JP2023020987A - ロボット制御医療システムの回転ジョイントアセンブリ - Google Patents
ロボット制御医療システムの回転ジョイントアセンブリ Download PDFInfo
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Abstract
Description
本願は、2021年7月30日出願の米国仮出願63/203,787、発明の名称「ROTATIONAL JOINT ASSEMBLY FOR ROBOTIC MEDICAL SYSTEM」、の利益を主張する。当該出願はその全体がここに援用される。
Claims (20)
- ロボット制御医療システムの回転ジョイントアセンブリであって、
少なくとも1つのアームセグメントと、
前記アームセグメントの一端に設けられ、前記アームセグメントが回転軸の周りに回動することを可能にする回転ジョイントとを有し、
前記回転ジョイントは、
当該回転ジョイントにおいて前記アームセグメントの回動を制動するブレーキと、
前記ブレーキの作動と解除を選択的に行うアクチュエータとを備え、
前記アクチュエータが、2つの遷移領域によって分離された2つの定常領域をもつカムを有し、前記2つの定常領域が、前記ブレーキの作動に対応する第1の定常領域と、前記ブレーキの解除に対応する第2の定常領域とを含む、回転ジョイントアセンブリ。 - 前記ブレーキは、
円錐形内周を有するカップと、
前記ブレーキの作動時に前記カップの前記円錐形内周に当接するコーンとを含み、
前記ブレーキの作動が、移動により前記コーンを前記カップの前記円錐形内周に接触させることを含む、請求項1に記載の回転ジョイントアセンブリ。 - 前記カップの前記円錐形内周は、約15度から約30度の間の傾斜角度をもつ、請求項2に記載の回転ジョイントアセンブリ。
- 前記カップの前記円錐形内周は、約17度の傾斜角度をもつ、請求項3に記載の回転ジョイントアセンブリ。
- 前記ブレーキは、
内側ハウジングに連結された複数の第1のディスクブレーキ部と、
外側ハウジングに連結された複数の第2のディスクブレーキ部とを備え、
前記内側ハウジングが、前記回転ジョイントを軸として前記アームセグメントが回動すると、前記外側ハウジングに対して回転する、請求項1に記載の回転ジョイントアセンブリ。 - 前記第1のディスクブレーキ部の摩擦面と前記第2のディスクブレーキ部の対応する摩擦面とが、前記内側ハウジングと前記外側ハウジングとの間の円周において交互に重ねられる、請求項5に記載の回転ジョイントアセンブリ。
- 前記第1のディスクブレーキ部は、前記内側ハウジングと各前記摩擦面との間にそれぞれの内側非平面部分を有し、
該内側非平面部分が、前記内側ハウジングに固定される一端と、対応する前記摩擦面につながる他端とを含み、
前記内側非平面部分の前記一端と前記内側非平面部分の前記他端とが軸方向においてオフセットされている、請求項6に記載の回転ジョイントアセンブリ。 - 前記第2のディスクブレーキ部は、前記外側ハウジングと各前記摩擦面との間にそれぞれの外側非平面部分を含み、
該外側非平面部分が、前記外側ハウジングに固定される一端と、対応する前記摩擦面につながる他端とを含み、
前記外側非平面部分の前記一端と前記外側非平面部分の前記他端とが軸方向においてオフセットされている、請求項6に記載の回転ジョイントアセンブリ。 - 前記アクチュエータは、前記カムに接するように前記ブレーキを解除位置へ付勢するためのバネを含む、請求項1に記載の回転ジョイントアセンブリ。
- 前記カムの前記2つの定常領域において、
前記第1の定常領域が、前記バネを圧縮して前記ブレーキを作動させる力を発動させる制動位置に対応し、
前記第2の定常領域が、前記力が働かず前記ブレーキが解除される非制動位置に対応し、
前記カムの前記2つの遷移領域は、
前記第2の定常領域から前記第1の定常領域への漸進形遷移領域と、
前記第1の定常領域から前記第2の定常領域への急進形遷移領域とを含む、請求項9に記載の回転ジョイントアセンブリ。 - 前記回転ジョイントは、左利き位置と右利き位置とで前記アームセグメントの回動を可能にする、請求項1に記載の回転ジョイントアセンブリ。
- 前記カムは、モータによって駆動されるカムシャフトに配置される、請求項1に記載の回転ジョイントアセンブリ。
- 前記カムシャフトは、前記カムの向きの判定を可能にする少なくとも1つのセンサを含む、請求項12に記載の回転ジョイントアセンブリ。
- 前記カムシャフトは、手動アクチュエータに連結されており、前記モータを動作させなくとも操作者が前記カムシャフトを回転させることができるようになっている、請求項12に記載の回転ジョイントアセンブリ。
- 前記カムシャフトは、前記手動アクチュエータの動作中に前記カムシャフトのモータ駆動位置を保持するように構成されたラチェットを含み、
該ラチェットは、さらに、前記モータが動作を再開するときに、前記モータ駆動位置で該モータが前記カムシャフトと係合することを可能とするように構成される、請求項14に記載の回転ジョイントアセンブリ。 - 前記カムシャフトは、当該カムシャフトがモータ駆動されていないときに前記手動アクチュエータが該カムシャフトと係合することを可能とし、当該カムシャフトがモータ駆動されているときに前記手動アクチュエータが該カムシャフトと係合しないことを可能とするように構成されたラチェットを、含む、請求項14に記載の回転ジョイントアセンブリ。
- 前記ブレーキのほぼ全体を少なくとも囲むベローズをさらに含み、
該ベローズが、前記ブレーキの作動時にねじり剛性を提供し、作動時又は解除時のバックラッシュを実質的にゼロにする、請求項1に記載の回転ジョイントアセンブリ。 - 前記ブレーキは、
外側ハウジングに固定された第1のブレーキ要素と、
内側ハウジングに固定された第2のブレーキ要素とを含み、
前記内側ハウジングは、回転軸の周りに前記外側ハウジングに対して回転可能であり、
前記第1のブレーキ要素と前記第2のブレーキ要素とは、選択的に、前記ブレーキの作動にあたり互いに当接する、請求項1に記載の回転ジョイントアセンブリ。 - ロボット制御医療システムであって、
当該ロボット制御医療システムの少なくとも一部分を制動するブレーキと、
該ブレーキの作動と解除を選択的に行うアクチュエータとを含み、
前記アクチュエータは、2つの遷移領域によって分離された2つの定常領域をもつカムを含み、
前記2つの定常領域が、前記ブレーキの作動に対応する第1の定常領域と、前記ブレーキの解除に対応する第2の定常領域とを含む、ロボット制御医療システム。 - ロボット制御医療システムの回転ジョイントアセンブリであって、
少なくとも1つのアームセグメントと、
該アームセグメントの一端に設けられ、前記アームセグメントが回転軸の周りに回動することを可能にする回転ジョイントとを有し、
前記回転ジョイントは、
当該回転ジョイントにおいて前記アームセグメントの回動を制動するブレーキと、
該ブレーキの作動と解除を選択的に行うアクチュエータとを備え、
前記ブレーキが、円錐形内周を有するカップと、前記ブレーキの作動時に前記カップの前記円錐形内周と当接するコーンとを含み、
前記ブレーキの作動が、移動により前記コーンを前記カップの前記円錐形内周に接触させることを含む、回転ジョイントアセンブリ。
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