US 12,392,396 B2
Systems and methods for a compact remote center manipulator
Carolyn M. Fenech, San Jose, CA (US); Daniel H. Gomez, Los Gatos, CA (US); and Jason N. Stamatelaky, Tracy, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Mar. 14, 2024, as Appl. No. 18/605,516.
Application 18/605,516 is a continuation of application No. 17/330,672, filed on May 26, 2021, granted, now 11,957,427.
Claims priority of provisional application 63/034,733, filed on Jun. 4, 2020.
Prior Publication US 2024/0216095 A1, Jul. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. F16H 7/08 (2006.01); A61B 34/00 (2016.01); B25J 9/10 (2006.01)
CPC F16H 7/08 (2013.01) [A61B 34/71 (2016.02); B25J 9/104 (2013.01); B25J 9/106 (2013.01); F16H 2007/0865 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical manipulator linkage assembly comprising:
a linkage arm comprising:
a first pulley and a second pulley, wherein each of the first pulley and the second pulley comprise a first drive track and a second drive track, wherein the first drive track and the second drive track are substantially co-planar, with the first drive track extending at least partially around the second drive track;
a first drive member section extending between the first drive tracks of the first pulley and the second pulley; and
a second drive member section extending between the second drive tracks of the first pulley and the second pulley,
wherein the first drive member section is wound around the first pulley in a first tensile direction and the second drive member section is wound around the first pulley in a second tensile direction opposite to the first tensile direction.