Articulation for a robotic arm to provide energy efficient braking functionality - Patents.com

Abstract

The present invention provides an articulation apparatus (10) for a robotic arm (20), in particular a robotic arm (20) for use in microsurgery, the articulation apparatus (10) comprising at least one brake device (100) configured for engagement and disengagement, the articulation apparatus (10) comprising a stator assembly (102) and a rotor assembly (104), and further configured to be operable with minimal power consumption in a disengaged state. The present invention further provides a method for operating a braking device (100) in an articulation (10) for a robotic arm (20), in particular a robotic arm (20) for use in microsurgery, the method including at least the steps of: a braking device (100) being provided and configured for engagement and disengagement, the braking device (100) comprising a stator assembly (102) and a rotor assembly (104), and the braking device (100) being further operated with minimal power consumption in a disengaged state.

Description

[Technical field]

[0001] The present invention relates to an articulated arrangement for a robot arm having at least one braking device, a robot arm and a method for operating a braking device in an articulated arrangement.

[0002] The invention relates in particular to an articulation device for a robot arm, in particular for use in microsurgery, having at least one braking device.

[0003] Furthermore, the invention relates in particular to a robot arm, in particular for use in microsurgery, equipped with such an articulated device.

[0004] Furthermore, the invention relates in particular to a method for operating a brake device in an articulated arrangement for a robotic arm, in particular for use in microsurgery. [Background technology]

[0005] Generally, a braking device, e.g., an electromagnetic brake, may be configured to provide a braking effect in a current-free state, e.g., by utilizing a magnetic field provided by a permanent magnet. To disable said braking effect, the magnetic field provided by said permanent magnet is typically displaced by an opposing electromagnetic field, i.e., in a current-carrying state. However, the power required to remain in a disabled state of said braking effect typically tends to be at a relatively high level, resulting in undesirable heating due to the electromagnetic brake. In particular, such electromagnetic brakes are typically operated by increasing the power above a disable value to disable the braking effect, and decreasing the power again below the braking effect value to reapply the braking effect, thereby requiring a lot of power. In this respect, the generated heat, i.e. high temperatures, may consequently be transferred to the environment of the brake, e.g., to adjacent elements, which may result in uncontrolled changes in the dimensions of said environment / elements.

[0006] For example, the above-mentioned effects can be problematic when occurring in applications requiring high precision, such as surgical procedures, particularly microsurgical or super-microsurgical procedures, such as articulating and / or robotic devices used for precise surgical manipulation in such procedures.

[0007] Furthermore, from an economic point of view, the above mentioned effects may be considered disadvantageous (eg, with regard to high power consumption). Summary of the Invention [Problem to be solved by the invention]

[0008] In view of the above, it is an object of the present invention to provide an articulation arrangement for a robot arm having at least one braking device, which is able to operate more economically and more precisely. [Means for solving the problem]

[0009] According to the invention, this object is achieved by an articulation device for a robotic arm, in particular for use in microsurgery, as claimed in claim 1.

[0010] Correspondingly, an articulation apparatus for a robotic arm, particularly a robotic arm for use in microsurgery, comprises at least one brake device configured for engagement and disengagement, comprising a stator assembly and a rotor assembly, and further configured to be operable with minimal power consumption in a disengaged state.

[0011] The at least one braking device may be exactly one braking device, or may be two or more braking devices.

[0012] The braking device may be configured as an electromagnetic brake.

[0013] The minimum power consumption may be the power consumption required to maintain the brake device in a disengaged state, and the minimum power consumption may be lower than the power consumption required to switch from an engaged state to said disengaged state.

[0014] In particular, the minimum power consumption may differ from the power consumption required to switch between the engaged state and the disengaged state by at least 0-5%, preferably 0-10% (e.g., 5-10%), more preferably 0-15% (e.g., 5-15%, or 10-15%), even more preferably 0-20% (e.g., 5-20%, or 10-20%, or 15-20%), or 0-25% (e.g., 5-25%, or 10-25%, or 15-25%, or 20-25%).

[0015] The articulation system described aims at one possible system for a 75% power reduction between disengaging the brake and leaving it disengaged.

[0016] The invention is based on the basic idea that the brake device of the articulation device can be operated with a minimum power consumption, thereby using less power and generating less heat. The articulation device can therefore be operated more economically and at the same time also more precisely, due to the reduced thermal expansion. By utilizing the hysteresis effect of the brake device, an operation with a minimum power consumption is possible. In particular, the hysteresis effect of the brake device may occur in the range between the power required for disengagement and the power required for engagement. For example, if the power falls below the power required for disengagement but remains above the power required for engagement, the brake device may still remain in a stable disengaged state. Furthermore, the articulation device can be improved also with regard to safety conditions, since the heat generation can be reduced.

[0017] The braking device may comprise at least one permanent magnet assigned to the rotor assembly for providing a braking effect during engagement and at least one electromagnet assigned to the stator assembly for releasing the braking effect during disengagement, the permanent magnet and the electromagnet being arranged or positionable relative to one another to have a gap therebetween to enable the braking device to be operable with minimal power consumption, in other words, the permanent magnet and the electromagnet being arranged or positionable relative to one another to have a gap therebetween to maintain a hysteresis effect therebetween during operation.

[0018] Alternatively, the permanent magnets may be replaced by a spring element or any element capable of exerting a force to provide a braking effect.

[0019] The gap may be less than 1 mm ±10%, particularly less than 1 mm ±5%, particularly less than 1 mm ±3%. For example, the gap may be in the range of 0.2 mm ±5% to 0.5 mm ±5%, or the gap may be in the range of 0.5 mm ±5% to 0.8 mm ±5%, or the gap may be in the range of 0.8 mm ±5% to 1 mm ±5%.

[0020] Alternatively, the gap may be less than 0.8mm±10%, in particular less than 0.8mm±5%, especially less than 0.8mm±3%.

[0021] It is also conceivable that the gap may be less than 0.5 mm ± 10%, in particular less than 0.5 mm ± 5%, in particular less than 0.5 mm ± 3%.

[0022] In particular the gap may be 0.5mm±10%, in particular 0.5mm±5%, in particular 0.5mm±3%.

[0023] As one possible example, the gap between the brake and the brake disc may be 0.2mm±0.1mm, typically in the range of 0.20mm to 0.30mm. The tolerance of the gap may be 0.0171 to 0.329mm.

[0024] The articulation device may further comprise at least one motor stack having a rotor assembly and a stator assembly, and the brake device may be arranged in connection with the motor stack or in the motor stack. In particular, the brake device may be arranged in connection with a central motor shaft of the motor stack or in the central motor shaft. In other words, the brake device may be arranged to enable the brake device to apply a braking effect to the motor stack, in particular to the rotor assembly of the motor stack. Thus, the brake device is configured to apply a braking effect to the motor stack, in particular to the rotor assembly of the motor stack.

[0025] The rotor assembly of the braking device may be configured as part of the rotor assembly of the motor stack, and the stator assembly of the braking device may be configured as part of the stator assembly of the motor stack. For example, the rotor assembly of the braking device may be fixed to the rotor assembly of the motor stack by a shaft hub connection, thereby forming part of the rotor assembly of the motor stack. However, any other suitable connection may also be applicable. Thus, the braking effect applicable by the braking device may be provided to the motor stack more directly, for example without intermediate elements (e.g. transmission elements).

