US20190105787A1 - Modular cable strain relief device for articulated arm robotic systems - Google Patents
Modular cable strain relief device for articulated arm robotic systems Download PDFInfo
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- US20190105787A1 US20190105787A1 US15/729,289 US201715729289A US2019105787A1 US 20190105787 A1 US20190105787 A1 US 20190105787A1 US 201715729289 A US201715729289 A US 201715729289A US 2019105787 A1 US2019105787 A1 US 2019105787A1
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- United States
- Prior art keywords
- arm
- roller
- coupled
- modular base
- rotational axis
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
- F16G11/00—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
- F16G11/00—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes
- F16G11/04—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes with wedging action, e.g. friction clamps
- F16G11/044—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes with wedging action, e.g. friction clamps friction clamps deforming the cable, wire, rope or cord
- F16G11/048—Means for fastening cables or ropes to one another or to other objects; Caps or sleeves for fixing on cables or ropes with wedging action, e.g. friction clamps friction clamps deforming the cable, wire, rope or cord by moving a surface into the cable
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L3/00—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets
- F16L3/08—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets substantially surrounding the pipe, cable or protective tubing
- F16L3/10—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets substantially surrounding the pipe, cable or protective tubing divided, i.e. with two or more members engaging the pipe, cable or protective tubing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L3/00—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets
- F16L3/16—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets with special provision allowing movement of the pipe
- F16L3/18—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets with special provision allowing movement of the pipe allowing movement in axial direction
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
- A61B2034/715—Cable tensioning mechanisms for removing slack
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
- H02G3/30—Installations of cables or lines on walls, floors or ceilings
- H02G3/32—Installations of cables or lines on walls, floors or ceilings using mounting clamps
Definitions
- This disclosure relates generally to the field of strain relief devices, and in particular but not exclusively, relates to strain relief devices for robotic systems.
- Robotic surgery was developed as a way to overcome limitations (e.g., spatial constraints associated with a surgeon's hands, inherent shakiness of human movements, and inconsistency in human work product, etc.) of pre-existing surgical procedures.
- limitations e.g., spatial constraints associated with a surgeon's hands, inherent shakiness of human movements, and inconsistency in human work product, etc.
- the field has advanced greatly to limit the size of incisions, and reduce patient recovery time.
- robotically controlled instruments may replace traditional tools to perform surgical motions.
- Feedback controlled motions may allow for smoother surgical steps than those performed by humans. For example, using a surgical robot for a step such as rib spreading, may result in less damage to the patient's tissue than if the step were performed by a surgeon's hand. Additionally, surgical robots can reduce the amount of time in the operating room by requiring fewer steps to complete a procedure.
- FIG. 1 illustrates a system for robotic surgery, in accordance with an embodiment of the disclosure.
- FIG. 2A illustrates a perspective view of a strain relief device, in accordance with an embodiment of the disclosure.
- FIG. 2B illustrates an exploded view of a strain relief device, in accordance with an embodiment of the disclosure.
- FIG. 2C illustrates a cross-sectional view of a strain relief device, in accordance with an embodiment of the disclosure.
- FIGS. 3A-3D illustrate a method of operation of a strain relief device, in accordance with an embodiment of the disclosure.
- FIG. 4 illustrates a perspective view of a strain relief device, in accordance with an embodiment of the disclosure.
- Embodiments of a modular device for cable strain relief are described herein.
- numerous specific details are set forth to provide a thorough understanding of the embodiments.
- One skilled in the relevant art will recognize, however, that the techniques described herein can be practiced without one or more of the specific details, or with other methods, components, materials, etc.
- well-known structures, materials, or operations are not shown or described in detail to avoid obscuring certain aspects.
- a modular, multi-use robotic system may support interchangeably hot-swapping end effectors. It may be desirable to hot swap end effectors of a surgical robotic system during steps in a surgical procedure.
- the technical complexity of these end effectors is also ever-increasing and may incorporate specialized supply lines that are distributed to the end effector. These specialized supply lines may include electrical supply lines, pneumatic or hydraulic lines, optical fiber lines for data relay, communication, or high-power illumination, and others.
- a complex articulated robotic system may incorporate a number of end effectors, which may introduce a large quantity of supply cabling for supply lines coupled to the end effectors. These supply lines may be delicate, stiff, heavy, temperature sensitive, and/or shock sensitive. Operation of the articulated robotic system may involve one or more large, heavy, and powerful arms that may move in many different directions at a high rate of speed or magnitude of force. This may pose an operating hazard to the cabling for the end effectors. For example, unwanted tangling, twisting, kinking, or shearing of the cabling of the robotic system may inadvertently result in the loss of end effector function and subsequent loss of system functionality.
- a strain relief device may offer an economical and reliable way of protecting end effector cabling of a robotic system.
- the strain relief device may apply a clamping force to secure the cable in the necessary directions to prevent damage, but may also selectively allow a freedom of motion in other directions in situations where the cable would be damaged if held in place.
- the strain relief device may allow for the cable to move along a direction during articulation of a robotic arm in a robotic system.
- the strain relief device may be self-contained and not integral to the robotic system. In other words, an operator may be capable of easily and safely re-positioning the cable within the strain relief device during operation, or reposition the strain relief device itself in order to accommodate a changing operational environment for the robotic system.
- FIG. 1 illustrates system 101 for robotic surgery, in accordance with an embodiment of the disclosure.
- System 101 includes processing apparatus 172 and surgical robot 182 .
- Surgical robot 182 may include joints 186 and 187 , a plurality of end effectors (including light source 191 , surgical instrument 192 , and camera 193 ), cable 185 , and strain relief devices 103 and 104 .
- Processing apparatus 172 may include a display, a processor, memory, local storage, and the like to facilitate the operation of surgical robot 182 .
- the plurality of end effectors ( 191 , 192 , 193 ) of surgical robot 121 may be used to hold various surgical tools for a surgical procedure (e.g., each arm of the surgical robot holds a surgical tool at the distal ends of the arm) and perform surgery, diagnose disease, take biopsies, or conduct any other procedure a doctor could perform.
