Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Reexamination Certificate
2011-07-26
2011-07-26
Hannon, Thomas R. (Department: 3656)
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
C074S490110, C901S009000, C901S023000
Reexamination Certificate
active
07984663
ABSTRACT:
A robot head, for example for use in surgery, provides a back-drivable system allowing a surgeon to closely control the position of a cutter or other tool. The cutter is mounted at the end of a telescopic arm (20) which can be rotated about two independent perpendicular axes. Rotation about each axis is controlled by a separate motor (30′) which turns a lead screw (32). A bearing (34) travels along the lead screw and changes the angle of an offset crank (36) to cause the required rotation about the axis. The current rotational position about each axis is determined by a sensor at the output. A second sensor independently determines the position of the corresponding motor (30) and the two measured positions are compared. If they differ, the power to the cutter is immediately switched off.
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Hannon Thomas R.
Pilkington James
The Acrobot Company Limited
Ungaretti & Harris LLP
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