US 12,285,232 B2
Cable tensioning in a robotic surgical system
Roman L. Devengenzo, San Jose, CA (US); Thomas G. Cooper, Menlo Park, CA (US); and Todd R. Solomon, 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. 17, 2019, as Appl. No. 16/250,059.
Application 16/250,059 is a continuation of application No. 15/339,244, filed on Oct. 31, 2016, granted, now 10,182,876.
Application 15/339,244 is a continuation of application No. 14/708,797, filed on May 11, 2015, granted, now 9,486,288, issued on Nov. 8, 2016.
Application 14/708,797 is a continuation of application No. 11/613,578, filed on Dec. 20, 2006, granted, now 9,050,119, issued on Jun. 9, 2015.
Claims priority of provisional application 60/752,755, filed on Dec. 20, 2005.
Prior Publication US 2019/0167369 A1, Jun. 6, 2019
Int. Cl. A61B 34/00 (2016.01); A61B 1/00 (2006.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); B25J 9/10 (2006.01); G16H 20/30 (2018.01); G16H 40/63 (2018.01); G16Z 99/00 (2019.01); A61B 17/00 (2006.01); A61B 46/23 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 1/00149 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/37 (2016.02); B25J 9/1045 (2013.01); G16H 20/30 (2018.01); G16H 40/63 (2018.01); G16Z 99/00 (2019.02); A61B 2017/00212 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/305 (2016.02); A61B 2034/715 (2016.02); A61B 2046/234 (2016.02); A61B 90/361 (2016.02); Y10T 74/20305 (2015.01)] 14 Claims
OG exemplary drawing
 
1. A cable tensioning system of a surgical system comprising:
a base of a manipulator system of the surgical system;
an arm extending away from the base;
a moveable idler pulley rotatably coupled to a first end of the arm and positioned between a first pulley system and a second pulley system of the manipulator system, wherein a closed loop cable drive extends between the first pulley system and the second pulley system, and wherein the Closed loop cable drive passes over the moveable idler pulley; and
a translation mechanism slidably coupling a second end of the arm to the base, wherein the translation mechanism is configured to move the arm relative to the base along a linear path between a first position and a second position such that the moveable idler pulley is moved away from at least one of the first pulley system or the second pulley system to control a tension in the closed loop cable drive.