Swivel joint assembly for a robotic medical system

Abstract

An example rotary joint assembly for a robotic medical system includes at least one arm segment and a rotary joint disposed at one end of the arm segment. The rotary joint allows the arm segment to rotate about a rotation axis. The rotary joint includes a brake that locks rotation of the arm segment at the rotary joint and an actuator that selectively engages or disengages the brake. The actuator includes a cam having two stable regions separated by two transition regions, the two stable regions including a first stable region corresponding to engagement of the brake and a second stable region corresponding to disengagement of the brake.

Description

[0001] Cross-referencing of related patent applications

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 203,787, filed July 30, 2021, entitled “ROTATIONAL JOINT ASSEMBLY FOR ROBOTIC MEDICAL SYSTEM,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates generally to the field of robotic medical procedure systems, and particularly to rotary joints for such systems. Background Technology

[0004] Catheters and other elongated medical devices (EMDs) are used in minimally invasive medical procedures for the diagnosis and treatment of various vascular system diseases, including neurovascular intervention (NVI) (also known as neurointerventional surgery), percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures typically involve navigating a guidewire through the vascular system and advancing a catheter via the guidewire to perform the treatment. The catheter insertion procedure begins with the insertion of a guidewire into the appropriate vessel (e.g., an artery or vein) using standard percutaneous techniques with a guidewire sheath. The guidewire, sheath, or guiding catheter is then advanced over the diagnostic guidewire to the primary location, such as the internal carotid artery for NVI, the coronary ostium for PCI, or the superficial femoral artery for PVI. The guidewire, adapted to the vascular system, is then navigated through the sheath or guiding catheter to the target location within the vascular system. In certain situations, such as in complex anatomy, a support catheter or microcatheter is inserted over the guidewire to aid in its navigation. Physicians or operators can use imaging systems (e.g., fluorescein microscopes) to obtain cine images with contrast agent injections and select fixed frames as a roadmap to navigate guidewires or catheters to target locations, such as lesions. Contrast-enhanced images are also available as the physician delivers the guidewire or catheter, allowing the physician to verify that the device is moving along the correct path to the target location. When using fluoroscopy to visualize anatomical structures, the physician manipulates the proximal end of the guidewire or catheter to guide the distal tip into the appropriate vessel toward the lesion or target anatomical location, avoiding advances into collateral vessels.

[0005] Robotic catheter-based procedural systems have been developed to assist physicians in performing catheter insertion procedures such as NVI, PCI, and PVI. Examples of NVI procedures include coil embolization of aneurysms, fluid embolization of arteriovenous malformations, and mechanical thrombectomy for large vessel occlusion in cases of acute ischemic stroke. In NVI procedures, physicians use a robotic system to achieve access to the target lesion by manipulating a neurovascular guidewire and microcatheter to restore normal blood flow, thereby providing treatment. Access to the target is made possible by a sheath or guide catheter, but access may also require an intermediate catheter for more distal areas or to provide adequate support for the microcatheter and guidewire. Depending on the type of lesion and the treatment, the distal tip of the guidewire is navigated into or past the lesion. To treat an aneurysm, the microcatheter is advanced into the lesion, the guidewire is removed, and several embolization coils are deployed through the microcatheter into the aneurysm to block blood flow into the aneurysm. To treat an arteriovenous malformation, a fluid embolization is injected into the malformation via the microcatheter. Mechanical thrombectomy for treating vascular occlusion can be achieved through aspiration and / or the use of a stent retrieval device. Depending on the location of the clot, aspiration is performed either via an aspiration catheter or, for smaller arteries, via a microcatheter. Once the aspiration catheter is located at the lesion site, negative pressure is applied to remove the clot through the catheter. Alternatively, the clot can be removed by deploying the stent retrieval device via a microcatheter. Once the clot has integrated into the stent retrieval device, it is retrieved by retracting the stent retrieval device and the microcatheter (or intermediate catheter) back into the guiding catheter.

[0006] In PCI, physicians use robotic systems to obtain access to the lesion by manipulating a coronary guidewire to provide treatment and restore normal blood flow. This access is achieved by placing a guide catheter in the ostium of the coronary artery. The distal tip of the guidewire is navigated through the lesion, and for complex anatomy, microcatheters can be used to provide adequate support for the guidewire. Blood flow is restored by delivering and deploying a stent or balloon at the lesion. The lesion may require preparation before stent implantation, pre-dilation of the lesion by delivering a balloon, or resection of the atherosclerosis using, for example, a laser or rotary atherectomy catheter and a balloon on the guidewire. Diagnostic imaging and physiological measurements can be performed using imaging catheters or fractional flow reserve (FFR) measurements to determine appropriate treatment.

[0007] In PVI, physicians use a robotic system to deliver treatment and restore blood flow using techniques similar to NVI. The distal tip of the guidewire is navigated across the lesion, and microcatheters can be used to provide sufficient support for the guidewire to handle complex anatomy. Blood flow is restored by delivering and deploying a stent or balloon to the lesion. As with PCI, lesion preparation and diagnostic imaging can also be used.

[0008] When support is required at the distal end of the catheter or guidewire (e.g., to navigate tortuous or calcified vascular systems, to reach distal anatomical locations, or to traverse hard lesions), an over-the-hand (OTW) catheter or coaxial system is used. An OTW catheter has a lumen for the guidewire, which extends the entire length of the catheter. This provides a relatively stable system because the guidewire is supported along its entire length. However, this system has some disadvantages, including higher friction and a longer overall length compared to rapid exchange catheters (see below). Typically, to remove or replace an OTW catheter while maintaining the position of the indwelling guidewire, the exposed length of the guidewire (outside the patient) must be longer than the OTW catheter. A 300 cm guidewire is usually sufficient for this purpose and is often referred to as an exchange-length guidewire. Due to the length of the guidewire, removal or replacement of an OTW catheter requires two operators. This becomes even more challenging if a triaxial catheter (referred to in the art as a triaxial system) is used (quadriaxial catheters are also known). However, due to its stability, the OTW system is often used in NVI and PVI procedures. On the other hand, PCI procedures often use fast-exchange (or single-rail) catheters. In a fast-exchange catheter, the guidewire lumen only extends through the distal segment of the catheter, known as the single-rail or fast-exchange (RX) segment. With the RX system, the operator manipulates the interventional devices parallel to each other (as opposed to the OTW system, where the devices are arranged in tandem), and the exposed length of the guidewire only needs to be slightly longer than the RX segment of the catheter. Fast-exchange guidewires are typically 180-200 cm long. Given the shorter guidewire and single-rail lengths, the RX catheter can be changed by a single operator. However, the RX catheter is often insufficient when more distal support is required. Summary of the Invention

[0009] According to one embodiment, a rotary joint assembly for a robotic medical system includes at least one arm segment and a rotary joint disposed at one end of the arm segment. The rotary joint allows the arm segment to rotate about a rotation axis. The rotary joint includes a brake at the rotary joint for locking the rotation of the arm segment and an actuator for selectively engaging or disengaging the brake. The actuator includes a cam having two stabilizing regions separated by two transition regions, the two stabilizing regions including a first stabilizing region corresponding to brake engagement and a second stabilizing region corresponding to brake disengagement.

[0010] In one embodiment, the brake includes: a cup-shaped member having a tapered inner periphery; and a tapered member for receiving the tapered inner periphery of the cup-shaped member when the brake is engaged, wherein engagement of the brake includes moving the tapered inner periphery of the cup-shaped member into contact with the tapered member.

[0011] In one embodiment, the conical inner periphery of the cup-shaped member has a cone angle between approximately 15 degrees and approximately 30 degrees.

[0012] In one embodiment, the conical inner periphery of the cup-shaped component has a cone angle of approximately 17 degrees.

[0013] In one embodiment, the brake includes a plurality of first disc brake portions coupled to an inner housing and a plurality of second disc brake portions coupled to an outer housing, wherein the inner housing rotates relative to the outer housing during rotation of the arm segment about the rotary joint.

[0014] In one embodiment, the friction surfaces of the first disc brake portion and the corresponding friction surfaces of the second disc brake portion are circumferentially intersected between the inner housing and the outer housing.

[0015] In one embodiment, the first disc brake portion includes an internal non-planar portion between an inner housing and a corresponding friction surface, wherein the internal non-planar portion includes a first end connected to the inner housing and a second end connected to the friction surface; wherein the first end and the second end of the internal non-planar portion are axially offset.