[0026] The motor stack may comprise at least one spring, in particular at least one leaf spring, configured to provide a spring force to the brake device. For example, the spring may be arranged in connection with or on a central motor shaft of the motor stack, thereby providing said spring force to a brake device also arranged in connection with or on the central motor shaft. In other words, the spring force may be provided to the brake device via the central motor shaft. In particular, the spring may be configured to provide a spring force to the brake device in order to enhance a hysteresis effect of the brake device.

[0027] Furthermore, according to the invention, the above mentioned object is also achieved by a robot arm according to claim 7, in particular a robot arm for use in microsurgery.

[0028] Correspondingly, a robotic arm, in particular a robotic arm for use in microsurgery, comprises an articulation device as described herein, such as the articulation devices described above and / or further below.

[0029] The robotic arm may further comprise one or more additional articulated devices specifically configured as described herein, for example as described above and / or further below.

[0030] In other words, the robotic arm may comprise one or more articulated devices, and at least one of the articulated devices may be configured as described herein, such as above and / or further below.

[0031] Furthermore, according to the invention, the above mentioned object is also achieved by a method for operating a brake device in an articulated arrangement for a robotic arm, in particular a robotic arm for use in microsurgery, according to claim 8.

[0032] Correspondingly, a method for operating a brake device in a robotic arm (e.g., a robotic arm as described herein, e.g., above and / or further below), in particular an articulated arrangement for a robotic arm for use in microsurgery (e.g., an articulated arrangement as described herein, e.g., above and / or further below), the method comprising at least the steps of: providing and configuring the brake device for engagement and disengagement, the brake device comprising a stator assembly and a rotor assembly, and the brake device further operating with minimal power consumption in a disengaged state.

[0033] Thus, as described above, the method allows the brake device of the articulation device to operate with minimal power consumption, thereby using less power and generating less heat, and therefore the articulation device can operate more economically and at the same time more accurately due to reduced thermal expansion.

[0034] The brake device may be further configured to engage at an engagement threshold and to disengage at a disengagement threshold that is higher than the engagement threshold, thus ensuring that the brake device functions as a holding brake. In the event of a loss of power, the brake device may prevent the articulation device from continuing to move, as the engagement threshold may be less than the disengagement threshold.

[0035] The method may further include the steps of: providing full power to the brake device by applying pulse width modulation (PWM) to disengage the brake device, reducing the power provided to the brake device to a first predetermined power value by applying PWM, the first predetermined power value being set between a disengagement threshold and an engagement threshold, and maintaining the power provided to the brake device at the first predetermined power value by applying PWM to keep the brake device disengaged. Thus, the brake device may be switched to its disengaged state by application of a full power PWM signal and may thereafter be maintained in the disengaged state by application of a reduced power PWM signal lower than the disengagement threshold and higher than the engagement threshold, thereby taking advantage of the hysteresis of the brake device and thus saving power and generating less heat.

[0036] The method may further include reducing the power provided to the braking device to a second predetermined power value by applying PWM to engage the braking device, the second predetermined power value may be set below the engagement threshold.

[0037] The first predetermined power value may be half of the total power that can be or is provided to the braking device by applying pulse width modulation (PWM) to disengage the braking device. Thus, by halving the power, an energy reduction of approximately 25% may be achieved or may be achievable.

[0038] Additionally and / or alternatively, a 75% power reduction can be achieved by halving the voltage.

[0039] Power reduction can also be affected by PWM, where a PWM equivalent of halving the voltage is applied resulting in approximately a 75% power reduction.

[0040] The second predetermined power value may be zero, ie, substantially no power.

[0041] The total power that can be provided or is provided to the braking device by applying PWM to disengage the braking device may comprise a 24V signal. In this respect, the first predetermined power value may be 12V. However, any other signal for the total power may also be considered, for example a 12V signal or a 48V signal. The second predetermined power value may be 0V (i.e. zero).

[0042] The disengage threshold may be 5 / 8 of the full power. For example, for a full power with a 24V signal, the disengage threshold may be 15V.

[0043] The engagement threshold may be 1 / 3 of the full power, for example for a full power with a 24V signal, the engagement threshold may be 8V.

[0044] Providing full power to the braking device by applying PWM to disengage the braking device may be maintained for a first predetermined period of time, and maintaining the power provided to the braking device by applying PWM to maintain the braking device disengaged at the first predetermined power value may be maintained for a second predetermined period of time, which may be longer than the first predetermined period of time. Thus, full power may be used (e.g., only used) to switch the braking device to a disengaged state for a relatively short period of time (e.g., compared to maintaining the disengaged state), thereby allowing the braking device to operate economically and preventing excessive heating.

[0045] The braking device may comprise at least one permanent magnet for providing a braking effect during engagement and at least one electromagnet for releasing the braking effect during disengagement. The electromagnet may be configured to provide an electromagnetic field to oppose the magnetic field of the permanent magnet to neutralize the braking effect of the braking device.

[0046] The braking device may be disposed in connection with or within the motor stack of the articulation device.

[0047] The motor stack may comprise at least one spring, in particular at least one leaf spring, configured to provide a spring force to the braking device.

[0048] It should be understood that any feature described in relation to the articulated device and / or robotic arm may also be part of a method for operating a braking device in an articulated device, and vice versa. It should be further understood that any advantage and / or property described in relation to the articulated device and / or robotic arm may also apply to a method for operating a braking device in an articulated device, and vice versa.

[0049] Further details and advantages of the invention will now be disclosed in connection with the drawings. [Brief description of the drawings]

[0050] [Figure 1] 1 illustrates a schematic cross-sectional view of a joint arrangement for a robot arm according to an exemplary embodiment of the present invention;

[0051] [Figure 2A] FIG. 13 illustrates a cross-sectional view of a motor stack of an articulation arrangement for a robot arm according to another exemplary embodiment of the present invention.

[0052] [Figure 2B] 2B shows a schematic cross-sectional view of a portion of the motor stack of FIG. 2A.

[0053] [Diagram 3] 1 illustrates a schematic diagram of a robotic arm according to another exemplary embodiment of the present invention;

[0054] [Figure 4]FIG. 13 shows a diagram depicting a method for operating a brake device in an articulation arrangement for a robotic arm according to another exemplary embodiment of the present invention.

[0055] [Diagram 5] 5 shows a schematic diagram depicting the operational behavior of the method of FIG. 4.

[0056] [Figure 6] FIG. 2B shows a diagram depicting a method of assembling the motor stack of FIG. 2A according to another exemplary embodiment of the present invention.

[0057] [Figure 7] 7A and 7B are schematic diagrams illustrating a part of the assembly method of FIG. 6;

[0058] [Figure 8] 7A and 7B are schematic diagrams illustrating a part of the assembly method of FIG. 6;

[0059] [Figure 9] 7A and 7B are schematic diagrams illustrating a part of the assembly method of FIG. 6;

[0060] [Figure 10] 7A and 7B are schematic diagrams illustrating a part of the assembly method of FIG. 6;

[0061] [Figure 11] 7A and 7B are schematic diagrams illustrating a part of the assembly method of FIG. 6;

[0062] [Figure 12A] 7A and 7B show schematic diagrams of alternatives to the assembly method of FIG. 6. [Figure 12B] 7A and 7B show schematic diagrams of alternatives to the assembly method of FIG. 6. [Figure 12C] 7A and 7B show schematic diagrams of alternatives to the assembly method of FIG. 6.

