Robotic arm assembly with multi-diameter pulley arrangement

The multi-diameter pulley arrangement in the robotic arm assembly addresses transmission interference and tension discrepancies, ensuring smooth and precise motion while maintaining the remote center of motion, enhancing the reliability and adaptability of robotic surgical systems.

WO2026115563A1PCT designated stage Publication Date: 2026-06-04SUDHIR SRIVASTAVA INNOVATIONS PTE LTD
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Patent Information

Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
SUDHIR SRIVASTAVA INNOVATIONS PTE LTD
Filing Date
2025-11-18
Publication Date
2026-06-04

AI Technical Summary

Technical Problem

Conventional robotic surgical systems with uniform pulley diameters face issues such as transmission interference, tension discrepancies, jerky instrument motion, and premature wear due to hardware RCM constraining parallelogram mechanisms, leading to bulky designs with limited adaptability and increased control complexity.

Method used

A robotic arm assembly featuring a linkage mechanism with pulleys of varying diameters, strategically positioned to reduce tension inconsistencies and transmission interference, utilizing a multi-diameter pulley arrangement that optimizes tension management and motion stability.

Benefits of technology

The multi-diameter pulley system ensures smooth and precise motion, enhances reliability, and maintains the remote center of motion, addressing the limitations of uniform pulley systems by reducing interference and improving mechanical efficiency.

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Abstract

A robotic arm assembly 200 featuring a novel parallelogram linkage mechanism with a multi-diameter pulley arrangement optimized for precise motion control is disclosed herein. The robotic arm assembly 200 includes a plurality of pulley assemblies, a first pulley 223, second pulley 225a, third pulley 225b, fourth pulley 227a, fifth pulley 227b, and sixth pulley 229 with variable diameters distributed across a proximal link 217, intermediate link 219, and distal link 221. The multi-diameter pulley design eliminates transmission interference and tension discrepancies resulting in smoother instrument motion and enhanced reliability. Further, the robotic arm assembly 200 incorporates flexible transmission elements 231, 233, 235, 237, 239, 241 comprising multiple stacked layers that resist bending and fatigue, extending belt life and improving motion transfer accuracy. The pulley arrangement is strategically positioned such that the pitch joint J2 is positioned above the yaw joint J1, thereby reducing the effective link diameter and the number of transmission element layers while maintaining operational performance across a wider working angle.
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