[0016] In one embodiment, the second disc brake portion includes an external non-planar portion between the housing and a corresponding friction surface; and wherein the external non-planar portion includes a first end connected to the housing and a second end connected to the corresponding friction surface; wherein the first end and the second end of the external non-planar portion are axially offset.

[0017] In one embodiment, the actuator includes a spring to bias the brake against the cam to a disengaged position.

[0018] In one embodiment, the two stabilizing regions of the cam include: a first stabilizing region corresponding to a locked position and resulting in the application of a force that causes the spring to compress to engage the brake; and a second stabilizing region corresponding to an unlocked position and resulting in no force and the brake disengaging; wherein the two transition regions of the cam include: a gradual transition region from the second stabilizing region to the first stabilizing region; and a rapid transition region from the first stabilizing region to the second stabilizing region.

[0019] In one implementation, the rotary joint allows the arm segment to rotate between a left-hand position and a right-hand position.

[0020] In one embodiment, the cam is positioned on a camshaft driven by a motor.

[0021] In one embodiment, the camshaft includes at least one sensor to allow determination of the cam's orientation.

[0022] In one implementation, the camshaft is coupled to a manual actuator to allow the user to rotate the camshaft without operating the motor.

[0023] In one embodiment, the camshaft includes a ratchet configured to hold the camshaft in a motor-driven position during manual actuator operation, and the ratchet is also configured to allow the motor to engage the camshaft in the motor-driven position when the motor resumes operation.

[0024] In one embodiment, the camshaft includes a ratchet configured to allow a manual actuator to engage the camshaft when the camshaft is not motor-driven, and to allow the manual actuator to disengage the camshaft when the camshaft is motor-driven.

[0025] In one embodiment, the rotary joint assembly further includes a bellows that at least substantially encloses the entire brake to produce substantially zero recoil upon engagement or disengagement. In one embodiment, the spring has a preload force significantly greater than the bellows spring force, which biases the spring housing in the direction toward the cam. In one embodiment, the preload force of the spring provides faster engagement of the braking component compared to the case where the spring has no preload.

[0026] In one embodiment, the brake includes: a first braking component coupled to a housing; and a second braking component coupled to an inner housing, the inner housing being rotatable relative to the housing about a rotation axis, wherein the first and second braking components are selectively engaged with each other to engage the brake.

[0027] In one embodiment, the rotary joint assembly includes a bellows assembly circumferentially positioned around the brake, the bellows assembly providing torsional stiffness during brake engagement.

[0028] In one embodiment, the bellows assembly provides torsional stiffness between approximately 90,000 Nm / radian and approximately 110,000 Nm / radian.

[0029] In one embodiment, the rotary joint is a rotating joint.

[0030] In one embodiment, the brake is a gearless brake having a continuous braking surface.

[0031] In one embodiment, the robotic medical system includes a brake that locks at least a portion of the movement of the robotic medical system; and an actuator that selectively engages or disengages the brake, the actuator including a cam having two stabilizing regions separated by two transition regions, the two stabilizing regions including a first stabilizing region corresponding to brake engagement and a second stabilizing region corresponding to brake disengagement.

[0032] In one embodiment, the two stabilization regions of the cam include: a first stabilization region corresponding to a locked position that results in the application of a force that causes the brake to engage; and a second stabilization region corresponding to an unlocked position that results in no force and the brake to disengage; wherein the two transition regions of the cam include: a gradual transition region from the second stabilization region to the first stabilization region; and a rapid transition region from the first stabilization region to the second stabilization region.

[0033] In one embodiment, the brake includes: a cup-shaped member having a tapered inner periphery; and a tapered member for receiving the tapered inner periphery of the cup-shaped member when the brake is engaged, wherein engaging the brake includes moving the tapered inner periphery of the cup-shaped member into contact with the tapered member.

[0034] In one embodiment, the brake includes a plurality of first disc brake portions coupled to an inner housing and a plurality of second disc brake portions coupled to an outer housing, wherein the inner housing rotates relative to the outer housing during rotation of the arm segment about the rotary joint.

[0035] In one embodiment, a rotary joint assembly for a robotic medical system includes at least one arm segment; and a rotary joint disposed at one end of the arm segment, the rotary joint allowing the arm segment to rotate about a rotation axis, the rotary joint including: a brake for locking the rotation of the arm segment at the joint; an actuator for selectively engaging or disengaging the brake; and wherein the brake includes: a cup-shaped member having a tapered inner periphery; and a tapered member for receiving the tapered inner periphery of the cup-shaped member when the brake is engaged, wherein engagement of the brake includes moving the tapered inner periphery of the cup-shaped member into contact with the tapered member.

[0036] In one embodiment, the conical inner periphery of the cup-shaped member has a cone angle between approximately 15 degrees and approximately 30 degrees.

[0037] In one embodiment, the conical inner periphery of the cup-shaped component has a cone angle of approximately 17 degrees. Attached Figure Description

[0038] The invention will be more fully understood from the following detailed description in conjunction with the accompanying drawings, wherein reference numerals denote similar parts, and wherein:

[0039] Figure 1 This is a perspective view of an example catheter-based procedure system according to one embodiment;

[0040] Figure 2 This is a schematic block diagram of an example conduit-based procedure system according to one embodiment;

[0041] Figure 3 yes Figure 1 The example is based on a side view of the conduit's program system, with some components removed for clarity;

[0042] Figure 4 This is a perspective view of an example positioning system for a robot actuator according to one embodiment;

[0043] Figure 5 This is a cross-sectional view of an example rotary joint according to one embodiment;

[0044] Figure 6 Is with Figure 5 A cross-sectional side view of a portion of an example braking system used in conjunction with a rotary joint;

[0045] Figure 7 yes Figure 5 A perspective view of a portion of an example rotary joint;

[0046] Figure 8 It is used with Figure 5 A side view of an example cam used with an example rotary joint;

[0047] Figures 9A-9D An example operating cycle of an example braking system according to one embodiment is illustrated;

[0048] Figure 10 This is a perspective view of an example rotary joint with an example manual actuator;

[0049] Figure 11 It has Figure 10 A perspective view of an example camshaft for a manual actuator;

[0050] Figure 12 This is a perspective view of a portion of an example rotary joint, illustrating the sensor system;

[0051] Figure 13 This is a perspective cross-sectional view of another example braking system used with a rotary joint according to one embodiment;

[0052] Figure 14 This is a perspective view of another example braking system used with a rotary joint according to one embodiment;

[0053] Figure 15A and 15B yes Figure 1 The example is a top view of a duct-based procedural system, where the positioning system is in different configurations;

[0054] Figure 16A and 16B The diagram illustrates the operation of a system 600 with an example four-bar linkage;

[0055] Figure 17 This is a cross-sectional view of an example rotary joint according to one embodiment;

[0056] Figure 17A yes Figure 17 A close-up cross-sectional view of a portion of the rotary joint, with the brake in the engaged position;

[0057] Figure 17B yes Figure 17 A close-up cross-sectional view of a portion of the rotary joint, with the brake in the disengaged position; and

[0058] Figure 18 yes Figure 17 A partial view of the bellows of the rotary joint;

[0059] Figure 19 This is an example graph illustrating motor current as a function of cam position. Detailed Implementation

[0060] Figure 1 This is a perspective view of an example catheter-based procedure system 10 according to one embodiment. The catheter-based procedure system 10 can be used to perform catheter-based medical procedures, such as percutaneous interventional procedures, such as percutaneous coronary intervention (PCI) (e.g., treatment of STEMI), neurovascular intervention (NVI) (e.g., treatment of emergency large vessel occlusion (ELVO)), peripheral vascular intervention (PVI) (e.g., for severe limb ischemia (CLI), etc.). Catheter-based medical procedures may include diagnostic catheterization procedures during which one or more catheters or other elongated medical devices (EMDs) are used to aid in the diagnosis of a patient's condition. For example, during one embodiment of a catheter-based diagnostic procedure, a contrast agent is injected through a catheter onto one or more arteries, and images of the patient's vascular system are taken. Catheter-based medical procedures may also include catheter-based therapeutic procedures (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, clot removal, treatment of arteriovenous malformations, aneurysm treatment, etc.) during which a catheter (or other EMD) is used to treat the condition. The therapeutic procedure may include an accessory device 54 (such as... Figure 2 Enhancements can be achieved using methods such as intravascular ultrasound (IVUS), optical coherence tomography (OCT), fractional flow reserve (FFR), etc. However, it should be noted that those skilled in the art will recognize that certain specific percutaneous interventional devices or components (e.g., the type of guidewire, the type of catheter, etc.) can be selected based on the type of procedure to be performed. The catheter-based procedure system 10 can perform any number of catheter-based medical procedures with only minor adjustments to accommodate the specific percutaneous interventional device used in that procedure.