- the surgical tools may include one or more of surgical instrument 192 (e.g., scalpels, forceps, clamps, staplers, probes, etc.), camera 101 (e.g., image sensor), light source 191 (e.g., light-emitting diode, laser, fiber optic, etc.) or the like.
- the arms of surgical robot 182 may be articulated to allow for precise control of movement and position of surgical robot 182 .
- surgical robot 182 includes joints 186 and 187 to provide the desired articulation of the arms of surgical robot 182 . While surgical robot 182 is illustrated as having only three arms and six joints, one skilled in the art will appreciate that surgical robot 182 is merely an illustration, and that surgical robot 182 may take any number of shapes depending on the type of surgery needed to be performed and other requirements.
- the plurality of end effectors ( 191 , 192 , and 193 ) of surgical robot 182 is variously coupled to cable 185 .
- Cable 185 provides specialized supply lines such as electrical supply lines, pneumatic or hydraulic lines, optical fiber lines for data relay, communication, or high-power illumination, and others to the plurality of end effectors ( 191 , 192 , and 193 ).
- Cable 185 may be delicate, stiff, heavy, temperature sensitive, and/or shock sensitive, or otherwise desired to be protected to facilitate operation of surgical system 100 .
- Strain relief devices 103 and 104 are removably mounted to surgical robot 182 and coupled to cable 185 along various points of surgical system 100 .
- Strain relief devices 103 and 104 relieve strain on cable 185 , for example, by holding cable 185 in place with varying amounts of resistance to mitigate unwanted tangling, twisting, kinking, or shearing of cable 185 .
- cable 185 may be held in place by strain relief devices 103 and 104 during articulation of surgical robot 182 to prevent cable 185 from interfering with the movement of surgical robot 182 or others.
- strain relief devices 103 and 104 may facilitate the movement of cable 185 along a direction that would otherwise cause cable 185 to be damaged.
- strain relief devices 103 and 104 allow for cable 185 to be moved along a single direction during articulation of surgical robot 182 . This may prevent damage to cable 185 if, for example, there is not enough slack in cable 185 to allow surgical robot 182 to articulate a desired amount.
- cable 185 is a bundle of individual cables necessary for the plurality of end effectors ( 191 , 192 , 193 ).
- the bundle of individual cables have a thickness greater than any individual cable in the bundle.
- cable 185 may have a single unified size or shape, while in other embodiments, cable 185 may have various sizes and shapes dependent on the configuration of surgical robot 182 . Therefore, it is appreciated that a size and shape of strain relief devices 103 and 104 may correspond to a particular size and shape of an individual cable or bundle of cables.
- Surgical robot 182 is coupled to processing apparatus 172 , which may be coupled to a network and/or external storage either by wires or wirelessly. Furthermore, surgical robot 182 may be coupled (wirelessly or by wires) to a user input/controller to receive instructions from a surgeon or doctor.
- the controller, and user of the controller may be located very close to surgical robot 182 and patient (e.g., in the same room) or may be located many miles apart.
- surgical robot 182 may be used to perform surgery where a specialist is many miles away from the patient, and instructions from the surgeon are sent over the internet or secure network. Alternatively, the surgeon may be local and may simply prefer using surgical robot 182 because it can better access a portion of the body than the hand of the surgeon could.
- FIGS. 2A-2C illustrate three views of strain relief device 200 , in accordance with various embodiments of the disclosure.
- Strain relief device 200 is one possible implementation of strain relief devices 103 and 104 illustrated in FIG. 1 .
- the illustrated embodiment of strain relief device 200 includes modular base 235 (including first base plate 237 and second base plate 241 ), first arm 205 , second arm 220 , first locking clutch 217 , second locking clutch 222 , first roller 219 , second roller 224 , spring assembly (including first torsion spring 225 and second torsion spring 226 ), first stop pin 251 , second stop pin 253 , third stop pin 252 , fourth stop pin 254 , first pivot pin 257 , second pivot pin 258 , mounting feature 255 , latch pin 267 , and latch handle 270 .
- FIG. 2A illustrates a perspective view of strain relief device 200 , in accordance with an embodiment of the disclosure.
- Strain relief device 200 is mounted to feature 295 of object 290 .
- Object 290 may be a wall, table, industrial robotic system, medical robotic system, and the like.
- Feature 295 is a designed location for mounting strain relief device 200 .
- feature 295 may be a rigid post.
- feature 295 may be a pivotable or flexible feature.
- feature 295 may be a free pivot, a ball-socket, or a flexible member to free up or constrain degrees of freedom as required by a particular application.
- strain relief device 200 is mounted to an articulated robotic arm of the medical robotic system and is configured to apply a clamping force to cable 285 to relieve strain on cable 285 .
- modular base 235 is for mounting strain relief device 200 (e.g., to feature 295 of object 290 ).
- Strain relief device 200 includes first arm 205 pivotally coupled to modular base 235 .
- a first proximal end of first arm 205 is connected to modular base 235 at a first pivot point (e.g., with first pivot pin 257 ) for pivoting of first arm 205 about a first rotational axis 281 .
- second arm 220 is pivotally coupled to modular base 235 .
- a second proximal end of second arm 220 is connected to modular base 235 at a second pivot point (e.g., with second pivot pin 258 ) for pivoting of second arm 220 about a second rotational axis 283 .
- Pivoting of the arms allows for a position of the arms to change to allow for cable 285 to be inserted and/or removed from between first arm 205 and second arm 220 .
- the spring assembly e.g., first torsion spring 225
- the clamping force may be able to be applied, at least in part, because first arm 205 and/or second arm 220 is able to pivot about first rotational axis 281 and second rotational axis 283 , respectively, rather than being fixed in position.