[0063] [Figure 13] 7A and 7B are schematic diagrams illustrating a part of the assembly method of FIG. 6;

[0064] [Figure 14] 7A and 7B are schematic diagrams illustrating a part of the assembly method of FIG. 6; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0065] Identical or functionally equivalent elements are designated with the same reference numbers throughout the drawings.

[0066] Referring to FIG. 1, there is shown a schematic cross-sectional view of an articulation device 10 for a robotic arm 20 in accordance with an exemplary embodiment of the present invention.

[0067] The articulation device 10 comprises a braking device 100 .

[0068] The braking device 100 is configured as an electromagnetic brake.

[0069] The braking device 100 is configured for engagement and disengagement.

[0070] Engaged corresponds to a state in which a braking effect is applied by the braking device 100, and disengaged corresponds to a state in which a braking effect is not applied by the braking device 100.

[0071] The braking device 100 is further configured to be operable with minimal power consumption in a disengaged state, which is described further below.

[0072] The braking device 100 includes a stator assembly 102 and a rotor assembly 104 .

[0073] The braking device 100 further includes a permanent magnet 106 for providing a braking effect during engagement.

[0074] Permanent magnets 106 are assigned to the rotor assembly 104 .

[0075] The permanent magnet 106 has a structure that is substantially symmetrical with respect to the central axis.

[0076] The braking device 100 also comprises an electromagnet 108 for relieving the braking effect during disengagement.

[0077] An electromagnet 108 is assigned to the stator assembly 102 .

[0078] The electromagnet 108 has a structure that is substantially symmetrical with respect to the central axis.

[0079] The permanent magnet 106 and the electromagnet 108 are disposed opposite each other such that their axes of symmetry coincide. In this regard, the permanent magnet 106 and the electromagnet 108 are disposed or can be disposed relative to each other such that there is a gap G therebetween.

[0080] The gap G between the permanent magnet 106 and the electromagnet 108 is dimensioned to enable the braking device 100 to be operable with minimal power consumption, e.g., to exploit the hysteresis effect between them during operation in order to be operable with minimal power consumption.

[0081] In this embodiment, the gap G is 0.5 mm±10%.

[0082] However, it is also conceivable that the gap G is alternatively dimensioned as follows: the gap may be less than 1 mm ± 10%, in particular less than 1 mm ± 5%, in particular less than 1 mm ± 3%. For example, the gap may be in the range of 0.2 mm ± 5% to 0.5 mm ± 5%, or the gap may be in the range of 0.5 mm ± 5% to 0.8 mm ± 5%, or the gap may be in the range of 0.8 mm ± 5% to 1 mm ± 5%. Alternatively, the gap may be less than 0.8 mm ± 10%, in particular less than 0.8 mm ± 5%, in particular less than 0.8 mm ± 3%. It is also conceivable that the gap may be less than 0.5 mm ± 10%, in particular less than 0.5 mm ± 5%, in particular less than 0.5 mm ± 3%.

[0083] As can be seen in FIG. 1, the articulation device 10 further includes a motor stack 110.

[0084] A motor stack 110 is disposed within the articulation device 10 for driving a pulley 112 to transmit torque via a belt 114 .

[0085] Furthermore, in the exemplary embodiment, the articulation device 10 also includes a control unit 116 for controlling the motor stack 110 and / or the braking device 100 .

[0086] However, it is also conceivable that the control unit 116 is constructed as an element separate from the articulation device 10 and is connected to the articulation device 10 for signal transmission.

[0087] The motor stack 110 includes a rotor assembly 118 and a stator assembly 120 .

[0088] The rotor assembly 118 of the motor stack 110 is formed in part by a central motor shaft 122 of the motor stack 110 .

[0089] The braking device 100 is disposed in connection with the motor stack 110 or within the motor stack 110 .

[0090] In particular, the braking device 100 is disposed on the central motor shaft 122 of the motor stack 110 .

[0091] Thus, the braking device 100 is positioned to enable the braking device 100 to apply a braking effect to the motor stack 110 , and in particular to the rotor assembly 118 of the motor stack 110 .

[0092] In this regard, the rotor assembly 104 of the braking device 100 is rotatable together with the rotor assembly 118 of the motor stack 110, and the stator assembly 102 of the braking device 100 is non-rotatable, e.g., fixed, together with the stator assembly 120 of the motor stack 110.

[0093] Thus, the rotor assembly 104 of the braking device 100 can be viewed as being configured as part of the rotor assembly 118 of the motor stack 110, and the stator assembly 102 of the braking device 100 can be viewed as being configured as part of the stator assembly 120 of the motor stack 110.

[0094] For example, in this embodiment, the rotor assembly 104 of the braking device 100 is secured to the rotor assembly 118 of the motor stack 110 by a shaft hub connection 124 , thereby forming part of the rotor assembly 118 of the motor stack 110 .

[0095] Thus, the rotor assembly 118 of the motor stack 110 and the rotor assembly 104 of the braking device 100 stop or can be stopped together when the braking device 100 is engaged, and also release or can be released together when the braking device 100 is disengaged.

[0096] 2A and 2B, cross-sectional views of a motor stack 110 of an articulation system 10 for a robotic arm 20 are shown generally in greater detail in accordance with another exemplary embodiment of the present invention.

[0097] The motor stack 110 shown in Figures 2A and 2B is substantially similar to that described above with particular reference to the articulation device 10 shown in Figure 1, so only the differences will be described below.

[0098] It should be understood that the motor stack 110 of Figure 1 may be replaced with the motor stack 110 of Figures 2A and 2B. Thus, the articulation device 10 of Figure 1 may alternatively be equipped with the motor stack 110 of Figures 2A and 2B.

[0099] In other words, the motor stack 110 of FIGS. 2A and 2B may be configured to be integrated into an articulation device 10 for a robotic arm 20, and in particular into the articulation device 10 of FIG.

[0100] With reference to FIG. 2A, the motor stack 110 further includes a first housing 126 , a second housing 128 , an intermediate flange 130 , and a cover 132 .

[0101] The first housing 126 is connected or connectable to a second housing 128 , which is connected or connectable to an intermediate flange 130 and a cover 132 .

[0102] Respective seals are disposed between the first housing 126 and the second housing 128, and between the second housing 128 and the cover 132.

[0103] The motor shaft 122 is substantially surrounded by a cover 132 and the first and second housings 126, 128, and protrudes from the first housing 126 so as to be able to output torque.

[0104] The motor stack 110 further includes a first bearing 134 and a second bearing 136 .

[0105] The first and second bearings 134, 136 are each configured as a ball bearing, however, any other bearing configuration is also contemplated.

[0106] A first bearing 134 is disposed within the first housing 126 and rotatably retains the motor shaft 122 in a first position.

[0107] In particular, the first bearing 134 is disposed in an opening in the first housing 126, and the motor shaft 122 extends through the opening and protrudes from the first housing 126 to output torque.

[0108] The braking device 100 is disposed within the first housing 126 adjacent to the first bearing 134 .

[0109] In particular, the electromagnet 108 of the braking device 100 is fixed to the first housing 126 .