[0061] The catheter-based procedure system 10 includes a bedside unit 20 and a control station (not shown), as well as other components. The bedside unit 20 includes a robot actuator 24 positioned adjacent to the patient 12 and a positioning system 22. The patient 12 is supported on a patient table 18. The positioning system 22 is used to position and support the robot actuator 24. The positioning system 22 can be, for example, a robotic arm, an articulated arm, a retainer, etc. The positioning system 22 can be attached at one end to, for example, the patient table 18 (e.g., ...). Figure 1 (as shown), base or trolley. The other end of the positioning system 22 is attached to the robot actuator 24. The positioning system 22 can be removed (together with the robot actuator 24) to allow the patient 12 to be placed on the patient table 18. Once the patient 12 is positioned on the patient table 18, the positioning system 22 can be used to position or position the robot actuator 24 relative to the patient 12 for the procedure. In one embodiment, the patient table 18 is operatively supported by a base 17 fixed to the floor and / or ground. The patient table 18 is capable of moving relative to the base 17 in multiple degrees of freedom, such as rolling, pitching, and yaw. The bedside unit 20 may also include controls and a display 46 (such as...). Figure 2 (As shown). For example, controls and displays can be located on the housing of the robot driver 24.

[0062] Typically, the robot actuator 24 can be equipped with appropriate percutaneous intervention devices and accessories 48 (such as...). Figure 2 (As shown) (e.g., leads, various types of catheters including balloon catheters, stent delivery systems, stent retrieval devices, embolization coils, liquid embolization agents, aspiration pumps, devices for delivering contrast agents and drugs, hemostatic valve adapters, syringes, stopcocks, expansion devices, etc.) to allow a user or operator to perform catheter-based medical procedures via a robotic system by operating various controls (such as control devices and input devices located at a control station). Bedside unit 20, and in particular robotic actuator 24, may include any number of components and / or combinations of components to provide the functionality described herein to bedside unit 20. Robotic actuator 24 includes multiple device modules 32a-d mounted to a track or linear member. Each device module 32a-d can be used to drive an EMD, such as a catheter or guidewire. For example, robotic actuator 24 can be used to automatically feed a guidewire into a diagnostic catheter and a guiding catheter in the patient's artery 12. One or more devices (such as EMDs) are inserted into the patient's body (e.g., a blood vessel) at insertion point 16 via, for example, a guide sheath.

[0063] Bedside unit 20 communicates with a control station (not shown), allowing signals generated by user input from the control station to be transmitted wirelessly or via hardwired to bedside unit 20 to control various functions of bedside unit 20. As discussed below, control station 26 may include control computing system 34 (such as...). Figure 2(as shown), or connected to the bedside unit 20 via the control computing system 34. The bedside unit 20 can also connect to the control station, the control computing system 34 (as shown), or... Figure 2 (as shown) or both provide feedback signals (e.g., load, speed, operating conditions, warning signals, error codes, etc.). Communication between the various components of the control computing system 34 and the conduit-based program system 10 can be provided via a communication link, which can be a wireless connection, a cable connection, or any other means that allows communication between components. The control station or other similar control system can be located at a local site (e.g., Figure 2 At the local control station 38 shown or at a remote station (e.g., Figure 2 The catheterization procedure system 10 can be operated by a control station at a local site, a control station at a remote site, or both simultaneously. At the local site, the user or operator and the control station are located in the same room or an adjacent room as the patient 12 and the bedside unit 20. As used herein, the local site is the location of the bedside unit 20 and the patient 12 or subject (e.g., animal or cadaver), and the remote site is the location of the user or operator and the control station used for remotely controlling the bedside unit 20. The control station (and control computing system) at the remote site and the bedside unit 20 and / or control computing system at the local site can use communication systems and services 36 (such as...). Figure 2 (As shown) For example, they communicate via the Internet. In one embodiment, the remote site and the local (patient) site are geographically separated, for example, in different rooms in the same building, in different buildings in the same city, in different cities, or in other different locations of the bedside unit 20 and / or patient 12 where the local site is not physically accessible from the remote site.

[0064] The control station typically includes one or more input modules 28 configured to receive user input to operate various components or systems of the catheter-based procedure system 10. In the illustrated embodiment, the control station allows a user or operator to control the bedside unit 20 to perform catheter-based medical procedures. For example, the input module 28 may be configured to use a percutaneous interventional device (e.g., an EMD) interfaced with the robot actuator 24 to cause the bedside unit 20 to perform various tasks (e.g., advance, retract, or rotate guidewires; advance, retract, or rotate catheters; inflate or deflate balloons located on catheters; position and / or deploy stents; position and / or deploy stent retrieval devices; position and / or deploy coils; inject contrast agents into catheters; inject liquid embolic agents into catheters; inject drugs or saline into catheters; perform aspiration on catheters; or perform any other function that may be performed as part of a catheter-based medical procedure). The robot actuator 24 includes various actuation mechanisms to cause movement (e.g., axial and rotational movement) of the components of the bedside unit 20, including the percutaneous interventional device.

[0065] In one embodiment, the input module 28 may include one or more touchscreens, joysticks, scroll wheels, and / or buttons. In addition to the input module 28, the control station 26 may use additional user controls 44 (such as…). Figure 2As shown), such as a foot switch and a microphone for voice commands. Input module 28 can be configured to advance, retract, or rotate various components and percutaneous interventional devices, such as guidewires and one or more catheters or microcatheters. Buttons may include, for example, an emergency stop button, a multiplier button, a device selection button, and an automatic movement button. When the emergency stop button is pressed, power (e.g., electricity) to bedside unit 20 is cut off or removed. In speed control mode, the multiplier button increases or decreases the movement speed of the associated component in response to manipulation of input module 28. In position control mode, the multiplier button changes the mapping between input distance and output command distance. The device selection button allows the user or operator to select which percutaneous interventional devices loaded into robot actuator 24 are controlled by input module 28. The automatic movement button is used to implement algorithmic movement of the catheter-based procedural system 10 on the percutaneous interventional device without direct commands from the user or operator 11. In one embodiment, input module 28 may include one or more controls or icons (not shown) displayed on a touchscreen (which may or may not be part of the display) that, when activated, cause operation of components of the catheter-based procedure system 10. Input module 28 may also include balloon or stent controls configured to inflate or deflate a balloon and / or deploy a stent. Each input module 28 may include one or more buttons, scroll wheels, joysticks, touchscreens, etc., which can be used to control a specific component or multiple specific components for which the control is dedicated. Furthermore, one or more touchscreens may display one or more icons (not shown) associated with the various parts of input module 28 or the various components of the catheter-based procedure system 10.

[0066] The catheter-based procedure system 10 also includes an imaging system 14. The imaging system 14 can be any medical imaging system that can be used in conjunction with catheter-based medical procedures (e.g., non-digital X-ray, digital X-ray, CT, MRI, ultrasound, etc.). In an exemplary embodiment, the imaging system 14 is a digital X-ray imaging device that communicates with a control station. In one embodiment, the imaging system 14 may include a C-arm (such as...) Figure 1 As shown, the C-arm allows the imaging system 14 to rotate partially or completely around the patient 12 to obtain images at different angular positions relative to the patient 12 (e.g., sagittal view, tail view, anterior and posterior view, etc.). In one embodiment, the imaging system 14 is a fluorescence fluoroscopy system including a C-arm with an X-ray source 13 and a detector 15, also referred to as an image intensifier.

[0067] Imaging system 14 can be configured to capture X-ray images of appropriate areas of patient 12 during procedures. For example, imaging system 14 can be configured to capture one or more X-ray images of the head to diagnose neurovascular conditions. Imaging system 14 can also be configured to capture one or more X-ray images (e.g., real-time images) during catheter-based medical procedures to help the user or operator 11 of control station 26 correctly position guidewires, guiding catheters, microcatheters, stent retrieval devices, coils, stents, balloons, etc., during the procedure. One or more images can be displayed on display 30. For example, images can be displayed on the display to allow the user or operator to accurately move the guiding catheter or guidewire into the appropriate position.