- first rotational axis 281 is parallel to second rotational axis 283 such that the first arm 205 is aligned with second arm 220 (e.g., the center of first arm 205 is aligned with the center of second arm 220 along a line perpendicular to first rotational axis 281 and second rotational axis 283 ).
- one of first arm 205 or second arm 220 may be fixed in position to modular base 235 while the other arm is pivotally coupled.
- first arm 205 may be pivotally coupled to modular base 235
- second arm 220 may be statically coupled to modular base 235 (e.g., a second proximal end of the second arm is connected to the modular base at a fixed position).
- modular strain device 200 may have a reduced complexity, but still allow for one of the first arm 205 or second arm 220 to change in position so cable 285 may be inserted and/or removed from between first arm 205 and second arm 220 .
- first roller 219 is coupled to first arm 205 proximate to a first distal end of first arm 205 .
- First roller 219 is positioned to rotate about third rotational axis 280 , which in the illustrated embodiment extends longitudinally through first arm 205 .
- a second roller 224 is coupled to second arm 220 proximate to a second distal end of second arm 220 .
- Second roller 224 is positioned to rotate about fourth rotational axis 282 which in the illustrated embodiment extends longitudinally through second arm 220 .
- First roller 219 and second roller 224 may be free rollers which allows for bidirectional rotation or may be locking rollers which only allow for unidirectional rotation. In other words, depending on the configuration of strain relief device 200 , first roller 219 and second roller 224 may each allow for only clockwise rotation, only counter clockwise rotation, or both clockwise and counterclockwise rotation.
- first locking clutch 217 (e.g., a one way sprag clutch) is disposed between first roller 219 and first arm 205 to configure first roller 219 to only allow for unidirectional rotation along third rotational axis 280 .
- second locking clutch 222 is disposed between second roller 224 and second arm 220 to configure second roller 224 to only allow for unidirectional rotation about fourth rotational axis 282 .
- a ball bearing is disposed between first roller 219 and first arm 205 and/or second roller 224 and arm 220 to allow for bidirectional rotation of first roller 219 and/or second roller 224 .
- third rotational axis 280 is orthogonal to first rotational axis 281 and fourth rotational axis 282 is orthogonal to second rotational axis 283 , which may help facilitate first arm 205 and first roller 219 aligning with second arm 220 and second roller 224 .
- FIG. 2B illustrates an exploded view of strain relief device 200 , in accordance with an embodiment of the disclosure.
- the exploded view may allow for a clear visualization of the various elements of strain relief device 200 .
- first roller 219 and second roller 224 share a common shape.
- the shape of first roller 219 and second roller 224 is an annular cylindroid having a radius that decreases longitudinally towards a midpoint of the annular cylindroid.
- the radius of first end 221 of first roller 219 may be the same as the radius of the second end 223 .
- the radius of first end 221 and second end 223 gradually decreases towards the midpoint 225 of first roller 219 .
- Such a change in radius of first roller 219 creates a contoured external surface of first roller 219 that is an inverse shape of a surface of cable 285 .
- first roller 219 or second roller 224 is shaped in a way that increases the contact area of first roller 205 and second roller 220 with a cable (e.g., cable 285 illustrated in FIG. 2A ).
- the increased contact area of first roller 219 and second roller 224 to the cable may increase the frictional resistance of the cable to move.
- the ease of adjusting the position of the cable while clamped may be determined, in part, by the contact area/frictional resistance.
- first arm 205 includes first distal end 207 , a cylindrical stopper 209 , and a first proximal end 211 .
- First distal end 207 is opposite of first proximal end 211 .
- First distal end 207 is cylindrical having a radius that is less than cylindrical stopper 209 .
- Cylindrical stopper 209 may help facilitate maintaining locking clutch 217 and first roller 219 at a fixed position on first arm 205 .
- First proximal end 213 includes first stopper pin hole 213 and first pivot pin hole 215 to allow for pivoting of first arm 205 , in accordance with an embodiment of the disclosure.
- Proximal end 215 includes a first arm plate and a second arm plate separated by a distance to allow for torsion spring 225 to be placed between the first arm plate and the second arm plate.
- modular base 235 includes first base plate 237 parallel to second base plate 241 .
- First proximal end 211 of first arm 205 and second proximal end of second arm 220 are disposed between first base plate 237 and second base plate 241 .
- Each of the base plates ( 237 and 241 ) having corresponding holes for first pivot pin 257 , second pivot pin 258 , second stop pin 253 , and fourth stop pin 254 to facilitate the pivoting of the corresponding arm ( 205 and 220 ) and the clamping force.
- second base plate 241 has first pivot pin hole 243 for first pivot pin 256 and second stop pin hole 245 for second stop pin 253 .
- first base plate 237 and second base plate 241 each have a saddle shape that has an indentation or gradually decreasing height towards the midpoint. This saddle shape may allow for base 235 to fully enclose some components of strain relief device 200 (e.g., the spring assembly) without touching the cable (e.g. cable 285 illustrated in FIG. 2A ).
- modular base 235 is configured to removably mount to an object via latch handle 270 , latch pin 267 , and mounting feature 255 .
- Latch handle 270 adjusts a magnitude of a force applied to an object such that a compressive and/or frictional force holds strain relief device 200 to the object.
- latch handle 270 may control the magnitude of the force applied by mounting feature 255 of modular base 235 to the object (e.g., feature 295 of object 290 illustrated in FIG. 2A ).
- latch handle 270 and latch pin 267 of modular base 235 acts as a quick release mechanism to quickly mount and/or unmount strain relief device 200 from object 290 .
- FIG. 2C illustrates a cross-sectional view of strain relief device 200 , in accordance with an embodiment of the disclosure.
- the cross-sectional view allows for a clear view of a portion of the spring assembly of strain relief device 200 .
- the spring assembly of strain relief device 200 includes first torsion spring 225 coupled to modular base 235 and the first proximal end of first arm 205 .
- First torsion spring 225 is coiled around first pivot pin 257 and has a first end coupled to first stop pin 251 and a second end coupled to second stop pin 253 .
