Articulation mechanisms for robotic surgical tools
US-2024252025-A1 · Aug 1, 2024 · US
US2016245381A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2016245381-A1 |
| Application number | US-201514880125-A |
| Country | US |
| Kind code | A1 |
| Filing date | Oct 9, 2015 |
| Priority date | Feb 25, 2015 |
| Publication date | Aug 25, 2016 |
| Grant date | — |
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A linear actuator extension assembly having a base housing, a driving member and a driven member having a housing. The driving member has a driving surface and a threaded lead screw disposed within the base housing. The driving surface is rotated about a first axis to actuate the threaded lead screw, thereby rotating the threaded lead screw about a second axis substantially orthogonal to the first axis. The rotation of the threaded lead screw translates the driven member housing relative to the base housing.
Opening claim text (preview).
What is claimed is: 1 . A linear actuator extension assembly, comprising: a base housing; a driving member having a threaded lead screw disposed within the base housing and a driving surface; and a driven member having a housing, wherein rotating the driving surface about a first axis actuates the threaded lead screw to rotate about a second axis substantially orthogonal to the first axis, and the rotation of the threaded lead screw translates the housing of the driven member relative to the base housing. 2 . The linear actuator extension assembly as recited in claim 1 , further comprising a worm and a worm gear, the worm rotationally connected to the driving surface and the worm gear rotationally fixed to the threaded lead screw. 3 . The linear actuator extension assembly as recited in claim 1 , wherein the housing of the driven member has an internal threaded portion that threadedly engages with the threaded lead screw to translate the housing along the second axis. 4 . The linear actuator extension assembly as recited in claim 3 , wherein the internal threaded portion is disposed on a lead screw nut that is received by an internal cavity of the driven member housing. 5 . The linear actuator extension assembly as recited in claim 3 , wherein the housing of the driven member further has a cavity that receives the threaded lead screw. 6 . The linear actuator extension assembly as recited in claim 1 , wherein the driven member has a compression pad. 7 . The linear actuator extension assembly as recited in claim 1 , wherein the base housing has a first and second internal compartment separated by an intermediary wall. 8 . The linear actuator extension assembly as recited in claim 7 , wherein the first internal compartment of the base housing receives the housing of the driven member. 9 . The linear actuator extension assembly as recited in claim 8 , wherein the second internal compartment houses a worm that defines the driving surface on a first end thereof, centered about the first axis, and a geared portion of the threaded lead screw having threads that project radially outwards from the second axis. 10 . The linear actuator extension assembly as recited in claim 7 , wherein the intermediary wall defines an aperture that receives and secures a portion of the threaded lead screw. 11 . The linear actuator extension assembly as recited in claim 1 , further comprising at least one visual indicator disposed on the driven member for measuring an overall length of the linear actuator extension assembly. 12 . A barrier assembly, comprising: a barrier having a frame; and at least one linear actuator extension attached to the frame, comprising: a base housing; a driving member having a threaded lead screw disposed within the base housing and a worm; and a driven member having a housing, wherein rotating the worm about a first axis actuates the threaded lead screw to rotate about a second axis, and the rotation of the threaded lead screw translates the housing of the driven member relative to the base housing. 13 . The barrier assembly as recited in claim 12 , wherein a first unit vector of the first axis is perpendicular to a second unit vector of the second axis. 14 . The barrier assembly as recited in claim 12 , further comprising a first and second driving surface disposed on opposing ends of the worm. 15 . The barrier assembly as recited in claim 12 , wherein the at least one linear actuator extension has an extended position and a retracted position, in the retracted position an internal compartment of the base housing receives the housing of the driven member. 16 . The barrier assembly as recited in claim 12 , wherein the base housing defines a first internal compartment, an intermediary wall, a second internal compartment and a rear wall, the intermediary wall having a first through-hole and the rear wall having a second through-hole that receive a first and second portion of the threaded lead screw respectively. 17 . The barrier assembly as recited in claim 12 , wherein in an installed position, internal compression forces within the linear actuator extension are distributed between the driven member, the threaded lead screw and the base housing. 18 . A barrier assembly, comprising: a barrier having a frame; and at least one linear actuator extension attached to the frame, comprising: a base housing; a driving member having a threaded lead screw defining a first central axis and a worm defining a second central axis substantially orthogonal to the first central axis, a portion of the driving member disposed within the base housing; and a driven member having a housing and a threaded portion that engages the threaded lead screw, wherein a rotation of the worm about the second central axis drives a rotation of the threaded lead screw about the first central axis to linearly translate the driven member along the second central axis. 19 . The barrier assembly as recited in claim 18 , further comprising a worm gear that engages the worm, wherein the threaded lead screw has a first and second shaft portion, the first shaft portion having external threads and the second shaft portion having a keying edge that mates with a keyed aperture in the worm gear such that the threaded lead screw and the worm gear are rotationally fixed. 20 . The barrier assembly as recited in claim 19 , wherein a plurality of spiral teeth disposed on the worm propel a plurality of teeth disposed on the worm gear to rotate the threaded lead screw.
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