[0068] To define directions, a Cartesian coordinate system with X, Y, and Z axes is introduced. The positive X-axis is oriented in the longitudinal (axial) direction, that is, from the proximal end to the distal end, in other words, from the proximal to the distal end. The Y and Z axes lie in the transverse plane of the X-axis, with the positive Z-axis oriented upwards, that is, in the direction opposite to gravity, and the Y-axis is automatically determined by the right-hand rule.

[0069] Figure 2This is a block diagram of a catheter-based procedural system 10 according to an example embodiment. The catheter procedural system 10 may include a control computing system 34. The control computing system 34 may physically be, for example, part of a control station. The control computing system 34 may typically be an electronic control unit adapted to provide the various functions described herein for the catheter-based procedural system 10. For example, the control computing system 34 may be an embedded system, a dedicated circuit, a general-purpose system programmed with the functions described herein, etc. The control computing system 34 communicates with the bedside unit 20, communication systems and services 36 (e.g., the Internet, firewall, cloud services, session manager, hospital network, etc.), a local control station 38, an additional communication system 40 (e.g., a telepresence system), a remote control station and computing system 42, and patient sensors 56 (e.g., an electrocardiogram (ECG) device, an electroencephalogram (EEG) device, a blood pressure monitor, a temperature monitor, a heart rate monitor, a respiratory monitor, etc.). The control computing system also communicates with an imaging system 14, a patient table 18, an additional medical system 50, a contrast agent injection system 52, and auxiliary devices 54 (e.g., IVUS, OCT, FFR, etc.). The bedside unit 20 includes a robot actuator 24, a positioning system 22, and may include additional controls and a display 46. As described above, the additional controls and display may be located on the housing of the robot actuator 24. Interventional devices and accessories 48 (e.g., guidewires, catheters, etc.) interface with the bedside system 20. In one embodiment, the interventional devices and accessories 48 may include specialized devices (e.g., IVUS catheters, OCT catheters, FFR wires, diagnostic catheters for angiography, etc.) that interface with their respective accessory devices 54 (i.e., IVUS systems, OCT systems, and FFR systems, etc.).

[0070] In various embodiments, the control computing system 34 is configured to generate control signals based on user interaction with input modules 28 (e.g., input modules of a control station such as local control station 38 or remote control station 42) and / or based on information accessible to the control computing system 34, enabling the execution of medical procedures using the catheter-based procedure system 10. The local control station 38 includes one or more displays 30, one or more input modules 28, and additional user controls 44. The remote control station and computing system 42 may include components similar to the local control station 38. The remote control station 42 and the local control station 38 may be different and customized based on their required functionality. The additional user controls 44 may include, for example, one or more foot input controls. The foot input controls may be configured to allow the user to select functions of the imaging system 14, such as turning X-rays on and off and scrolling through different stored images. In another embodiment, the foot input device may be configured to allow the user to select which devices are mapped to a wheel included in the input module 28. Additional communication systems 40 (e.g., audio conferencing, video conferencing, telepresence, etc.) can be used to help the operator interact with patients, medical staff (e.g., angiography suite personnel) and / or bedside devices.

[0071] The catheter-based procedure system 10 may be connected to or configured to include any other systems and / or devices not explicitly shown. For example, the catheter-based procedure system 10 may include an image processing engine, a data storage and archiving system, an automated balloon and / or stent inflation system, a drug injection system, a drug tracking and / or recording system, a user log, an encryption system, a system for restricting access to or use of the catheter-based procedure system 10, etc.

[0072] As described above, the control computing system 34 communicates with the bedside unit 20, which includes a robot actuator 24, a positioning system 22, and may include additional controls and a display 46. The bedside unit 20 can provide control signals to the bedside unit 20 to control the operation of motors and drive mechanisms used to drive percutaneous interventional devices (e.g., guidewires, catheters, etc.). Various drive mechanisms may be part of the robot actuator 24.

[0073] Now for reference Figure 3 , showed Figure 1 The example is based on a side view of the catheter procedure system 10; for clarity, certain components (e.g., patient, C-arm) have been removed. See above reference. Figure 1The patient table 18 is supported on the base 17, and the robot actuator 24 is mounted to the patient table via a positioning system 22. The positioning system 22 allows manipulation of the robot actuator 24 relative to the patient table 18. In this respect, the positioning system 22 is securely mounted to the patient table 18 and includes various joints and linkages / arm segments to allow manipulation, as referenced below. Figure 4 As stated above.

[0074] Figure 4 This is a perspective view of an example positioning system 22 for a robot actuator according to one embodiment. The positioning system 22 includes a mounting arrangement 60 for securely mounting the positioning system 22 to a patient table 18. The mounting arrangement 60 includes engagement mechanisms for engaging a first engagement member with a first longitudinal track of the patient table 18 and engaging a second engagement member with a second longitudinal track of the patient table 18, thereby removably securing the positioning system to the patient table 18.

[0075] The positioning system 22 includes various segments and connectors to allow the robot actuator 24 to be positioned as desired, for example, relative to a patient. The positioning system 22 includes a first rotary joint 70 coupled to the mounting arrangement 60. The first rotary joint 70 allows the first arm segment 72 or link to rotate about an axis of rotation. In the illustrated example, the mounting arrangement 60 is in a substantially horizontal plane (e.g., the plane of the patient table 18), and the axis of rotation is substantially vertical and extends through the center of the first rotary joint 70. The first rotary joint 70 may include circuitry that allows a user to control various operations associated with the first rotary joint 70, such as locking or releasing rotational movement.

[0076] In the example shown, the first arm segment 72 is substantially horizontal, with its first end connected to the first rotary joint 70. The second end of the first arm segment 72 is connected to the second rotary joint 74. Furthermore, the second rotary joint 74 is also connected to the first end of the second arm segment 76. Therefore, the second rotary joint 74 allows the second arm segment 76 to rotate relative to the first arm segment 72. Like the first rotary joint 70, the second rotary joint 74 allows rotation about a substantially vertical axis extending through the center of the second rotary joint 74.

[0077] In the illustrated example, the second end of the second arm segment 76 is coupled to a third rotary joint 78. The third rotary joint 78 includes a support post 80 to allow the robot actuator 24 to be mounted to the positioning system 22. Therefore, the third rotary joint 78 allows the robot actuator 24 to rotate relative to the second arm segment 76. The third rotary joint 78 allows rotation about a substantially vertical axis extending through the center of the third rotary joint 78.

[0078] In one example, the second arm segment 76 includes a four-bar linkage that allows limited vertical movement of the third rotary joint 78 relative to the second rotary joint 74. At this point, the four-bar linkage allows vertical movement of the third rotary joint 78 while maintaining the basic vertical orientation of the third rotary joint 78 and the support column 80.

[0079] Figure 4 The example positioning system includes three rotary joints 70, 74, and 78 and two arm segments 72 and 76. This configuration provides significant flexibility for the positioning of the robot actuator. In particular, the use of the three rotary joints 70, 74, and 78 provides flexibility for the positioning of the robot actuator in two degrees of freedom. The three rotary joints 70, 74, and 78 allow the actuator to move longitudinally (from the patient's head to their toes) above the patient table 18 and laterally (from the patient's left to right) across the patient table 18. Therefore, large-area positioning relative to the patient can be used during the procedure. Furthermore, this arrangement allows the robot actuator to be oriented at different angles (i.e., different yaw angles) relative to the longitudinal axis of the patient table. Furthermore, as described above, and in reference below... Figure 16A and 16B Using a four-bar linkage can provide additional degrees of freedom in the vertical direction.

[0080] Figure 5 This is a cross-sectional view of an example rotary joint 100 according to one embodiment. The example rotary joint 100 can be referred to above. Figure 4 The described positioning system 22 includes one or more implementations of a first rotary joint 70, a second rotary joint 74, or a third rotary joint 78. Rotary joint 100 allows housing 110 (and components such as arm segment 70a coupled to housing 110) to rotate about a rotation axis relative to inner housing 120 (and components such as arm segment 70b coupled to inner housing 120). The rotation axis may extend substantially vertically through rotary joint 100. Rotary joint 100 also includes a braking system 130 to allow a user to selectively lock or unlock rotational movement at rotary joint 100.

[0081] In the various examples described herein, the rotary joint 100 includes a braking system 130 that provides a sufficiently high locking or holding torque (e.g., 80 Nm) to ensure the locking of the rotary joint 100. Furthermore, the braking system 130 according to the various examples described herein provides infinite resolution. For example, rotational movement can be locked at any position of the inner housing 110 relative to the outer housing 120. In this respect, the braking system 130 is a gearless system and does not rely on discrete points (e.g., gear teeth) for locking. Moreover, the lack of discrete points such as gear teeth in a geared braking system results in the braking system 130 having minimal or no backlash during braking or locking.