- First stop pin is coupled to first arm 205 and second stop pin is coupled to modular base 235 meaning first torsion pin 225 applies a first force (e.g., a first torque included in the clamping force) between first arm 205 and modular base 235 .
- the first force is directed from first arm 205 to second arm 220 .
- Second arm 220 may be similarly configured as first arm 205 .
- second torsion spring 226 is coupled to modular base 235 and the second proximal end of second arm 220 .
- Second torsion spring 226 is coiled around second pivot pin 258 and has ends coupled to third stop pin 252 and fourth stop pin 254 .
- second torsion spring 226 provides a second force (e.g., a second torque included in the clamping force) between second arm 220 and modular base 235 .
- the second force is directed from second arm 220 toward first arm 205 such that the combined first force and second force generates a compressive force on the cable (e.g., cable 285 ) inserted between first arm 205 and second arm 220 .
- first torsion spring 225 and second torsion spring 226 are fully contained within modular base 235 , which may protect the spring assembly from damage. This may be achieved, in part, because the first proximal end of first arm 205 is positioned between first torsion spring 225 and modular base 235 . Similarly, the second proximal end of second arm 220 is positioned between second torsion spring 226 and modular base 235 . Due to this arrangement, the spring assembly is fully contained within modular base 235 and does not come in direct contact with the cable (e.g. cable 285 ).
- the cable e.g. cable 285
- FIGS. 3A-3D illustrate a method of operation of strain relief device 300 , in accordance with an embodiment of the disclosure.
- Strain relief device 300 provides relief of strain on a cable and may be the same or a similar implementation of strain relief device 200 illustrated in FIGS. 2A-2C .
- strain relief device 300 includes first arm 305 , second arm 320 , first roller 317 , second roller 324 , first locking clutch 317 , ball bearing 322 , first torsion spring 325 , second torsion spring 326 , modular base 335 , latch handle 370 , and mounting feature 355 .
- FIG. 3A illustrates opening latch handle 370 such that mounting feature 355 increases in radius to allow for placement of strain relief device 300 on feature 395 of object 390 .
- Mounting feature 355 is subsequently aligned with and then placed on feature 395 of object 390 .
- Latch handle 370 is then closed to hold strain relief device 300 in placed and attached to object 390 , as illustrated in FIG. 3B .
- latch handle 370 causes the radius of mounting feature 355 to decrease which in turn generates a compressive force on feature 395 that mounts strain relief device 300 to object 390 .
- FIG. 3C illustrates placing cable 385 between first arm 305 and second arm 320 . This is accomplished by separating first arm 305 and second arm 320 with an external force 384 (e.g., manual manipulation of first arm 305 and second arm 320 via an operator of strain relief device 300 ) that causes first arm 305 and second arm 320 to pivot about the respective midpoints of first torsion spring 325 and second torsion spring 326 .
- an external force 384 e.g., manual manipulation of first arm 305 and second arm 320 via an operator of strain relief device 300 .
- first roller 319 of first arm 305 second roller 324 of second arm 320 clamp onto cable 385 and hold cable 385 in place with compressive force 388 . While clamped, cable 385 is able to move along a single direction (e.g. out of the plane of the page) due to the allowable rotational directions of first roller 319 and second roller 324 .
- First roller 319 is only able to rotate unidirectionally (e.g., counter clockwise) about rotational axis 380 , due in part, because first locking clutch 317 is disposed between first arm 305 and first roller 319 , which restricts first roller 319 to a single rotational direction.
- Second roller 324 is able to rotate bidirectionally (e.g., clockwise and counter clockwise) about rotational axis 382 , due in part, because ball bearing 319 is disposed between second roller 324 and second arm 320 .
- FIG. 4 illustrates a perspective view of strain relief device 400 , in accordance with an embodiment of the disclosure.
- Strain relief device 400 is one possible implementation of strain relief devices 103 and 104 illustrated in FIG. 1 .
- the illustrated embodiment of strain relief device 400 is similar to, but comparably less complex than strain relief device 200 illustrated in FIGS. 2A-2C .
- strain relief device 400 includes first arm 405 , second arm 420 , tension spring 425 , and modular base 435 .
- Strain relief device 400 is configured to be removably mounted to an object via a mounting feature (e.g., an articulated arm of a robotic system).
- the mounting feature of strain relief device 400 is a dovetail, but may have any other structure that facilitates mounting of strain relief device 400 to the object.
- First arm 405 and second arm 420 are pivotally coupled to modular base 420 and thus are able to pivot about their respective rotational axes.
- Tension spring 425 is coupled to first arm 405 and second arm 420 and generates a clamping force that holds cable 485 in place when positioned between first arm 405 and second arm 420 .
- a roller, an arm, a locking clutch, and/or a ball bearing are described for restricting the rotation of the roller and movement of the clamped cable.
- other configurations may also allow for the restriction of the rotation of the roller and/or movement of the clamped cable.
- the roller and locking clutch could be a single unit turning on a statically located arm.
- a paired linear sequence of smaller rollers that rotate unidirectionally could be utilized in place of the two rollers.
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Abstract
Description
- This disclosure relates generally to the field of strain relief devices, and in particular but not exclusively, relates to strain relief devices for robotic systems.
- Industrial and medical robotic systems are becoming increasingly large, complex, and dexterous. For example, robotic or computer assisted surgery uses robotic systems to aid in surgical procedures. Robotic surgery was developed as a way to overcome limitations (e.g., spatial constraints associated with a surgeon's hands, inherent shakiness of human movements, and inconsistency in human work product, etc.) of pre-existing surgical procedures. In recent years, the field has advanced greatly to limit the size of incisions, and reduce patient recovery time.
- In the case of open surgery, robotically controlled instruments may replace traditional tools to perform surgical motions. Feedback controlled motions may allow for smoother surgical steps than those performed by humans. For example, using a surgical robot for a step such as rib spreading, may result in less damage to the patient's tissue than if the step were performed by a surgeon's hand. Additionally, surgical robots can reduce the amount of time in the operating room by requiring fewer steps to complete a procedure.