[0110] The motor shaft 122 extends, for example rotatably, through a central passage formed in the electromagnet 108 .

[0111] The permanent magnet 106 is fixed to a flange 138 of the motor stack 110, i.e. the motor stack 110 further comprises a flange 138 for connection to the braking device 100, in particular to the permanent magnet 106. However, it is also conceivable to configure the flange 138 as part of the braking device 100.

[0112] The flange 138 (along with the permanent magnets 106 ) is secured to the motor shaft 122 by the shaft hub connection 124 previously described.

[0113] At this point, the permanent magnet 106 (on the flange 138) and the electromagnet 108 are positioned to form the aforementioned gap G therebetween.

[0114] A second bearing 136 is disposed in the intermediate flange 130 fixed to the second housing 128 and rotatably retains the motor shaft 122 in the second position.

[0115] Thus, the second housing 128 is fixed at one end to the first housing 126 and at its opposite end to the cover 132, with the intermediate flange 130, and thus the second bearing 136, being disposed at said opposite end between the cover 132 and the second housing 128.

[0116] As seen in FIG. 2B, the intermediate flange 130 is pretensioned to the second housing 128 by at least one pretension spring 148, for example, three pretension springs 148 can be equally positioned on (e.g., around) the intermediate flange 130 relative to the central axis or relative to the motor shaft 122 when mounted.

[0117] The pretension spring 148 is configured as a compression spring.

[0118] Since the intermediate flange 130 is pretensioned by the pretension spring 148, the second bearing 136 is also pretensioned, thereby eliminating axial backlash.

[0119] Furthermore, the motor stack 110 comprises at least one further spring 150 , in particular at least one leaf spring 150 .

[0120] The leaf spring 150 is fixed on one side to the second housing 128 and communicates on its other side with the rotatable portion of the motor shaft 122 and / or the intermediate flange 130 and / or the second bearing 136 .

[0121] The leaf spring 150 is configured to provide a spring force to the braking device 100, in particular to the permanent magnets 106 of the braking device 100, via the motor shaft 122. The spring force provided by the leaf spring 150 can thus enhance the hysteresis effect of the braking device 100.

[0122] Additionally, the leaf spring 150 can radially support the second bearing (via the motor shaft 122).

[0123] A drive assembly 140 is disposed within the first and second housings 126 , 128 adjacent to the second bearing 136 .

[0124] In other words, the motor stack 110 includes a drive assembly 140 for driving, for example, to generate torque.

[0125] The drive assembly 140 (e.g., motor rotor 140-1, motor stator 140-2, and motor PCB) is rotatably disposed partially on the motor shaft 122 (i.e., rotatable portion 140-1 of the drive assembly 140) and non-rotatably disposed in the first and / or second housings 126, 128 (i.e., non-rotatable portion 140-2 of the drive assembly 140), as is commonly known in the art.

[0126] A drive assembly 140 is disposed within the cover 132 and is connected to a drive PCB 142 that is retained therein by a PCB retention structure 144 .

[0127] The drive PCB 142 is signal connected to an encoder 146 disposed on the end of the motor shaft 122 .

[0128] Accordingly, the motor stack 110 also includes the drive PCB 142 for controlling the drive assembly 140, the PCB holding structure 144, and the encoder 146 for determining the angular position of the motor shaft 122, as is commonly known in the art.

[0129] Thus, with reference to FIG. 2A , when viewed along the motor shaft 122, the above-mentioned elements are arranged substantially in the following order: first bearing 134, electromagnet 108, permanent magnet 106, flange 138, rotatable portion 140-1 of drive assembly 140, second bearing 136, and encoder 146.

[0130] It should be understood that additional elements may be disposed on or connected to the motor shaft 122, such as one or more bushings, one or more retaining rings, one or more sleeves, one or more spacers, one or more retaining washers, and / or one or more slotted / grooved nuts (e.g., as exemplarily shown in FIG. 2A).

[0131] Examples of such additional elements are illustratively shown and illustratively described in connection with the assembly methods of FIGS. 6-14 further below.

[0132] 2A and 2B, the brake device 100 can apply a braking effect to the motor shaft 122 (during engagement) by means of a permanent magnet 106 and can release the braking effect from the motor shaft (during disengagement) by means of an electromagnet 108.

[0133] Referring now to FIG. 3, a robotic arm 20 is shown generally in accordance with another exemplary embodiment of the present invention.

[0134] The robotic arm 20 is particularly configured for use in microsurgery.

[0135] The robotic arm 20 comprises an articulation device 10, such as an articulation device 10 as described herein, such as those described above and / or further below.

[0136] The articulation device 10 forms a sub-arm 200 of a robot arm 20 .

[0137] The robotic arm 20 further comprises a further sub-arm 202 for articulation purposes.

[0138] Each respective sub-arm 202 may comprise at least one brake device 100 and / or at least one motor stack 110 as described herein. The sub-arms 202 may thus be formed by one or more further articulation devices specifically configured as described herein, for example as described above and / or further below.

[0139] In other words, the robotic arm 20 may include one or more articulation devices 10, and at least one of the articulation devices 10 may be configured as described herein, for example as described above and / or further below.

[0140] As can be seen in FIG. 3, the robotic arm 20 further comprises an adapter assembly 204 for holding a surgical instrument 206, thereby allowing it to be used in surgery, particularly microsurgery.

[0141] The adapter assembly 204 is rotatably connected to the articulation device 10 .

[0142] The adapter assembly 204 can be rotated by applying a torque provided or capable of being provided by the motor stack 110 in the articulation device 10, which torque is transmitted or capable of being transmitted to the adapter assembly 204 via the belt 114 and pulley 112 in the articulation device 10.

[0143] Furthermore, the rotation of the adapter assembly 205 can be stopped by activating a brake device 100 assigned to said motor stack 110 .

[0144] 4 and 5, a diagram illustrating a method for operating a brake device 100 in an articulation apparatus 10 (e.g., the articulation apparatus 10 described in connection with FIGS. 1-2B) for a robot arm 20 (e.g., the robot arm 20 described in connection with FIG. 3) according to another exemplary embodiment of the present invention is shown in FIG. 4, and a diagram illustrating the operating behavior of the method of FIG. 4 is shown diagrammatically in FIG. 5.

[0145] A method for operating a braking device 100 in an articulation apparatus 10 for a robotic arm includes at least the steps of providing a braking device 100, the braking device 100 being configured for engagement and disengagement and comprising a stator assembly 102 and a rotor assembly 104, the braking device 100 further operating in a disengaged state with minimal power consumption.

[0146] This method therefore allows the braking device 100 of the articulation device 10 to operate with minimal power consumption, thereby using less power and generating less heat, and therefore the articulation device 10 can operate more economically and at the same time more precisely due to reduced thermal expansion.

[0147] The braking device 100 is configured to engage at an engagement threshold.

[0148] Additionally, the braking device 100 is configured to disengage at a disengagement threshold.

[0149] The disengagement threshold is higher than the engagement threshold.

[0150] The disengagement threshold and the engagement threshold are each less than the total power provided or available to actuate the braking device 100 (eg, without intentional and / or misuse).

[0151] Thus, the braking device 100 can be reliably made to function as a holding brake. In the event of a loss of power, the braking device 100 can prevent the articulation device 10 from continuing to move because the engagement threshold can be made less than the disengagement threshold.