[0082] exist Figure 5 In the example rotary joint 100, the braking system 130 is actuated by a camshaft 140 having a cam 142. The camshaft 140 is driven by a motor to rotate the camshaft 140 and, together with it, rotate the cam 140, as shown in the following reference. Figure 7 In a more detailed description, cam 142 is configured to rotate through a cycle during which cam 142 causes the brake 150 to engage and disengage. See below for further details. Figure 8 Example cam 142 is described in more detail.

[0083] An elastic component (such as spring 146) is provided to preload or upwardly bias the brake bolt 144. Preloading the brake bolt 144 with spring 146 allows for some overtravel, thus enabling the desired clamping load on the friction surface to be achieved even with some variation in the travel of cam 142. Once the travel of cam 142 overcomes the preload from spring 146, the full force from the cam is applied to brake 150, increasing slightly with increasing cam travel. Due to the relatively low spring constant, wear of the system results in minimal variation in the engagement force of brake 150.

[0084] When cam 142 rotates to the locked position, the downward force exerted by cam 142 on the follower causes brake bolt 144 to become unloaded, thereby causing brake 150 to engage, as will be described below. Figures 9A-9D An example of brake 150 is described in more detail. As described above, engagement of brake 150 provides a sufficiently high locking or holding torque (e.g., 80 Nm) to ensure locking of rotary joint 100. As the cam rotates further to the unlocked position, the downward force is removed, and the load from spring 146 returns to brake bolt 144, causing brake 150 to disengage.

[0085] exist Figure 5In the example shown, the brake 150 of the rotary joint 100 is provided with a first braking component connected to the outer housing 110 and a second braking component connected to the inner housing 120. When the brake is engaged, the first and second braking components engage with each other, thereby locking the rotary joint 100. Figure 5 In the example shown, the brake 150 includes a cup-shaped member 152 coupled to the outer housing 110 and a tapered member 154 coupled to the inner housing 120. The cup-shaped member 152 has a tapered inner periphery, such as... Figure 6 It is shown more clearly in the middle, Figure 6 A cross-sectional side view of the cup-shaped member 152 is provided. The tapered inner periphery of the cup-shaped member 152, which is coupled to the housing 110, corresponds to the tapered member 154 of the inner housing 120. Therefore, during brake 150 engagement, the tapered member 154 is received within the cup-shaped member 152 and contacts the inner periphery of the cup-shaped member 152. The inner periphery of the cup-shaped member 152 and the tapered member 154 form a friction surface that provides braking torque. The cup-shaped member 152 and the tapered member 154 can be formed from any of a variety of materials. In one example, the tapered member 154 is formed from Victrex 450FC30 PEEK (10 / 10 / 10” PEEK), and the cup-shaped member 152 is formed from hard anodized aluminum. These materials provide high, repeatable friction and good wear resistance.

[0086] The friction surfaces of the cup-shaped member 152 and the tapered member 154 provide a continuous braking surface, thus providing infinite resolution for braking. Furthermore, continuous braking results in minimal or no recoil between the friction surfaces of the brake 150.

[0087] In various examples, the inner periphery of the cup-shaped member 152 is tapered, with the cone angle chosen to provide sufficiently high braking torque while preventing self-locking. The cone angle is measured as the angle between the tapered periphery of the cup-shaped member 152 and the vertical line. If the cone angle is too small, self-locking becomes more likely because the brake may not disengage when the cam rotates, and the load from the spring 146 will return to the brake bolt 144. Therefore, the cone angle should be sufficient to allow the cup-shaped member to disengage when a downward force is removed. In various examples, the tapered inner periphery of the cup-shaped member 152 has a cone angle between approximately 15 degrees and approximately 30 degrees. In one particular example, the tapered inner periphery of the cup-shaped member 152 has a cone angle of approximately 17 degrees. In one embodiment prior to the commercial operation of the joints, each joint is placed in a locked position and positioned in a clamp with a motor having sufficient torque to slide the brake. The sliding of the brake brings the surfaces of the tapered and cup-shaped parts together, greatly eliminating the small machining tolerances that would otherwise prevent the surfaces from contacting each other, allowing the surfaces to fit together well and thus forming a high contact area.

[0088] Figure 8 The stabilizing locking region 182 of the cam 80 shown provides a safety feature to prevent accidental brake disengagement. For example... Figure 8 As shown in the illustration, a portion of the stabilizing locking region 182 is provided with a dwell region 182a, which has a radius smaller than the outer edge of the stabilizing locking region 182. The dwell region 182a provides a stabilizing area that prevents the cam from accidentally rotating out of the stabilizing locking region 182. For example, if power is lost from the rotary joint 100 when the brake is engaged, the brake will not disengage because at least some energy is required to move the cam out of the dwell region 182a of the stabilizing locking region 182. Note that the transitions in region 182 in the figure are not scaled; the transition between the dwell region 182a and the adjacent region has a radius smaller than that of the adjacent region. Figure 8 The closer-up section depicts a gentler slope. Figure 8 The transitions in the close-up section are magnified so that they can be seen.

[0089] Now for reference Figure 7 The illustration shows Figure 5 A perspective view of a portion of an example rotary joint 100. (See above reference.) Figure 5 The rotary joint 100 includes a camshaft 140 having a cam 142 for selectively engaging or disengaging the brake 150. Figure 7 As shown, cam 142 is positioned on a camshaft driven by motor 170. Motor 170 can be controlled by user input for engaging or disengaging brake 150. Motor 170 drives camshaft 140 by coupling motor 170 to a belt driver. Therefore, based on user input, motor 170 can drive camshaft 140 to position the cam in a desired location. For example, cam 142 can be positioned to cause engagement or disengagement of brake 150. In one embodiment, motor 170 is geared to camshaft 140.

[0090] Now for reference Figure 8 The diagram illustrates the use of... Figure 5 A side view of the example cam 180 used in conjunction with the example rotary joint 100. The example cam 180 is a double-stabilized cam with two stabilizing regions separated by two transition regions. (See attached image.) Figure 8 As shown in the example, cam 180 includes a stabilizing locking (or engagement) region 182, in which cam 180 typically has a larger radius than other regions of cam 180. This larger radius causes the cam to exert a downward force on the follower, resulting in the force described above. Figure 5 The brake bolt 144 is unloaded.

[0091] Cam 180 includes a second stabilizing region located at the stabilizing unlock (or disengagement) region 184, where the cam has a smaller radius than the other regions of cam 180. The smaller radius results in the removal of the downward force on the follower, thereby causing the load from spring 146 to return to brake bolt 144.

[0092] The two stable regions 182 and 184 are separated by two transition regions 186 and 188. The first transition region 186 is a gradual transition region, during which the cam rotates from the stable unlocking region 184 ( Figure 8 The cam rotates from the stable locking region 182 to the stable unlocking region 184 via a counter-clockwise direction. The second transition region 188 is a rapid transition region, during which the cam rotates from the stable locking region 182 to the stable unlocking region 184. Therefore, the time required to unlock the brake (i.e., to rotate the cam from the stable locking region 182 to the stable unlocking region 184 via the rapid transition region 188) is short because the camshaft requires very little rotation. On the other hand, the time required to lock the brake (i.e., to rotate the cam from the stable unlocking region 184 to the stable locking region 182 via the gradual transition region 186) is long because a larger rotation of the camshaft is required. In other examples, the positions of the gradual transition region 186 and the rapid transition region 188 can be interchanged, or the rotation direction of the camshaft can be reversed.

[0093] Figures 9A-9D An example operating cycle of an example braking system according to one embodiment is illustrated. The example braking system 200 includes a brake 210 having a cup-shaped member 214 coupled to a housing 212 and a tapered member 216 coupled to an inner housing. The inner and outer housings are rotatable relative to each other, and the braking system 200 selectively locks or unlocks the rotation. The braking system 200 is provided with a spring 218 that preloads a brake bolt, as referenced above. Figure 5-8 As mentioned above. Figures 9A-9D The described cams 180 and 220 selectively cause the brake 210 to engage or disengage.

[0094] First refer to Figure 9A Cam 220 is shown in a stable unlocked position. In this position, the portion of cam 220 with a smaller radius than the rest of cam 220 allows any downward force on the tapered member 216 to be released. Therefore, there is no contact between the friction surfaces of the cup-shaped member 214 and the tapered member 216. Figure 9B As the radius of cam 220 gradually increases, cam 220 rotates counterclockwise through a transition region, resulting in a downward force being applied to tapered member 216. Therefore, tapered member 216 gradually contacts cup-shaped member 214, thereby engaging brake 210.