- Non-limiting and non-exhaustive embodiments of the invention are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various views unless otherwise specified. Not all instances of an element are necessarily labeled so as not to clutter the drawings where appropriate. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles being described.
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FIG. 1 illustrates a system for robotic surgery, in accordance with an embodiment of the disclosure. -
FIG. 2A illustrates a perspective view of a strain relief device, in accordance with an embodiment of the disclosure. -
FIG. 2B illustrates an exploded view of a strain relief device, in accordance with an embodiment of the disclosure. -
FIG. 2C illustrates a cross-sectional view of a strain relief device, in accordance with an embodiment of the disclosure. -
FIGS. 3A-3D illustrate a method of operation of a strain relief device, in accordance with an embodiment of the disclosure. -
FIG. 4 illustrates a perspective view of a strain relief device, in accordance with an embodiment of the disclosure. - Embodiments of a modular device for cable strain relief are described herein. In the following description numerous specific details are set forth to provide a thorough understanding of the embodiments. One skilled in the relevant art will recognize, however, that the techniques described herein can be practiced without one or more of the specific details, or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring certain aspects.
- Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
- As the breadth of applications for industrial and medical robotic systems grows, the diversity of robotic end effectors and other devices for these systems follows suit. For example, a modular, multi-use robotic system may support interchangeably hot-swapping end effectors. It may be desirable to hot swap end effectors of a surgical robotic system during steps in a surgical procedure. However, the technical complexity of these end effectors is also ever-increasing and may incorporate specialized supply lines that are distributed to the end effector. These specialized supply lines may include electrical supply lines, pneumatic or hydraulic lines, optical fiber lines for data relay, communication, or high-power illumination, and others.
- The desired modularity, compatibility, interoperability, interchangeability, and specialized supply lines of industrial and medical robotic systems pose a significant design challenge. For example, it is desirable for the robotic system to support a variety of end effectors, but such interchangeability may result in increased complexity and cost of the robotic system.
- In some embodiments, a complex articulated robotic system may incorporate a number of end effectors, which may introduce a large quantity of supply cabling for supply lines coupled to the end effectors. These supply lines may be delicate, stiff, heavy, temperature sensitive, and/or shock sensitive. Operation of the articulated robotic system may involve one or more large, heavy, and powerful arms that may move in many different directions at a high rate of speed or magnitude of force. This may pose an operating hazard to the cabling for the end effectors. For example, unwanted tangling, twisting, kinking, or shearing of the cabling of the robotic system may inadvertently result in the loss of end effector function and subsequent loss of system functionality.
- In the same or other embodiments, a strain relief device may offer an economical and reliable way of protecting end effector cabling of a robotic system. The strain relief device may apply a clamping force to secure the cable in the necessary directions to prevent damage, but may also selectively allow a freedom of motion in other directions in situations where the cable would be damaged if held in place. For example, the strain relief device may allow for the cable to move along a direction during articulation of a robotic arm in a robotic system. The strain relief device may be self-contained and not integral to the robotic system. In other words, an operator may be capable of easily and safely re-positioning the cable within the strain relief device during operation, or reposition the strain relief device itself in order to accommodate a changing operational environment for the robotic system.
-
FIG. 1 illustrates system 101 for robotic surgery, in accordance with an embodiment of the disclosure. System 101 includesprocessing apparatus 172 andsurgical robot 182.Surgical robot 182 may includejoints light source 191,surgical instrument 192, and camera 193),cable 185, andstrain relief devices Processing apparatus 172 may include a display, a processor, memory, local storage, and the like to facilitate the operation ofsurgical robot 182. As shown, the plurality of end effectors (191, 192, 193) of surgical robot 121 may be used to hold various surgical tools for a surgical procedure (e.g., each arm of the surgical robot holds a surgical tool at the distal ends of the arm) and perform surgery, diagnose disease, take biopsies, or conduct any other procedure a doctor could perform. The surgical tools may include one or more of surgical instrument 192 (e.g., scalpels, forceps, clamps, staplers, probes, etc.), camera 101 (e.g., image sensor), light source 191(e.g., light-emitting diode, laser, fiber optic, etc.) or the like. The arms ofsurgical robot 182 may be articulated to allow for precise control of movement and position ofsurgical robot 182. As illustrated,surgical robot 182 includesjoints surgical robot 182. Whilesurgical robot 182 is illustrated as having only three arms and six joints, one skilled in the art will appreciate thatsurgical robot 182 is merely an illustration, and thatsurgical robot 182 may take any number of shapes depending on the type of surgery needed to be performed and other requirements. - As illustrated, the plurality of end effectors (191, 192, and 193) of
surgical robot 182 is variously coupled tocable 185. Cable 185 provides specialized supply lines such as electrical supply lines, pneumatic or hydraulic lines, optical fiber lines for data relay, communication, or high-power illumination, and others to the plurality of end effectors (191, 192, and 193).Cable 185 may be delicate, stiff, heavy, temperature sensitive, and/or shock sensitive, or otherwise desired to be protected to facilitate operation ofsurgical system 100.Strain relief devices surgical robot 182 and coupled tocable 185 along various points ofsurgical system 100.Strain relief devices cable 185, for example, by holdingcable 185 in place with varying amounts of resistance to mitigate unwanted tangling, twisting, kinking, or shearing ofcable 185. In some embodiments,cable 185 may be held in place bystrain relief devices surgical robot 182 to preventcable 185 from interfering with the movement ofsurgical robot 182 or others. Alternatively or in addition,strain relief devices cable 185 along a direction that would otherwise causecable 185 to be damaged. For example,strain relief devices cable 185 to be moved along a single direction during articulation ofsurgical robot 182. This may prevent damage tocable 185 if, for example, there is not enough slack incable 185 to allowsurgical robot 182 to articulate a desired amount. - In some embodiments,