[0152] In particular, with reference to FIG. 4, the method includes the step (S1) of providing full power to the braking device 100 by applying pulse width modulation (PWM) to disengage the braking device 100.

[0153] In the present embodiment, the total power that can be or is provided to the braking device 100 comprises a 24V signal (see PWM signal in FIG. 5 ). However, any other signal for the total power is also conceivable, for example a 12V signal or a 48V signal.

[0154] The disengagement threshold is 5 / 8 of full power.

[0155] Thus, in this embodiment, at full power including the 24V signal, the disengage threshold is 15V (see Disengage Thresholds in FIG. 5).

[0156] The engagement threshold is 1 / 3 of full power.

[0157] Thus, in this embodiment, at full power including the 24V signal, the engagement threshold is 8V (see engagement thresholds in FIG. 5).

[0158] After the braking device 100 has been disengaged by providing full power, e.g., after the braking device 100 has been switched to its (e.g., stable) disengaged state by providing full power, the power is reduced to a first predetermined power value by applying PWM (step S2).

[0159] As seen in FIG. 5, the first predetermined power value is set between the disengagement threshold and the engagement threshold.

[0160] In other words, a step (S2) of reducing the power provided to the braking device 100 to a first predetermined power value by applying PWM is applied, the first predetermined power value being set between the disengagement threshold and the engagement threshold.

[0161] The first predetermined power value is half of the total power that can be or is provided to the braking device 100 by applying the PWM to disengage the braking device 100. In this regard, in this embodiment, the first predetermined power value is 12V (see PWM signal in FIG. 5).

[0162] Therefore, by halving the power, an energy reduction of approximately 25% may be achieved or achievable in this embodiment.

[0163] Then, in order to disengage the braking device 100, ie to keep it in a (stable) disengaged state, the power is maintained at a first predetermined power value by applying PWM (step S3).

[0164] In other words, in order to maintain the braking device 100 in a disengaged state, a step (S3) of applying PWM to maintain the power provided to the braking device 100 at a first predetermined power value is applied.

[0165] Thus, the braking device 100 is or can be switched to its disengaged state by application of a full power PWM signal, and then maintained or can be maintained in the disengaged state by application of a reduced power PWM signal below the disengagement threshold and above the engagement threshold, thereby taking advantage of the hysteresis of the braking device 100 and thus saving power and generating less heat.

[0166] By utilizing the hysteresis effect to apply a PWM signal set below the disengagement threshold, the braking device 100 can be kept disengaged, i.e. in its (stable) disengaged state, so that the braking device 100 can operate at said minimum power consumption in the disengaged state.

[0167] The brake device 100 of the articulation device 10 can therefore operate using less power and therefore generate less heat. The articulation device 10 can therefore operate more economically and at the same time more precisely due to the reduced thermal expansion. Furthermore, the articulation device 10 can also be improved in terms of safety conditions due to the reduced heat generation.

[0168] The above mentioned step (S1) of providing full power to the braking device 100 by applying PWM to disengage the braking device 100 is maintained for a first predetermined period of time.

[0169] Further, the above-mentioned step (S3) of maintaining the power provided to the braking device 100 at a first predetermined power value by applying PWM to keep the braking device 100 disengaged is maintained for a second predetermined period of time.

[0170] As can be seen in the schematic depiction of FIG. 5, the second predetermined period of time is longer (eg, significantly longer) than the first predetermined period of time.

[0171] Thus, all power is used (e.g., only used) to switch the braking device 100 to a disengaged state for a relatively short period of time (e.g., compared to maintaining the disengaged state), thereby operating the braking device 100 economically and preventing excessive heating.

[0172] When the braking device 100 is engaged, ie returned to its engaged state, the power is reduced again to the second predetermined power value by applying PWM in step S4.

[0173] The second predetermined power value is set below the engagement threshold, which in this embodiment is below 8 V. As can be seen in Figure 5, in this embodiment, the second predetermined power value is 0 V (see PWM signal in Figure 5).

[0174] In other words, the method further includes a step (S4) of reducing the power provided to the braking device 100 to a second predetermined power value by applying PWM to engage the braking device 100, the second predetermined power value being set below the engagement threshold.

[0175] It should be understood that any feature described in relation to the articulated apparatus 10 and / or the robotic arm 20 may also be part of a method for operating the braking device 100 on the articulated apparatus 10, and vice versa. It should be further understood that any advantage and / or property described in relation to the articulated apparatus 10 and / or the robotic arm 20 may also apply to a method for operating the braking device 100 on the articulated apparatus 10, and vice versa.

[0176] In this regard, the braking device 100 comprises at least one permanent magnet 106 for providing a braking effect during engagement and at least one electromagnet 108 for releasing the braking effect during disengagement.

[0177] Thus, in another example, the electromagnet 108 is configured to provide an electromagnetic field to counter the magnetic field of the permanent magnet 106 and neutralize the braking effect of the braking device 100 .

[0178] Thus, in another example, the braking device 100 is disposed in connection with or within the motor stack 110 of the articulation device 10 .

[0179] Thus, in yet a further example, the motor stack 110 comprises at least one spring 150 , in particular at least one leaf spring 150 , configured to provide a spring force to the braking device 100 .

[0180] With reference to Figure 6, the present invention further provides a method of assembly of the motor stack 110 described herein to aid in the overall understanding of the present invention, particularly the claimed invention. Accordingly, Figure 6 shows a diagram depicting a method of assembly of the motor stack 110 of Figure 2A according to another exemplary embodiment of the present invention.

[0181] It should be understood that any feature described in relation to the articulated device 10 and / or the robotic arm 20 may also be part of the assembly method, and vice versa. It should further be understood that any advantage and / or property described in relation to the articulated device 10 and / or the robotic arm 20 may also apply to the assembly method, and vice versa.

[0182] For example, in a first step S10, the flange 138 is assembled with the permanent magnet 106.

[0183] In other words, the assembly method includes the step (S10) of assembling a flange subassembly.

[0184] The flange subassembly is substantially formed by the flange 138 and the permanent magnet 106 (see FIG. 7).

[0185] In a further, eg second, step S20, the intermediate flange 130 is assembled with the second bearing 136 and the leaf spring 150.

[0186] In other words, the assembly method further includes the step (S20) of assembling the intermediate flange subassembly.

[0187] The mid-flange subassembly is substantially formed by the mid-flange 130, the second bearing 136 and the leaf spring 150 (see FIG. 8).

[0188] In a further, e.g., third, step S30, the first housing 126 is assembled with multiple elements of the motor stack 110 as described with respect to FIG. 2A, e.g., the flange 138 and the permanent magnet 106, i.e., the flange subassembly discussed above, thereby substantially forming a first housing subassembly.

[0189] In other words, the assembly method further includes a step (S30) of assembling a first housing subassembly (see FIGS. 9 to 12C).

[0190] In a further, eg fourth, step S40, the second housing 128 is attached to the first housing 126, ie, the first housing subassembly.

[0191] In other words, the assembly method further includes a step (S40) of mounting the second housing 128 to the first housing subassembly (see FIG. 13).

[0192] In a further, eg fifth, step S50, the intermediate flange subassembly is attached to the second housing 128 and the first housing subassembly to which the second housing 128 is attached.