[0095] exist Figure 9CIn the middle position, the cam is in a stable locked position. In this position, the portion of cam 220 with a larger radius than the rest of cam 220 exerts a downward force on the tapered member 216, thereby causing the brake to be in the engaged position. In this position, the friction surfaces of the cup-shaped member 214 and the tapered member 216 contact, thereby providing braking torque. Additionally, in this position, the spring is now in a more compressed state. Figure 9D In the middle, the cam has rotated from the stable locked position through the rapid transition zone to Figure 9A A stable unlock position.

[0096] The diagram shows an example graph of motor current as a function of cam 220 position. Figure 19 As shown.

[0097] exist Figure 19 In the graph, the motor current is directly proportional to the torque. Figure 19 The area (a) in the diagram shown corresponds to cam 220 being in the unlocked position (or Figure 8 The stable unlocking position is 184). The smaller the radius, the smaller the torque, and the lower the current proportionally. Region (b) corresponds to the beginning of the gradual transition region ( Figure 8 The gradual transition region 186 begins during which the stiffness of various components of the rotary joint and brake is overcome, and region (c) corresponds to the gradual transition region during which spring 218 is compressed. Region (d) corresponds to the dwell region of the stable locking region (e.g., Figure 8 The dwell region (182a) is a transition zone. The transition to the dwell region results in a negative current. In one implementation, region (d) is only a few degrees, such as from 310-312 degrees, and the current is zero. In region (e), the cam is exiting the dwell region but has not yet entered the rapid transition region, which corresponds to region (f), resulting in a negative current. Note that the brake locks to the user at 230 degrees, but is fully locked at approximately 310 degrees. In other words, at 210 degrees, the user will feel resistance, and at 230 degrees, the user will not be able to move the connector. However, if the system remains fully locked, it will have full braking resistance at 310 degrees.

[0098] As various components wear out, Figure 19 Different areas of the chart may shift. For example, the duration of an area corresponding to a locked position or transitioning to a locked position may decrease, while the duration of an area corresponding to an unlocked position may increase.

[0099] The current curve shown in the example above can be used to identify the state of the cam. Even as the system wears down with use, the current can be used to identify the locked position. Once the preloaded spring disengages from its hard stop, rotation can be determined to be locked. The position of this point, measured during cam rotation, will vary considerably depending on the degree of wear on the friction surfaces. A non-constant speed curve can be used for control, where the speed is higher in the low-current portion and lower in the high-current portion. Using the current curve, it is possible to dynamically change the system's position in the unlocked state. As the surfaces wear down, the number of angles from a predetermined point, defined as the unlocked state, can be increased, so that the system does not need to be driven under no-load conditions first. In addition to this speed advantage, monitoring the position where the locking current begins to increase rapidly allows the system to monitor wear. When this changes, the system may issue an alarm indicating the need for maintenance, or even malfunction, preventing maintenance if the situation becomes unsafe.

[0100] Now for reference Figure 10 The diagram shows a perspective view of an example rotary joint 300 with an example manual actuator. The example rotary joint 300 includes a first portion 302 and a second portion 304 rotatable relative to each other. According to the example described above, the first portion 302 can be coupled to the housing of a braking system, and the second portion 304 can be coupled to the inner housing of the braking system. Therefore, the braking system can selectively lock or unlock the rotation of the first portion 302 relative to the second portion 304. Figure 10 The example rotary joint 300 also includes a rotation stop 306 that limits the range of rotation of the first portion 302 relative to the second portion 304. The rotation stop can be provided to limit the relative rotation of the first portion 302 and the second portion 304 in each direction.

[0101] Example rotary joint 300 includes a motor-driven camshaft 340, which in Figure 11 A more clear illustration is provided. The camshaft 340 includes a belt engagement pulley 342, which connects the camshaft 340 to a motor via, for example, a belt. The belt has teeth that engage with corresponding teeth on the belt engagement pulley 342, thereby driving the camshaft 340. The camshaft 340 is provided with a cam 344, similar to the one shown above. Figure 7 , 8 The cam described in 9A-9D.

[0102] Figure 11 The example rotary joint 300 also includes a manual actuator 346 coupled to a camshaft 340. The manual actuator 346 rotates an extension of the positioning camshaft outside the body of the joint 300, such as... Figure 10The clearest illustration is shown below. This allows the user to manually control the rotation of camshaft 340 and cam 344. A manual actuator may be needed when, for example, the motor is powered off, the motor disengages from camshaft 340, or the user wishes to override the motor.

[0103] Figure 10 The camshaft 340 is equipped with a ratchet 348. When the camshaft 340 is driven by the motor, the ratchet 348 engages with the corresponding part of the manual actuator 346. Therefore, when the camshaft 340 is driven by the motor, the manual actuator 346 is also driven by the motor along with the camshaft 340. When the camshaft 340 is rotated using the manual actuator 346, the ratchet 348 disengages from the corresponding part engaged with the manual actuator 346. Therefore, when the camshaft 340 returns to being driven by the motor, the ratchet 348 engages again with the corresponding part in the same position it was in before operating the manual actuator 346. It is beneficial to disengage the camshaft from the motor during manual actuation for various reasons. For example, if the motor cannot be reversed, disengaging the camshaft from the motor can prevent manual operation from attempting to reverse the motor. In addition, disengaging the camshaft during manual operation prevents the user from manually overspeeding the motor beyond its limits.

[0104] In one embodiment, ratchet 348 can be reversed such that it engages only when camshaft 340 is operated by manual actuator 346. At this point, ratchet 348 disengages when camshaft 340 is driven by a motor. Consequently, manual actuator 346 does not rotate when camshaft 340 is driven by a motor.

[0105] Figure 12 yes Figure 10 A perspective view of a portion of an example rotary joint 300. (See example...) Figure 12 As shown, the camshaft 340 is equipped with a sensor system, which includes at least one sensor to allow determination of the orientation of the cam 344. Figure 12 In the example, the camshaft is equipped with a mark 352 and a shutter 350. The shutter 350 reads the mark 352 on the camshaft. In one example, the position of the mark 352 corresponds to the cam being in the locked position.

[0106] In other examples, the rotary joint 300 may be equipped with additional sensors to determine the position of the cam relative to the position indicated by the mark 352. For example, a relative encoder may be coupled to a motor or the motor shaft. The relative encoder, in conjunction with the shutter 350, can allow the orientation of the cam to be determined. For example, with the mark 352 set to correspond to a stable locked position, the relative encoder can determine the position relative to the mark position, and thus determine the precise orientation of the cam.

[0107] As described above, the various example rotary joints described herein are equipped with a braking system that provides sufficiently high infinite locking or holding torque and results in minimal or no backlash during braking or locking. Figure 13 and 14 This is an additional example of a braking system according to embodiments of the present disclosure.

[0108] Now for reference Figure 13 The illustration shows a perspective cross-sectional view of an example brake or braking system 400 used with a rotary joint. Figure 13 The example braking system 400 includes a plurality of first disc brake portions 410 having an inner housing attachment 412 for coupling the first disc brake portions 410 to an inner housing. The braking system 400 also includes a plurality of second disc brake portions 420 having an outer housing attachment 422 for coupling the second disc brake portions 420 to the outer housing.

[0109] The first disc brake portion 410 is provided with a first friction surface 414, and the second disc brake portion 420 is provided with a second friction surface 424. The friction surfaces 414 and 424 are circumferentially interleaved between the inner housing attachment 412 and the outer housing attachment 422. When the braking system 400 is engaged by, for example, a downward force applied from the cam, the interleaved friction surfaces 414 and 424 engage, resulting in rotational locking.

[0110] Now for reference Figure 14 The illustration shows a perspective view of another example brake or braking system 450. Figure 14 Example braking system 450 is similar to the one referenced above. Figure 13 The described braking system 400 includes a first disc brake portion and a second disc brake portion having interlaced friction surfaces 480. Figure 14 In one example, the braking system 450 includes an inner housing accessory 460 that connects a first disc brake portion to the inner housing, and an outer housing accessory 470 that connects a second disc brake portion to the outer housing.