cable 185 is a bundle of individual cables necessary for the plurality of end effectors (191, 192, 193). The bundle of individual cables have a thickness greater than any individual cable in the bundle. Thus, in some embodiments,cable 185 may have a single unified size or shape, while in other embodiments,cable 185 may have various sizes and shapes dependent on the configuration ofsurgical robot 182. Therefore, it is appreciated that a size and shape ofstrain relief devices -
Surgical robot 182 is coupled toprocessing apparatus 172, which may be coupled to a network and/or external storage either by wires or wirelessly. Furthermore,surgical robot 182 may be coupled (wirelessly or by wires) to a user input/controller to receive instructions from a surgeon or doctor. The controller, and user of the controller, may be located very close tosurgical robot 182 and patient (e.g., in the same room) or may be located many miles apart. Thussurgical robot 182 may be used to perform surgery where a specialist is many miles away from the patient, and instructions from the surgeon are sent over the internet or secure network. Alternatively, the surgeon may be local and may simply prefer usingsurgical robot 182 because it can better access a portion of the body than the hand of the surgeon could. -
FIGS. 2A-2C illustrate three views ofstrain relief device 200, in accordance with various embodiments of the disclosure.Strain relief device 200 is one possible implementation ofstrain relief devices FIG. 1 . The illustrated embodiment ofstrain relief device 200 includes modular base 235 (includingfirst base plate 237 and second base plate 241),first arm 205,second arm 220, first lockingclutch 217,second locking clutch 222,first roller 219,second roller 224, spring assembly (includingfirst torsion spring 225 and second torsion spring 226),first stop pin 251,second stop pin 253,third stop pin 252,fourth stop pin 254,first pivot pin 257,second pivot pin 258, mountingfeature 255,latch pin 267, and latch handle 270. -
FIG. 2A illustrates a perspective view ofstrain relief device 200, in accordance with an embodiment of the disclosure.Strain relief device 200 is mounted to feature 295 ofobject 290.Object 290 may be a wall, table, industrial robotic system, medical robotic system, and the like.Feature 295 is a designed location for mountingstrain relief device 200. In some embodiments, feature 295 may be a rigid post. In other embodiments, feature 295 may be a pivotable or flexible feature. For example, feature 295 may be a free pivot, a ball-socket, or a flexible member to free up or constrain degrees of freedom as required by a particular application. In one embodiment,strain relief device 200 is mounted to an articulated robotic arm of the medical robotic system and is configured to apply a clamping force tocable 285 to relieve strain oncable 285. - As illustrated,
modular base 235 is for mounting strain relief device 200 (e.g., to feature 295 of object 290).Strain relief device 200 includesfirst arm 205 pivotally coupled tomodular base 235. In particular, a first proximal end offirst arm 205 is connected tomodular base 235 at a first pivot point (e.g., with first pivot pin 257) for pivoting offirst arm 205 about a firstrotational axis 281. Similarly,second arm 220 is pivotally coupled tomodular base 235. A second proximal end ofsecond arm 220 is connected tomodular base 235 at a second pivot point (e.g., with second pivot pin 258) for pivoting ofsecond arm 220 about a secondrotational axis 283. Pivoting of the arms (e.g.,first arm 205 and second arm 220) allows for a position of the arms to change to allow forcable 285 to be inserted and/or removed from betweenfirst arm 205 andsecond arm 220. The spring assembly (e.g., first torsion spring 225) is coupled tofirst arm 205 to provide a clamping force betweenfirst arm 205 andsecond arm 220. The clamping force may be able to be applied, at least in part, becausefirst arm 205 and/orsecond arm 220 is able to pivot about firstrotational axis 281 and secondrotational axis 283, respectively, rather than being fixed in position. - In some embodiments, first
rotational axis 281 is parallel to secondrotational axis 283 such that thefirst arm 205 is aligned with second arm 220 (e.g., the center offirst arm 205 is aligned with the center ofsecond arm 220 along a line perpendicular to firstrotational axis 281 and second rotational axis 283). In the same or other embodiments, one offirst arm 205 orsecond arm 220 may be fixed in position tomodular base 235 while the other arm is pivotally coupled. For example,first arm 205 may be pivotally coupled tomodular base 235, whilesecond arm 220 may be statically coupled to modular base 235 (e.g., a second proximal end of the second arm is connected to the modular base at a fixed position). In such an embodiment,modular strain device 200 may have a reduced complexity, but still allow for one of thefirst arm 205 orsecond arm 220 to change in position socable 285 may be inserted and/or removed from betweenfirst arm 205 andsecond arm 220. - As illustrated, a
first roller 219 is coupled tofirst arm 205 proximate to a first distal end offirst arm 205.First roller 219 is positioned to rotate about thirdrotational axis 280, which in the illustrated embodiment extends longitudinally throughfirst arm 205. Similarly, asecond roller 224 is coupled tosecond arm 220 proximate to a second distal end ofsecond arm 220.Second roller 224 is positioned to rotate about fourthrotational axis 282 which in the illustrated embodiment extends longitudinally throughsecond arm 220.First roller 219 andsecond roller 224 may be free rollers which allows for bidirectional rotation or may be locking rollers which only allow for unidirectional rotation. In other words, depending on the configuration ofstrain relief device 200,first roller 219 andsecond roller 224 may each allow for only clockwise rotation, only counter clockwise rotation, or both clockwise and counterclockwise rotation. - In the illustrated embodiment, first locking clutch 217 (e.g., a one way sprag clutch) is disposed between