[0193] In other words, the assembly method further includes a step (S50) of mounting the intermediate flange subassembly to the second housing 128 and the first housing subassembly (see FIG. 14).

[0194] In a further, e.g., sixth, step S60, the cover 132 is assembled with multiple elements of the motor stack 110 as described with respect to FIG. 2A, thereby substantially forming a cover subassembly, and the cover subassembly is then attached to the assembly resulting from (e.g., fifth) step S50, i.e., substantially formed by the intermediate flange subassembly, the second housing 128, and the first housing subassembly (not specifically shown).

[0195] Therefore, by performing steps S10 to S60, the motor stack 110, for example the motor stack 110 of FIG. 2A, can be assembled.

[0196] It should be understood that the order of the above steps may be changed with respect to technical adequacy. For example, the first step S10 and the second step S20 may be swapped and / or applied during the third step S30 and / or the second step S20 may be applied after the fourth step S40, etc. It should be further understood that any of the above steps may also be applied in parallel with respect to technical adequacy.

[0197] Referring to FIG. 7, a portion of the assembly method of FIG. 6 is shown diagrammatically.

[0198] In particular, the flange subassembly of step S10 is shown diagrammatically.

[0199] The flange subassembly includes the flange 138, a brake armature 300 of the braking device 100 having a permanent magnet 106 (eg, at least one permanent magnet 106) disposed therein or thereon, and at least one fastener 302.

[0200] Fasteners 302 are positioned to secure the brake armature 300 , including the permanent magnets 106 , to the flange 138 .

[0201] In other words, the permanent magnet 106 is secured to the flange 138 by at least one fastener 302 .

[0202] Fastener 302 is configured as a threaded fastener.

[0203] Referring to FIG. 8, a portion of the assembly method of FIG. 6 is shown diagrammatically.

[0204] In particular, the mid-flange subassembly of step S20 is shown diagrammatically.

[0205] The mid-flange subassembly includes the mid-flange 130 , the second bearing 136 , and the leaf spring 150 .

[0206] As can be seen in FIG. 8, the second bearing 136 is pressed into the intermediate flange 130 by a first tool 400, in particular a press tool.

[0207] While the second bearing 136 is pressed into the intermediate flange 130, the intermediate flange 130 is opposed to a pressing direction by a second tool 402, in particular a press tool.

[0208] In other words, the second bearing 136 is press-fitted (eg, press-connected or press-fixed) into the intermediate flange 130 .

[0209] The leaf spring 150 is disposed on the opposite side of the intermediate flange 130 to the side onto which the second bearing 136 is pressed.

[0210] Referring to FIG. 9, a portion of the assembly method of FIG. 6 is shown diagrammatically.

[0211] With particular reference to step S30, the first housing 126 is shown assembled with the electromagnet 108 and first bearing 134 of the braking device 100.

[0212] In this regard, the electromagnet 108 is disposed within the first housing 126 and secured therein by at least one fastener 304 , for example two fasteners 304 .

[0213] In other words, the electromagnet 108 is secured to the first housing 126 by at least one fastener 304 .

[0214] The fastener 304 is configured as a threaded fastener.

[0215] The spacer 306 is disposed within the electromagnet 108 , and in particular within a passage formed within the electromagnet 108 for receiving the motor shaft 122 .

[0216] The spacer 306 is pot-shaped, i.e., it has a cylindrical hollow body with a collar at one end thereof, which protrudes outwardly therefrom.

[0217] The spacer 306 may be configured as a slide bearing.

[0218] As can be seen in FIG. 9, the first bearing 134 is pressed into the first housing 126 by a third tool 404, specifically a press tool.

[0219] During the pressing of the first bearing 134 into the first housing 126, the first housing 126 is opposed to a pressing direction by a fourth tool 406, in particular a pressing tool.

[0220] In other words, the first bearing 134 is press-fit (eg, press-connected or press-fixed) into the first housing 126 .

[0221] The first bearing 134 and the electromagnet 108 are disposed in the first housing 126 so as to sandwich the collar of the spacer 306 therebetween.

[0222] In other words, the collar of the spacer 306 is disposed between the first bearing 134 and the electromagnet 108 , thereby being fixed therebetween and thus to the first housing 126 .

[0223] After the first bearing 134 is pressed into the first housing 126, a plate 308 is fixed to the first housing 126 to securely fix the seat of the first bearing 134 to the first housing 126 (see also Figures 10 to 14).

[0224] In this regard, the plate 308 is disposed in the first housing 126, such as with the first bearing 134 sandwiched between the plate 308 and the first housing 126. For example, the plate 308 is disposed partially on top of the first bearing 134.

[0225] The plate 308 is secured to the first housing 126 by at least one fastener, for example two fasteners (not shown in FIG. 9, see FIGS. 10-14).

[0226] The fastener is configured as a threaded fastener.

[0227] Referring to FIG. 10, a portion of the assembly method of FIG. 6 is shown diagrammatically.

[0228] With particular reference to step S30, there is shown generally the first housing 126 being assembled with the motor shaft 122. In particular, the first housing 126, partially assembled as seen in FIG.

[0229] In this regard, it should be understood that the expression "partially assembled" first housing 126 means that the first housing 126 may be assembled with, provided to, or attached to a portion of one or more elements of the motor stack 110, as particularly described with respect to FIG. 2A.

[0230] As can be seen in FIG. 10, the motor shaft 122 is pressed into the (partially assembled) first housing 126 by a fifth tool 408, specifically a press tool.

[0231] In particular, the motor shaft 122 is pressed into the first bearing 134 (ie, the rotatable portion of the first bearing 134 ) by the fifth tool 408 and extends through the spacer 306 .

[0232] While the motor shaft 122 is being pressed into the (partially assembled) first housing 126, i.e. into the first bearing 134, through the spacer 306, the (partially assembled) first housing 126, in particular the spacer 306 of the (partially assembled) first housing 126, opposes the pressing direction by the sixth tool 410, in particular a press tool.

[0233] In other words, the motor shaft 122 is press-fit (eg, press-connected or press-fixed) into the first bearing 134 (i.e., the rotatable portion of the first bearing 134).

[0234] Referring to FIG. 11, a portion of the assembly method of FIG. 6 is shown diagrammatically.

[0235] With particular reference to step S30, the first housing 126 is generally shown assembled with the motor shaft 122, the mid-flange subassembly, and the rotatable portion 140-1 of the drive assembly 140.

[0236] As seen in FIG. 11, the motor shaft 122 is provided with a flange 138 along with the permanent magnet 106 (ie, the mid-flange subassembly).

[0237] In particular, the flange 138 , along with the permanent magnet 106 , is disposed adjacent (eg, next to) the spacer 306 , and thus adjacent the electromagnet 108 .

[0238] A flange 138 is supported on the motor shaft 122 by a spacer 306 .

[0239] In particular, the flange 138 is secured to the motor shaft 122 by the shaft hub connection 124 described above.

[0240] In this regard, assembly / construction tolerances, for example very specific assembly / construction tolerances, may be important to ensure the above-mentioned gap G between the electromagnet 108 and the permanent magnet 106 to obtain the hysteresis effect.

[0241] Furthermore, the rotatable portion 140 - 1 of the drive assembly 140 is disposed on the motor shaft 122 .

