US 12,279,920 B2
Configurable counterbalance mechanism
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 May 31, 2022, as Appl. No. 17/829,261.
Claims priority of provisional application 63/195,407, filed on Jun. 1, 2021.
Prior Publication US 2022/0378546 A1, Dec. 1, 2022
Int. Cl. A61B 90/50 (2016.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01)
CPC A61B 90/50 (2016.02) [A61B 34/35 (2016.02); A61B 2034/715 (2016.02); A61B 2090/5025 (2016.02); F16M 2200/041 (2013.01); F16M 2200/066 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A counterbalance apparatus comprising:
a spring;
a tension element including a first end coupled to the spring and a second end coupled to a mechanical ground;
a base element rigidly coupled to a load;
a configurable arm including a first portion and a second portion, the first portion of the configurable arm being rotatably coupled to the base element, and the configurable arm being rotatable about a first axis;
a first pulley rotatably coupled to the first portion of the configurable arm and rotatable about the first axis; and
a second pulley rotatably coupled to the second portion of the configurable arm, the second pulley being rotatable about a second axis and orbitable about the first axis;
wherein the tension element is at least partially wrapped around the first pulley and is at least partially wrapped around the second pulley;
wherein the configurable arm is rotatably configurable about the first axis at a first orientation and a second orientation; and
wherein the first orientation is associated with a center of gravity of the load located on a first side of the counterbalance apparatus, and the second orientation is associated with the center of gravity of the load located on a second side of the counterbalance apparatus opposite to the first side.