first roller 219 andfirst arm 205 to configurefirst roller 219 to only allow for unidirectional rotation along thirdrotational axis 280. Similarly,second locking clutch 222 is disposed betweensecond roller 224 andsecond arm 220 to configuresecond roller 224 to only allow for unidirectional rotation about fourthrotational axis 282. In other embodiments, a ball bearing is disposed betweenfirst roller 219 andfirst arm 205 and/orsecond roller 224 andarm 220 to allow for bidirectional rotation offirst roller 219 and/orsecond roller 224. In some embodiments, thirdrotational axis 280 is orthogonal to firstrotational axis 281 and fourthrotational axis 282 is orthogonal to secondrotational axis 283, which may help facilitatefirst arm 205 andfirst roller 219 aligning withsecond arm 220 andsecond roller 224. -
FIG. 2B illustrates an exploded view ofstrain relief device 200, in accordance with an embodiment of the disclosure. The exploded view may allow for a clear visualization of the various elements ofstrain relief device 200. - As illustrated,
first roller 219 andsecond roller 224 share a common shape. The shape offirst roller 219 andsecond roller 224 is an annular cylindroid having a radius that decreases longitudinally towards a midpoint of the annular cylindroid. For example, the radius offirst end 221 offirst roller 219 may be the same as the radius of thesecond end 223. The radius offirst end 221 andsecond end 223 gradually decreases towards themidpoint 225 offirst roller 219. Such a change in radius offirst roller 219 creates a contoured external surface offirst roller 219 that is an inverse shape of a surface ofcable 285. In other words, the external surface offirst roller 219 orsecond roller 224 is shaped in a way that increases the contact area offirst roller 205 andsecond roller 220 with a cable (e.g.,cable 285 illustrated inFIG. 2A ). The increased contact area offirst roller 219 andsecond roller 224 to the cable may increase the frictional resistance of the cable to move. Thus, the ease of adjusting the position of the cable while clamped may be determined, in part, by the contact area/frictional resistance. - In the illustrated example,
first arm 205 includes firstdistal end 207, acylindrical stopper 209, and a firstproximal end 211. Firstdistal end 207 is opposite of firstproximal end 211. Firstdistal end 207 is cylindrical having a radius that is less thancylindrical stopper 209.Cylindrical stopper 209 may help facilitate maintaining locking clutch 217 andfirst roller 219 at a fixed position onfirst arm 205. Firstproximal end 213 includes firststopper pin hole 213 and firstpivot pin hole 215 to allow for pivoting offirst arm 205, in accordance with an embodiment of the disclosure.Proximal end 215 includes a first arm plate and a second arm plate separated by a distance to allow fortorsion spring 225 to be placed between the first arm plate and the second arm plate. - As illustrated,
modular base 235 includesfirst base plate 237 parallel tosecond base plate 241. Firstproximal end 211 offirst arm 205 and second proximal end ofsecond arm 220 are disposed betweenfirst base plate 237 andsecond base plate 241. Each of the base plates (237 and 241) having corresponding holes forfirst pivot pin 257,second pivot pin 258,second stop pin 253, andfourth stop pin 254 to facilitate the pivoting of the corresponding arm (205 and 220) and the clamping force. For example,second base plate 241 has firstpivot pin hole 243 for first pivot pin 256 and secondstop pin hole 245 forsecond stop pin 253. In some embodiments,first base plate 237 andsecond base plate 241 each have a saddle shape that has an indentation or gradually decreasing height towards the midpoint. This saddle shape may allow forbase 235 to fully enclose some components of strain relief device 200 (e.g., the spring assembly) without touching the cable (e.g. cable 285 illustrated inFIG. 2A ). - Referring back to
FIG. 2B ,modular base 235 is configured to removably mount to an object vialatch handle 270,latch pin 267, and mountingfeature 255.Latch handle 270 adjusts a magnitude of a force applied to an object such that a compressive and/or frictional force holdsstrain relief device 200 to the object. For example, latch handle 270 may control the magnitude of the force applied by mountingfeature 255 ofmodular base 235 to the object (e.g., feature 295 ofobject 290 illustrated inFIG. 2A ). Thus latchhandle 270 andlatch pin 267 ofmodular base 235 acts as a quick release mechanism to quickly mount and/or unmountstrain relief device 200 fromobject 290. -
FIG. 2C illustrates a cross-sectional view ofstrain relief device 200, in accordance with an embodiment of the disclosure. The cross-sectional view allows for a clear view of a portion of the spring assembly ofstrain relief device 200. - As illustrated, the spring assembly of
strain relief device 200 includesfirst torsion spring 225 coupled tomodular base 235 and the first proximal end offirst arm 205.First torsion spring 225 is coiled aroundfirst pivot pin 257 and has a first end coupled tofirst stop pin 251 and a second end coupled tosecond stop pin 253. First stop pin is coupled tofirst arm 205 and second stop pin is coupled tomodular base 235 meaningfirst torsion pin 225 applies a first force (e.g., a first torque included in the clamping force) betweenfirst arm 205 andmodular base 235. As illustrated, the first force is directed fromfirst arm 205 tosecond arm 220.Second arm 220 may be similarly configured asfirst arm 205. For example,second torsion spring 226 is coupled tomodular base 235 and the second proximal end ofsecond arm 220.Second torsion spring 226 is coiled aroundsecond pivot pin 258 and has ends coupled tothird stop pin 252 andfourth stop pin 254. Thus,second torsion spring 226 provides a second force (e.g., a second torque included in the clamping force) betweensecond arm 220 andmodular base 235. The second force is directed fromsecond arm 220 towardfirst arm 205 such that the combined first force and second force generates a compressive force on the cable (e.g., cable 285) inserted betweenfirst arm 205 andsecond arm 220. - As illustrated,
first torsion spring 225 andsecond torsion spring 226 are fully contained withinmodular base 235, which may protect the spring assembly from damage. This may be achieved, in part, because the first proximal end offirst arm 205 is positioned betweenfirst torsion spring 225 andmodular base 235. Similarly, the second proximal end ofsecond arm 220 is positioned betweensecond torsion spring 226 andmodular base 235. Due to this arrangement, the spring assembly is fully contained withinmodular base 235 and does not come in direct contact with the cable (e.g. cable 285). -