[0111] The inner housing attachment 460 includes an internal non-planar portion 462 located between the inner housing and the staggered friction surfaces 480. The internal non-planar portion 462 includes a first end coupled to the inner housing and a second end coupled to the friction surfaces, the first and second ends being axially offset. Similarly, the outer housing attachment 470 includes an external non-planar portion 472 between the outer housing and the staggered friction surfaces 480. The external non-planar portion 472 includes a first end coupled to the outer housing and a second end coupled to the friction surfaces, the first and second ends being axially offset. This axial offset between the housing and the friction surfaces provides axial compliance (reduced axial stiffness) within the braking system.

[0112] In addition to axial compliance, the various examples of braking systems for rotary joints described in this paper also provide torsional stiffness. In this regard, refer again... Figure 5 The illustration depicts the use of a bellows positioned around at least a portion of the braking system 130. At this point, the bellows assembly 160 is circumferentially positioned around the brake 150. In one example, the bellows assembly 160 is made of stainless steel and is incorporated into a portion of the rotary joint 100. As described above, the bellows assembly provides torsional stiffness during brake engagement. Various examples of the bellows assembly 160 provide torsional stiffness between approximately 90,000 Nm / radian and approximately 110,000 Nm / radian. While providing torsional stiffness, the bellows assembly 160 has low axial stiffness, thus allowing axial compliance and requiring only a small actuation force from the cam to move the bellows assembly 160.

[0113] refer to Figure 5 As an example, various components illustrated in the rotary joint 100 are bolted to the outer housing 110, inner housing 120, and various other components. The bolts used for this connection are sufficiently preloaded to prevent any backlash during brake 150 engagement. Furthermore, a preloaded crossed roller bearing 199 is provided in the rotary joint 100. The crossed roller bearing 199 further reduces backlash during brake 150 engagement to stop rotational movement between the outer housing 110 and inner housing 120. When brake 150 is engaged, the preloaded crossed roller bearing 199 prevents the rotary joint 100 from moving in other directions.

[0114] refer to Figure 17 Example rotary joint 700 is implemented using a first rotary joint 70, which allows a first housing 70a to rotate relative to a second housing 70b. Rotary joint 700 includes an inner portion 702 fixed relative to the first housing 70a and an outer portion 704 fixed relative to the second housing 70b. Braking system 706 releasably locks the inner portion 702 relative to the outer portion 704, thereby releasably locking the first housing 70a relative to the second housing 70b. Although braking system 706 is described in conjunction with rotary joint 700, braking system 706 can be used with rotary joint 74 and / or rotary joint 78. In one embodiment, as... Figure 17 The braking system 706 shown is located in the rotary joint 74, and... Figure 17 In contrast, it can be implemented with an "upside-down" orientation, so that the direction from the camshaft 142 toward the cup-shaped member 744 will be as follows: Figure 4 The positive Z-axis direction is shown.

[0115] Braking system 706 includes, for example Figure 7The actuation module shown activates a bias module to releasably engage the first braking member 742 with the second braking member 744. When the first braking member 742 and the second braking member 744 are separated and no longer in contact, the rotary joint is unlocked and in the disengaged position. In one embodiment, the first braking member 742 has a tapered outer surface, referred to herein as a tapered member, and the second braking member has a surface that mates with the tapered outer surface of the tapered member, referred herein as a cup-shaped member. When the tapered member 742 contacts the cup-shaped member 744, the rotary joint 700 is in the locked and engaged position. The positions of various components of the rotary joint in the disengaged and engaged positions are discussed herein.

[0116] The actuation module includes a motor 170 driving a camshaft 140, the camshaft 140 having a cam member 142 that engages and moves a spring assembly. The spring assembly includes a follower 707 in contact with the cam 142. The follower 707 is connected to an upper spring housing 710 having a cavity receiving a spring member 712. The spring member 712 extends between the upper spring housing 710 and a lower spring housing 714. In one embodiment, the spring 712 is a compression spring preloaded to a given force. A bolt 716 extends between the upper spring housing 710 and the lower spring housing 714 through the longitudinal axis of the spring assembly. The upper spring housing 710 and the lower spring housing 714 are not directly connected, but are positioned relative to each other in a disengaged position by the bolt. (Reference) Figure 17 The upper spring housing moves within a cavity defined by an outer circular member 718, which is operatively fixed to the first housing 70a. The lower spring housing 714 has an upwardly extending member 720 adjacent to the radially outer surface 721 of the outer circular member 718.

[0117] refer to Figure 17A When the brake assembly is in the disengaged position, the bolt nut 722 is positioned adjacent to and in contact with the lower surface 724 of the lower spring housing 714. In this disengaged position, the bolt 716, the lower spring housing 714, and the upper spring housing 710 are fixed to each other. Since the follower 707 only contacts the cam 142 and is not constrained by the cam 142, the follower 707 is kept in contact with the cam in the disengaged position by the longitudinal biasing force of the bellows assembly 726.

[0118] refer to Figure 17 and Figure 18The bellows assembly 726 includes an upper end cap 730 operably connected to a first housing 70a and a second or lower end cap 732 operably connected to a lower spring housing. A bellows member 728 is secured to the upper bellows end cap 730 at the upper end 734 of the first bellows and connected to the lower end cap 732 at the lower end 736 of the second bellows. In the disengaged position, the bellows assembly 726 provides a biasing force against the spring assembly, which holds the follower 707 in contact with the cam 142. This biasing force is provided by the spring nature of the bellows member 728, which provides a spring force along the longitudinal axis of the spring housing in a direction away from the cup-shaped member 744 toward the cam 142. The bellows assembly 726 provides a torsional stiffness similar to that discussed herein with respect to the bellows assembly 160. Once the lock is moved to the engaged position, the torsional stiffness of the bellows assembly 726 minimizes any backlash of the joint. In other words, once the braking system is in the engaged position, the torsional stiffness of the bellows assembly 726 resists the rotation of the joints 70, 74 or 78.

[0119] The tapered member 742 is operatively fixed to the lower bellows end cap 732, and thus, in the disengaged position, the tapered member 742 rises and disengages from the cup-shaped member 744 by the biasing force of the bellows member 728. As described herein, the engagement of the tapered member 742 and the cup-shaped member 744 forms the brake 708.

[0120] Now let's turn to the operation of the braking system, and refer to... Figure 17A and Figure 17BWhen the operator signals the motor 170 to rotate the camshaft 140 from the disengaged position to the engaged position, the cam profile of the cam 142 moves the follower 707 and the entire spring assembly along the longitudinal axis of the spring assembly in a direction toward the cup-shaped member 744. The tapered member 742, operably connected to the spring assembly, moves to contact the cup-shaped member 744. The lower spring assembly housing 714 can no longer move away from the cam 142. However, the upper spring housing 710 continues to move away from the cam 142, and the bolt nut 722 separates from the lower surface 724 of the lower spring housing 714. In other words, once the tapered member 742 contacts the cup-shaped member 744, the continued downward movement of the follower 707 results in the lower spring housing 714 being in a fixed relationship with the housing 70b. Because the nut can continue to move downwards into the lower cavity 738 away from the cam 142, the preload force of the spring 712, constrained by the upper spring housing 710 and the lower spring housing 714, is transmitted to the interface between the tapered member 742 and the cup-shaped member 744, thereby providing locking between the first connector housing 70a and the second housing 70b. The preload force of the spring 712 is significantly greater than the bellows spring force biasing the spring housing in the direction toward the cam 142. In one embodiment, the preload force of the spring 712 is 1800 N. However, other preload forces are also possible, such as those between 1600 N and 2000 N. In one embodiment, the preload force is less than 1600 N, and in another embodiment, the preload force is greater than 2000 N.

[0121] When the user signals the motor 170 to rotate the camshaft 140 from the engaged position to the disengaged position, the spring force of the spring 712 is again constrained between the nut 722 and the head 740 of the bolt 716 between the upper spring housing 710 and the lower spring housing 714. The spring force of the bellows member 728 then moves the tapered member 742 and the spring assembly in a direction from the cup-shaped member 744 toward the camshaft 140 to maintain contact between the follower 707 and the cam member. The spring force of the bellows member 728 is sufficient to separate the engagement of the tapered surface of the tapered member 742 with the matching tapered surface of the cup-shaped member 744. The tapered surface of the outer surface of the tapered member 742 is adjacent to the tapered surface 746 of the cup-shaped member 744. The cup-shaped member 744 and the tapered member 742 are similar to the cup-shaped member 150 and the tapered member 154, and have the same geometry as discussed herein with respect to the cup-shaped member 150 and the tapered member 154.