[0242] In particular, the rotatable portion 140 - 1 of the drive assembly 140 is disposed adjacent (eg, next to) the flange 138 .

[0243] On the motor shaft 122 , a rotatable portion 140 - 1 of a drive assembly 140 is supported by a flange 138 .

[0244] Thus, on the motor shaft 122 , the flange 138 is disposed between the spacer 306 and the rotatable portion 140 - 1 of the drive assembly 140 .

[0245] Adjacent (e.g., next to) the rotatable portion 140-1 of the drive assembly 140, fixing means are disposed for fixing the above-mentioned elements (i.e., the flange 138 and the rotatable portion 140-1 of the drive assembly 140) to the motor shaft 122.

[0246] The fastening means is configured as a slotted nut 310 and a retaining washer 312 .

[0247] Retaining washer 312 is disposed adjacent (eg, next to) rotatable portion 140-1 of drive assembly 140.

[0248] Thus, on the motor shaft 122 , the rotatable portion 140 - 1 of the drive assembly 140 is disposed between the retaining washer 312 and the flange 138 .

[0249] The slotted nut 310 is disposed adjacent (eg, next to) the retention washer 312 .

[0250] In this regard, in the installed condition, the retaining washer 312 engages the slotted nut 310 to secure the slotted nut 310 to the motor shaft 122 in the installed condition.

[0251] In other words, the retention washer 312 is configured to engage the slotted nut 310 to secure the slotted nut 310, for example, to secure the slotted nut 310 against rotation.

[0252] The slotted nut 310 is screwed onto the threaded portion of the motor shaft 122 by a seventh tool, in particular a tool having an adapter for engaging the slotted nut 310, in particular a torque wrench tool configured to engage the slotted nut 310.

[0253] Additionally, an eighth tool 414 is provided for attaching the slotted nut 310 to the motor shaft 122 .

[0254] The motor shaft 122 and thus the (partially assembled) first housing 126 is temporarily attached to the eighth tool 414, for example by means of a fastener, in particular a screw fastener (e.g., two screw fasteners), for providing fixation of the motor shaft 122 and thus the (partially assembled) first housing 126 during installation of the slotted nut 310.

[0255] In other words, the motor shaft 122 is temporarily fixed in rotation to the eighth tool 414 while the slotted nut 310 is assembled (eg, rotatably assembled).

[0256] 12A-12C, some alternatives to the assembly method of FIG. 6 are each shown diagrammatically.

[0257] In particular, FIGS. 12A-12C each show a different manner in which the non-rotatable portion 140-2 of the drive assembly 140 is mounted to the (partially assembled) first housing 126. As shown in FIG.

[0258] As can be seen in FIGS. 12A-12C, the non-rotatable portion 140-2 of the drive assembly 140 is disposed within the first housing 126 (which is partially assembled).

[0259] In particular, the non-rotatable portion 140-2 of the drive assembly 140 is disposed correspondingly relative to the rotatable portion 140-1 of the drive assembly 140.

[0260] In this regard, the non-rotatable portion 140-2 of the drive assembly 140 substantially surrounds the rotatable portion 140-1 of the drive assembly 140.

[0261] Non-rotatable portion 140-2 of drive assembly 140 is secured to first housing 126 as is known in the art, such as by mold or press fit.

[0262] Referring now to FIG. 12A, the first of these techniques is shown diagrammatically.

[0263] A guide tool 416 is provided for mounting the non-rotatable portion 140-2 of the drive assembly 140 to the first housing 126.

[0264] The guide tool 416 includes at least one guide rod 418 and at least one guide magnet 420 .

[0265] For example, guide tool 416 includes three guide rods 418 and three guide magnets 420 .

[0266] The guide rods 418 are evenly distributed around the mounting space of the first housing 126, ie, the guide rods 418 are distributed at 120 degrees relative to each other around the mounting space of the first housing 126.

[0267] Each guide magnet 420 is assigned to a respective guide rod 418 .

[0268] Each guide magnet 420 is slidably mounted on its assigned guide rod 418 .

[0269] Each guide magnet 420 is configured to attract non-rotatable portion 140-2 of drive assembly 140, thereby holding non-rotatable portion 140-2 of drive assembly 140 for mounting.

[0270] Thus, the (partially assembled) first housing 126 is disposed in the mounting space and the non-rotatable part 140-2 of the drive assembly 140 is manually clamped to the guide magnet 420 and mounted to the (partially assembled) first housing 126 with a sliding movement along said guide rod 418.

[0271] In its final installed state, the non-rotatable portion 140-2 of the drive assembly 140 is then manually released from the guide tool 416.

[0272] Referring now to FIG. 12B, a second of the above techniques is shown diagrammatically.

[0273] A guide tool 422 is provided for mounting the non-rotatable portion 140-2 of the drive assembly 140 to the first housing 126.

[0274] The guide tool 422 includes at least one guide rod 424 and at least one clamping device 426 .

[0275] For example, the guide tool 422 includes two guide rods 424 and a clamping device 426 .

[0276] The guide rods 424 are disposed on either side of the mounting space of the first housing 126, that is, the guide rods 424 are disposed around the mounting space of the first housing 126 at 180 degrees to each other and to the mounting space.

[0277] The clamping device 426 surrounds the non-rotatable portion 140-2 of the drive assembly 140 and is configured to be reversibly positionable between a clamped state in which the non-rotatable portion 140-2 can be clamped and a released state in which the non-rotatable portion 140-2 can be released.

[0278] For example, the clamping device 426 may be configured as a clamping ring or a clamping collar.

[0279] The clamping device 426 is fixed to the guide rod 424 and is movable along the guide rod 424 .

[0280] For mounting, the (partially assembled) first housing 126 is disposed in the mounting space and secured to the guide tool 422 by fasteners, for example screw fasteners.

[0281] The non-rotatable portion 140-2 of the drive assembly 140 is clamped to a clamping device 426 and (thereafter) is mounted to the (partially assembled) first housing 126 by sliding movement along said guide rod 424.

[0282] In its final installed state, the non-rotatable portion 140-2 of the drive assembly 140 is then released from the guide tool 422.

[0283] In this embodiment, the clamping device 426 may be guided between the guide rods 424 (e.g., by mold fitting) and / or may be guided on a sliding bushing and / or sleeve bearing disposed on the clamping device 426 for sliding along the guide rods 424.

[0284] Referring now to FIG. 12C, a third of the techniques is shown diagrammatically.

[0285] A guide tool 428 is provided for mounting the first housing 126 to the non-rotatable portion 140-2 of the drive assembly 140.

[0286] The guide tool 428 includes at least one guide rod 430 and at least one clamping device 432 .

[0287] For example, the guide tool 422 includes a guide rod 430 and a clamping device 432 .

[0288] Guide rod 430 is disposed in the center of the mounting space for non-rotatable portion 140-2 of drive assembly 140.

[0289] The clamping device 432 surrounds the non-rotatable portion 140-2 of the drive assembly 140 and is configured to be reversibly positionable between a clamped state in which the non-rotatable portion 140-2 can be clamped, and a released state in which the non-rotatable portion 140-2 can be released.

[0290] For example, the clamping device 432 may be configured as a clamping ring or a clamping collar.