FIGS. 3A-3D illustrate a method of operation ofstrain relief device 300, in accordance with an embodiment of the disclosure.Strain relief device 300 provides relief of strain on a cable and may be the same or a similar implementation ofstrain relief device 200 illustrated inFIGS. 2A-2C . Referring back toFIGS. 3A-3D ,strain relief device 300 includesfirst arm 305,second arm 320,first roller 317,second roller 324, first lockingclutch 317,ball bearing 322,first torsion spring 325,second torsion spring 326,modular base 335, latch handle 370, and mountingfeature 355. -
FIG. 3A illustrates opening latch handle 370 such that mountingfeature 355 increases in radius to allow for placement ofstrain relief device 300 onfeature 395 ofobject 390. Mountingfeature 355 is subsequently aligned with and then placed onfeature 395 ofobject 390.Latch handle 370 is then closed to holdstrain relief device 300 in placed and attached to object 390, as illustrated inFIG. 3B . Once closed, latch handle 370 causes the radius of mountingfeature 355 to decrease which in turn generates a compressive force onfeature 395 that mountsstrain relief device 300 to object 390. -
FIG. 3C illustrates placingcable 385 betweenfirst arm 305 andsecond arm 320. This is accomplished by separatingfirst arm 305 andsecond arm 320 with an external force 384 (e.g., manual manipulation offirst arm 305 andsecond arm 320 via an operator of strain relief device 300) that causesfirst arm 305 andsecond arm 320 to pivot about the respective midpoints offirst torsion spring 325 andsecond torsion spring 326. - As illustrated in
FIG. 3D , onceexternal force 384 is released,first roller 319 offirst arm 305second roller 324 ofsecond arm 320 clamp ontocable 385 and holdcable 385 in place withcompressive force 388. While clamped,cable 385 is able to move along a single direction (e.g. out of the plane of the page) due to the allowable rotational directions offirst roller 319 andsecond roller 324.First roller 319 is only able to rotate unidirectionally (e.g., counter clockwise) aboutrotational axis 380, due in part, because first lockingclutch 317 is disposed betweenfirst arm 305 andfirst roller 319, which restrictsfirst roller 319 to a single rotational direction.Second roller 324 is able to rotate bidirectionally (e.g., clockwise and counter clockwise) aboutrotational axis 382, due in part, becauseball bearing 319 is disposed betweensecond roller 324 andsecond arm 320. -
FIG. 4 illustrates a perspective view of strain relief device 400, in accordance with an embodiment of the disclosure. Strain relief device 400 is one possible implementation ofstrain relief devices FIG. 1 . The illustrated embodiment of strain relief device 400 is similar to, but comparably less complex thanstrain relief device 200 illustrated inFIGS. 2A-2C . - As illustrated, strain relief device 400 includes
first arm 405,second arm 420,tension spring 425, andmodular base 435. Strain relief device 400 is configured to be removably mounted to an object via a mounting feature (e.g., an articulated arm of a robotic system). In the illustrated case, the mounting feature of strain relief device 400 is a dovetail, but may have any other structure that facilitates mounting of strain relief device 400 to the object.First arm 405 andsecond arm 420 are pivotally coupled tomodular base 420 and thus are able to pivot about their respective rotational axes.Tension spring 425 is coupled tofirst arm 405 andsecond arm 420 and generates a clamping force that holdscable 485 in place when positioned betweenfirst arm 405 andsecond arm 420. - In reference to embodiments of the disclosure, a roller, an arm, a locking clutch, and/or a ball bearing are described for restricting the rotation of the roller and movement of the clamped cable. However, it is appreciated that other configurations may also allow for the restriction of the rotation of the roller and/or movement of the clamped cable. For example, instead of a roller coupled to an arm turning within a statically located locking clutch, the roller and locking clutch could be a single unit turning on a statically located arm. Additionally, or alternatively, a paired linear sequence of smaller rollers that rotate unidirectionally could be utilized in place of the two rollers.
- The above description of illustrated embodiments of the invention, including what is described in the Abstract, is not intended to be exhaustive or to limit the invention to the precise forms disclosed. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes, various modifications are possible within the scope of the invention, as those skilled in the relevant art will recognize.
- These modifications can be made to the invention in light of the above detailed description. The terms used in the following claims should not be construed to limit the invention to the specific embodiments disclosed in the specification. Rather, the scope of the invention is to be determined entirely by the following claims, which are to be construed in accordance with established doctrines of claim interpretation.
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US11707833B1 (en) * | 2022-01-07 | 2023-07-25 | Hiwin Technologies Corp. | Robotic arm device |
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DE102015210570A1 (en) * | 2015-06-09 | 2016-12-15 | Kuka Roboter Gmbh | Routing device of an industrial robot |
US10562456B2 (en) * | 2018-06-29 | 2020-02-18 | Toyota Motor Engineering & Manufacturing North America, Inc. | Front bumper slide-out step |
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US1828801A (en) | 1930-08-06 | 1931-10-27 | Frank M Finlayson | Cable clamp |
US3545724A (en) * | 1968-12-03 | 1970-12-08 | Clarence J Wright | Conductor stringing grounding block |
DE2928931A1 (en) | 1979-07-18 | 1981-02-12 | Bosch Gmbh Robert | TENSION RELIEF DEVICE FOR AN ELECTRICAL CONNECTION LINE, IN PARTICULAR FROM A POWER TOOL |
US4373372A (en) * | 1980-07-14 | 1983-02-15 | Bunker Ramo Corporation | Apparatus for assembling electrical cables to electrical connectors |
US6123571A (en) | 1998-09-29 | 2000-09-26 | Lucent Technologies, Inc. | Conductor stress relief apparatus |
US7727003B2 (en) | 2006-10-30 | 2010-06-01 | Black & Decker Inc. | Cord protector for power tools |
US10030790B2 (en) * | 2012-12-14 | 2018-07-24 | Pmi Industries, Inc. | Suspension system especially for underwater cable |
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US11707833B1 (en) * | 2022-01-07 | 2023-07-25 | Hiwin Technologies Corp. | Robotic arm device |
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