[0122] This article describes various examples of rotary joints. In one example, the rotary joint is a rotating joint. In this respect, the rotating joint has a single degree of freedom, namely, rotation about a single axis.

[0123] Figure 15A and 15B yes Figure 1The example is a top view of a duct-based procedural system, where the positioning system is in different configurations. Figure 15A and 15B An example catheter-based procedure system 500 is illustrated, comprising a patient table 518, a robot actuator 524, and a positioning system 522. As described above, the positioning system 522 can be retracted (together with the robot actuator 524) to allow the patient to be placed on the patient table 518. In this respect, the rotary joint described herein allows the positioning system 522 to be configured for right-handed use (…). Figure 15A Or left-handed configuration () Figure 15B Therefore, the rotary joint allows the positioning system 522 to be manipulated to any of a variety of positions to allow the patient to move to and from the patient table.

[0124] In many cases, Figure 15A The configuration of System 500 in the right-hand configuration is likely as expected. In this respect, Figure 15A In a right-handed configuration, most of the system is far from the patient, allowing the user to operate the system without interference from the system itself. For example, in Figure 15B In the left-hand configuration, most of the positioning system 522 is located in the space between the robot actuator and the patient, thus limiting the operator's field of vision and the operation of the system 500. In the right-hand configuration, most or all of the positioning system does not obstruct the patient and the robot actuator.

[0125] As per the above reference Figure 4 The second arm segment 76 includes a four-bar linkage that allows the third rotary joint 78 to make limited vertical movement relative to the second rotary joint 74. Figure 16A combine Figure 16B The diagram illustrates the operation using the example four-bar linkage. Figure 16A and 16B The illustration shows a system 600 similar to the various systems described above. In this respect, system 600 includes a patient table 618 on which a positioning system 622 is mounted and supports a robot actuator 624. The positioning system 622 is similar to the various positioning systems described above and includes various rotary joints 670, 674, 678 and arm segments connected to the rotary joints. Figure 16A and 16B One of the arm segments shown is link 676, which allows for limited vertical movement of the robot actuator, illustrated in the figure with the cover removed. Figure 16A and 16B As shown, link 676 allows the robot actuator to be in the raised position ( Figure 16A ) and lower position ( Figure 16B And movement and stopping between any locations therein. In this regard, during, for example, moving a patient onto or off the patient table 618, it may be expected that... Figure 16AAn elevated position. For example, an elevated position may be desirable during the installation or removal of a robotic actuator from a positioning system. Additionally, an elevated position can accommodate a larger patient. This may be desired during medical procedures. Figure 16B The position is lowered to move the robot actuator closer to the patient.

[0126] This written description uses examples to disclose the invention, including the best mode, and also enables any person skilled in the art to make and use the invention. The scope of the invention is defined by the claims, but may include other examples that would occur to a person skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that are not different from the literal language of the claims, or if such other examples include equivalent structural elements that are not substantially different from the literal language of the claims. According to alternative embodiments, the order and sequence of any process or method steps may be changed or reordered.

[0127] Many other changes and modifications can be made to this invention without departing from the spirit of the invention. The scope of these and other changes will become apparent from the appended claims.

Claims

1. A rotary joint assembly for a robotic medical system, wherein, The rotary joint assembly includes: At least one arm segment; and A rotary joint disposed at one end of the boom segment, the rotary joint allowing the boom segment to rotate about a rotation axis, the rotary joint comprising: A brake for locking the rotation of the arm segment at the rotary joint; and An actuator that selectively engages or disengages the brake, the actuator comprising a cam having two stabilizing regions separated by two transition regions, the two stabilizing regions including a first stabilizing region corresponding to brake engagement and a second stabilizing region corresponding to brake disengagement; A bellows assembly, circumferentially positioned around the brake, provides torsional stiffness during brake engagement to produce substantially zero recoil upon engagement or disengagement.

2. The rotary joint assembly according to claim 1, wherein, The brake includes: A cup-shaped piece with a tapered inner perimeter; and When the brake is engaged, a tapered member is used to receive the tapered inner periphery of the cup-shaped member. Engaging the brake includes moving the conical inner periphery of the cup-shaped member to contact the conical member.

3. The rotary joint assembly according to claim 2, wherein, The cup-shaped component has a tapered inner perimeter with a taper angle between 15 degrees and 30 degrees.

4. The rotary joint assembly according to claim 3, wherein, The cup-shaped component has a tapered inner perimeter with a taper angle of 17 degrees.

5. The rotary joint assembly according to claim 1, wherein, The brake includes a plurality of first disc brake portions connected to the inner housing and a plurality of second disc brake portions connected to the outer housing, wherein the inner housing rotates relative to the outer housing during rotation of the arm segment about the rotary joint.

6. The rotary joint assembly according to claim 5, wherein, The friction surfaces of the first disc brake portion and the corresponding friction surfaces of the second disc brake portion are circumferentially intersected between the inner housing and the outer housing.

7. The rotary joint assembly according to claim 6, wherein, The first disc brake portion includes an internal non-planar portion located between the inner housing and the corresponding friction surface. The internal non-planar portion includes a first end connected to the inner housing and a second end connected to the friction surface; The first end and the second end of the internal non-planar portion are axially offset.

8. The rotary joint assembly according to claim 6, wherein, The second disc brake portion includes an external non-planar portion located between the housing and the corresponding friction surface; and The external non-planar portion includes a first end connected to the outer shell and a second end connected to the corresponding friction surface; The first end and the second end of the external non-planar portion are axially offset.

9. The rotary joint assembly according to claim 1, wherein, The actuator includes a spring for biasing the brake against the cam to a disengaged position.

10. The rotary joint assembly according to claim 9, in, The two stable regions of the cam include: A first stable region, corresponding to the locked position, results in the application of a force that causes the spring to compress and engage the brake; and The second stable region corresponds to the unlocked position and results in no force and disengagement of the brake; The two transition regions of the cam include: The gradual transition region from the second stable region to the first stable region; and A rapid transition region from the first stable region to the second stable region.

11. The rotary joint assembly according to claim 1, wherein, The rotary joint allows the arm segment to rotate between a left-hand position and a right-hand position.

12. The rotary joint assembly according to claim 1, wherein, The cam is positioned on a camshaft driven by a motor.

13. The rotary joint assembly according to claim 12, wherein, The camshaft includes at least one sensor to allow determination of the cam's orientation.

14. The rotary joint assembly according to claim 12, wherein, The camshaft is coupled to a manual actuator to allow the user to rotate the camshaft without operating the motor.

15. The rotary joint assembly according to claim 14, wherein, The camshaft includes a ratchet configured to hold the camshaft in a motor-driven position during manual actuator operation, and the ratchet is further configured to allow the motor to engage the camshaft in the motor-driven position when the motor resumes operation.

16. The rotary joint assembly according to claim 14, wherein, The camshaft includes a ratchet configured to allow the manual actuator to engage the camshaft when the camshaft is not motor-driven, and to allow the manual actuator to disengage from the camshaft when the camshaft is motor-driven.

17. The rotary joint assembly according to claim 1, wherein, The brake includes: The first braking component connected to the housing; and A second braking component is connected to the inner housing, which is rotatable relative to the outer housing about a rotation axis. The first braking component and the second braking component can selectively engage with each other to engage the brake.

18. A robotic medical system, comprising: A brake for locking the movement of at least a portion of the robotic medical system; and An actuator that selectively engages or disengages the brake, the actuator comprising a cam having two stabilizing regions separated by two transition regions, the two stabilizing regions including a first stabilizing region corresponding to brake engagement and a second stabilizing region corresponding to brake disengagement; and A bellows assembly, circumferentially positioned around the brake, provides torsional stiffness during brake engagement to produce substantially zero recoil upon engagement or disengagement.

19. A rotary joint assembly for a robotic medical system, the rotary joint assembly comprising: At least one arm segment; and A rotary joint disposed at one end of the boom segment, the rotary joint allowing the boom segment to rotate about a rotation axis, the rotary joint comprising: A brake for locking the rotation of the arm segment at the rotary joint; Actuator that selectively engages or disengages the brake; and A bellows assembly, circumferentially positioned around the brake, provides torsional stiffness during brake engagement to produce substantially zero recoil upon engagement or disengagement. The brake includes: A cup-shaped piece with a tapered inner perimeter; and A tapered member, used to receive the tapered inner periphery of the cup-shaped member when the brake is engaged. The engagement of the brake includes moving the inner conical periphery of the cup-shaped member to contact the conical member.

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