[0291] For mounting, the non-rotatable part 140-2 is disposed above the mounting space and fixed to the mounting space by the clamp device 432.

[0292] The (partially assembled) first housing 126 is then engaged to the guide rod 430 by receiving the guide rod 430 on the motor shaft 122, with the motor shaft 122 configured as a hollow shaft.

[0293] The (partially assembled) first housing 126 is then assembled to the non-rotatable part 140-2 in a sliding movement along said guide rods 430.

[0294] The (partially assembled) first housing 126 , along with the non-rotatable portion 140 - 2 of the drive assembly 140 in its final installed state, is then released from the guide tool 428 .

[0295] Alternatively, the guide tool 428 may include at least one guide rod arranged on a side of the mounting location and at least one clamping device for clamping around the (partially assembled) first housing 126, the clamping device being movable along the guide rod for mounting the (partially assembled) first housing 126 to the non-rotatable portion 140-2 of the drive assembly 140.

[0296] Referring to FIG. 13, a portion of the assembly method of FIG. 6 is shown diagrammatically.

[0297] In particular, with reference to step S40, the second housing 128 is attached to the first housing 126, ie, the first housing subassembly.

[0298] For example, the second housing 128 is screwed to the first housing 126, for example by threaded fasteners.

[0299] Referring to FIG. 14, a portion of the assembly method of FIG. 6 is shown diagrammatically.

[0300] In particular, with reference to step S50, the mid-flange subassembly is attached to the second housing 128 and the first housing subassembly to which the second housing 128 is attached.

[0301] As seen in FIG. 14, the mid-flange subassembly is pressed onto the motor shaft 122 by a ninth tool 434, specifically a press tool.

[0302] In particular, the second bearing 136, i.e. the rotatable part of the second bearing 136, is pressed against the motor shaft 122 by means of a ninth tool 434, in particular a pressing tool.

[0303] While pressing the second bearing 136 onto the motor shaft 122, the motor shaft 122 is opposed in a pressing direction by a tenth tool 436, in particular a pressing tool.

[0304] In other words, the second bearing 136 is press-fit (eg, press-connected or press-fixed) onto the motor shaft 122 . [Explanation of symbols]

[0305] 10 Articulation device 20 Robot Arm 100 Brake Device 102 Stator assembly of brake device 104 Brake device rotor assembly 106 Permanent Magnets 108 Electromagnet 110 Motor Stack 112 Pulley 114 Belt 116 Control Unit 118 Motor Stack Rotor Assembly 120 Motor Stack Stator Assembly 122 Central motor shaft 124 Shaft hub connection 126 First Housing 128 Second Housing 130 Intermediate flange 132 Cover 134 First Bearing 136 Second Bearing 138 Flange 140 Drive Assembly 142 Drive PCB 144 PCB holding structure 146 Encoder 148 Pretension Spring 150 Leaf spring 200 Sub Arm 202 More Sub-Arms 204 Adapter Assembly 206 Surgical instruments 300 Brake Armature 302 Fasteners 304 Fasteners 306 Spacer 308 Plate 310 Slotted Nut 312 Retaining washer 400 First Tool 402 Second Tool 404 The third tool 406 The Fourth Tool 408 The fifth tool 410 The 6th Tool 412 The Seventh Tool 414 The 8th Tool 416 Guide Tool 418 Guide Rod 420 Guide Magnet 422 Guide Tool 424 Guide Rod 426 Clamping Device 428 Guide Tool 430 Guide Rod 432 Clamping Device 434 9th Tool 436 The 10th Tool S1~S4 Method steps S10~S60 Assembly steps G Gap

Claims

1. A joint device for a robotic arm, particularly for use in microsurgery, A brake device configured for engagement and disengagement, comprising a stator assembly and a rotor assembly, and further configured to operate with minimal power consumption in the disengaged state. A joint device equipped with a joint.

2. The aforementioned brake device At least one permanent magnet assigned to the rotor assembly to provide a braking effect during engagement, To release the braking effect during disengagement, at least one electromagnet assigned to the stator assembly and Equipped with, The permanent magnet and the electromagnet are arranged or can be arranged so as to have a gap (G) between them, so that the brake device can operate with minimum power consumption. Characterized by, The joint device according to claim 1.

3. The gap (G) is less than 1 mm ± 10%. Characterized by, The joint device according to claim 2.

4. The motor further comprises at least one motor stack having a rotor assembly and a stator assembly, wherein the brake device is arranged in connection with the motor stack or arranged within the motor stack. Characterized by, The joint device according to claim 1.

5. The rotor assembly of the brake device is configured as part of the rotor assembly of the motor stack, and the stator assembly of the brake device is configured as part of the stator assembly of the motor stack. Characterized by, The joint device according to claim 4.

6. The motor stack comprises at least one spring, in particular at least one leaf spring, configured to provide spring force to the brake device. Characterized by, The joint device according to claim 4.

7. A robotic arm, particularly a robotic arm for use in microsurgery, Joint device according to any one of claims 1 to 6 A robotic arm equipped with a robotic arm.

8. A method for operating a brake device in a robotic arm, particularly in a joint device for a robotic arm used in microsurgery, The brake device is provided and configured for engagement and disengagement, wherein the brake device comprises a stator assembly and a rotor assembly, and the brake device is further operated with minimal power consumption in the disengaged state. A method that includes at least the following.

9. The brake device is further configured to engage at an engagement threshold and disengage at a disengagement threshold higher than the engagement threshold. The method described above is The step of providing full power to the brake device by applying pulse width modulation (PWM) in order to disengage the brake device. A step of reducing the power supplied to the brake device to a first predetermined power value by applying PWM, wherein the first predetermined power value is set between the disengagement threshold and the engagement threshold, and The step of maintaining the power supplied to the brake device at the first predetermined power value by applying PWM in order to keep the brake device disengaged. To further include Characterized by, The method according to claim 8.

10. The step of reducing the power supplied to the brake device to a second predetermined power value by applying PWM in order to engage the brake device, wherein the second predetermined power value is set to be less than the engagement threshold. Characterized by, The method according to claim 9.

11. The first predetermined power value is half of the total power that can be provided to or provided to the brake device by applying PWM to disengage the brake device. Characterized by, The method according to claim 9.

12. The total power that can be provided to or supplied to the brake device by applying PWM to disengage the brake device includes a 24V signal. Characterized by, The method according to claim 9.

13. The disengagement threshold is 5 / 8 of the total power. Characterized by, The method according to claim 9.

14. The engagement threshold is 1 / 3 of the total power. Characterized by, The method according to claim 9.

15. The step of providing full power to the brake device by applying PWM in order to disengage the brake device is maintained for a first predetermined period of time, and The step of maintaining the power supplied to the brake device at a first predetermined power value by applying PWM in order to keep the brake device disengaged is maintained for a second predetermined period of time. The second predetermined period is longer than the first predetermined period. Characterized by, The method according to claim 9.

16. The brake device comprises at least one permanent magnet for providing a braking effect when engaged, and at least one electromagnet for releasing the braking effect when disengaged. Characterized by, The method according to claim 8.

17. The brake device is arranged in connection with the motor stack of the articulation device, or arranged within the motor stack, and optionally the motor stack comprises at least one spring, particularly at least one leaf spring, configured to provide spring force to the brake device. Characterized by, The method according to claim 8.

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