Operating self-antagonistic drives of medical instruments
US-10321900-B2 · Jun 18, 2019 · US
Joint function unit
US12337468B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-12337468-B2 |
| Application number | US-202118015537-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jul 14, 2021 |
| Priority date | Jul 16, 2020 |
| Publication date | Jun 24, 2025 |
| Grant date | Jun 24, 2025 |
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- Title
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- Abstract
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Abstract
Official abstract text for this publication.
A joint function unit, in which a movable part is supported by a base part so as to be displaceable in an axial direction thereof, includes: a plurality of drive wires each having a fixed part fixed to the movable part on one side in the axial direction and a supported part supported by the base part on the other side in the axial direction; and an elastic body supporting the supported part of each of the plurality of drive wires on the base part, energizing the supported part with respect to the fixed part in the axial direction, and applying tension to the drive wires.
First claim
Opening claim text (preview).
The invention claimed is: 1. A joint function unit in which a movable-side member is supported so as to be displaceable between a bending position and an extension position with respect to a fixed-side member, the joint function unit comprising: a plurality of drive wires, having a fixed part fixed to the movable-side member on one side in an axial direction and a supported part supported by the fixed-side member on the other side in the axial direction; and an elastic body, configured to support the supported part of the plurality of drive wires on the fixed-side member, energize the supported part toward a side opposite to the fixed part in the axial direction, and apply tension to the plurality of drive wires, wherein each of the plurality of drive wires is inserted through the fixed-side member between the fixed part and the supported part, and the elastic body is interposed between and abuts against the supported part of the plurality of drive wires and the fixed-side member. 2. The joint function unit according to claim 1 , wherein the elastic body is arranged in parallel with the plurality of drive wires. 3. The joint function unit according to claim 1 , wherein the elastic body has each of the plurality of drive wires inserted therethrough and provided on a same axis. 4. The joint function unit according to claim 1 , further comprising: a support member, spanning between the supported parts of the plurality of drive wires, wherein the elastic body is interposed between the support member and the fixed-side member. 5. The joint function unit according to claim 1 , further comprising: a guide part, guiding one of the plurality of drive wires and locating the supported part of the plurality of drive wires on a same axis, wherein the elastic body connects between the supported parts of the plurality of drive wires. 6. The joint function unit according to claim 1 , wherein the fixed-side member comprises a support part located on a side opposite to the fixed part with the supported part of the plurality of drive wires therebetween in the axial direction; and the elastic body is interposed between the support part and the supported part of the plurality of drive wires. 7. The joint function unit according to claim 1 , wherein the elastic body is a coil spring. 8. The joint function unit according to claim 1 , wherein the plurality of are drive wires operate the supported part in the axial direction to displace the movable-side member with respect to the fixed-side member. 9. The joint function unit according to claim 2 , further comprising: a guide part, guiding one of the plurality of drive wires and locating the supported part of the plurality of drive wires on a same axis, wherein the elastic body connects between the supported parts of the plurality of drive wires. 10. The joint function unit according to claim 2 , wherein the fixed-side member comprises a support part located on a side opposite to the fixed part with the supported part of the plurality of drive wires therebetween in the axial direction; and the elastic body is interposed between the support part and the supported part of the plurality of drive wires.
Assignees
Inventors
Classifications
Details of wrist mechanisms at distal ends of robotic arms · CPC title
Surgical robots · CPC title
with cables, chains or ribbons · CPC title
Joints · CPC title
Cables or rods · CPC title
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- What does patent US12337468B2 cover?
- A joint function unit, in which a movable part is supported by a base part so as to be displaceable in an axial direction thereof, includes: a plurality of drive wires each having a fixed part fixed to the movable part on one side in the axial direction and a supported part supported by the base part on the other side in the axial direction; and an elastic body supporting the supported part of …
- Who is the assignee on this patent?
- Nhk Spring Co Ltd
- What technology area does this patent fall under?
- Primary CPC classification B25J17/02. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Jun 24 2025 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 6 related publications on this page (citations in our corpus or others sharing the same primary CPC).