mechanism including drive ratio
Hsien-Hsin Liao, Sunnyvale, CA (US); and Timothy P. Haines, San Jose, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Jan. 23, 2024, as Appl. No. 18/420,599.
Application 18/420,599 is a division of application No. 17/501,060, filed on Oct. 14, 2021, granted, now 11,919,153.
Claims priority of provisional application 63/092,355, filed on Oct. 15, 2020.
Prior Publication US 2024/0157585 A1, May 16, 2024
Int. Cl. B25J 19/00 (2006.01); A61B 34/00 (2016.01); B25J 9/10 (2006.01)
CPC B25J 19/002 (2013.01) [A61B 34/71 (2016.02); B25J 9/1045 (2013.01); B25J 19/0016 (2013.01); A61B 2034/715 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A counterbalance apparatus comprising:
a spring;
a first tension element;
a second tension element;
a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, the force transformation mechanism including a first radius and a second radius that is different than the first radius, the force transformation mechanism rotationally coupled to a mechanical ground; and
a plurality of counterbalance pulleys coupled to the second tension element;
wherein:
at least one of the plurality of counterbalance pulleys is coupled to a load that is moveable with reference to the mechanical ground;
the load includes a first member rotationally coupled to a second member at a rotary joint having a rotary joint axis, the second member being coupled to the mechanical ground, and the first member being rotatable with respect to the second member about the rotary joint axis of the rotary joint;
a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element; and
the modification of the force is based on a drive ratio of the first radius and the second radius of the force transformation mechanism.