72564 results about "Pulley" patented technology

In a manipulator, an actuator block contains motors and rotary shafts extending from the motors. A working unit of the manipulator contains a connecting portion, attachable to and detachable from the actuator block. The connecting portion has pulleys connectable to ends of the rotary shafts, and has a locking plate movable by alignment pins. The locking plate has slits, which are engaged with plate-shaped portions formed on the upper ends of the pulleys. A coil spring is placed between the locking plate and a top plate.

A roll joint utilizes at least one tendon guide surface to guide actuator tendons for distal roll off and on their respective drums on a central shaft of the roll joint. The tendon guide surface turns the actuator tendon in an axial direction in a more compact space than might be required for a pair of pulleys, while using fewer parts with larger features more easily formed on a small scale.

There is provided a surgical instrument incorporating driving force mechanisms capable of transmitting a driving force through an articulated section of the surgical instrument. In one embodiment, a series of racks connect with a transfer gear to pass forces around the articulated section. In an alternative embodiment a series of cable sections and wheels or pulleys are provided to transmit a driving force through the articulated section of the surgical instrument.

A medical manipulator includes a wire movable in opposite directions, a driven wire having both ends thereof connected to the wire, an end effector of a distal-end working unit, a transmitting member, a crescent driven member integral with the transmitting member, and a return pulley. The transmitting member, the crescent driven member, and the return pulley are successively arranged in this order from the proximal end of the medical manipulator. When the driven wire is moved in opposite directions, the transmitting member also moves in opposite directions. At this time, the crescent driven member moves toward the return pulley, and the proximal-end portion of the return pulley enters a cavity of the crescent driven member.

A power transmission mechanism comprising: a flexible power transmission element; a pair of a drive pulley and a driven pulley on which the flexible power transmission element is wound, each the pulley having a pin-embedding hole formed to extend from the outer circumferential thereof toward the center thereof, and a slit elongated in the circumferential direction of the pulley to extend to opposite sides of the embedding hole and communicating with the embedding hole; and a pair of columnar or tapered anchor pins each having a path hole penetrating the anchor pin across the lengthwise direction thereof to receive the flexible power transmission element inserted therein, wherein each the anchor pin receiving the flexible power transmission element in the path hole thereof is embedded in the embedding hole of the associated pulley under pressure, and the flexible power transmission element is thereby held on the pulley.

A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.

A surgical instrument includes a housing, an end effector and an elongated shaft extending therebetween. The shaft includes a distal portion movable between aligned and articulated configurations. First and second drive cables are coupled to the distal portion such that reciprocal longitudinal motion of the drive cables induces movement of the distal portion between the aligned and articulated configurations. An articulation drive mechanism is operable to induce reciprocal longitudinal motion of the drive cables. The drive mechanism includes an actuator and a pair pulleys operatively coupled to the actuator to rotate about an axle. The first and second drive cables are coupled to the pulleys such that the drive cables extend on opposite lateral sides of the axle. A biasing mechanism is configured to bias the first and second pulleys to at least one discrete orientation to maintain the distal portion of the elongated shaft in a discrete articulated position.

The present invention is a wrist mechanism and a method for making robotic devices in which the transmission of motion, force and / or torque around a revolute joint can be accomplished without coupling. This construction allows mounting the actuators on the base or lower elements of a mechanism, so that only linkage elements move the end-effector. Thus reducing inertia of the moving elements and increasing performance of the device. The decoupled motion of the end-effector or links is achieved by routing their transmission cables around idler pulleys placed parallel to the joint rotation axis on an optimal position such any stretch on the transmission cable is minimized. In particular, this construction can be use for robotic surgical tools that have two independently driven jaws, decoupled and orthogonal from its articulating wrist. This device may be used in grasping, cutting, suturing or alike operations.

A manipulator includes a hollow joint shaft, wires extending through the joint shaft, pulleys mounted on an end of the joint shaft, for imparting a drive force to the wires, a distal-end working unit mounted on another end of the joint shaft, for being actuated by the wires, and a sealing member for preventing liquid such as blood from flowing from the distal-end working unit through the joint shaft to a connector. The sealing member has holes defined therein, and the wires are slidably inserted through the holes.

An innovative bone anchor and methods for securing soft tissue, such as tendons, to bone, which permit a suture attachment that lies entirely beneath the cortical bone surface. Advantageously, the suturing material between the soft tissue and the bone anchor is secured without the need for tying a knot. The suture attachment to the bone anchor involves the looping of a length of suture around a pulley within the bone anchor, tightening the suture and attached soft tissue, and compressing the suture against the bone anchor. The bone anchor may be a tubular body having a lumen with a locking plug that compresses the suture therein. The pulley may be a pin located near a distal end of the tubular body around which the length of suture is looped. Alternatively, a pulley may be a bridge portion of the tubular body between two spaced apertures in the wall of the body. The locking plug may include a shaft and an enlarged head that interferes with the tubular body to provide a positive stop. An actuation rod attached at a frangible section to the shaft may be manipulated by an external handle during locking of the suture within the bone anchor. The bone anchor further may include locking structure for securing itself within a bone cavity.

A wind harnessing system using a plurality of self supporting airfoil kites 50 for production of useful power. The system comprising multiple airfoil kites 50 in tandem attached to a pivotal control housing 32 by control lines 58L and 58R and support lines 60L and 60R. Control lines 58L and 58R can change length with respect to the length of support lines 60L and 60R to control the airfoil kites' 50 angle-of-attack, pitch angle, direction of flight, and flight speed. The length of control lines 58L and 58R are controlled from ground station 30 by a movable pulley system in control housing 32 to adjust the airfoils' direction to follow a specific flight path 140. Control lines 58R and 58L and support lines 60R and 60L are also wound on a power shaft and pulley system in control housing 32. As the airfoil kites are propelled by the wind at very-high speed, the airfoils generate a powerful AXIAL force. The control lines 58L and 58R and support lines 60L and 60R are then reeled-out under this AXIAL tension causing the power shaft and pulley system in control housing 32 to turn a generator to generate electricity. After airfoil kites 50 have finished their reel-out power stroke 140a, the airfoil's pitch angle is made negative so they can be reeled-in by their control and support lines using a minimum of force along path 140b. Once the airfoils have been rewound to the proper distance, the airfoils are again angled for high-speed operation to generate powerful AXIAL force and reeled-out along 140c to provide another power stroke. The airfoil kites are then reeled-in again along path 140d and the entire process repeats starting with power stroke 140a. Since the force to rewind the airfoils is much less than the force generated during reel-out, there is net power generated.

An innovative bone anchor and methods for securing soft tissue, such as tendons, to bone, which permit a suture attachment that lies entirely beneath the cortical bone surface. Advantageously, the suturing material between the soft tissue and the bone anchor is secured without the need for tying a knot. The suture attachment to the bone anchor involves the looping of a length of suture around a pulley within the bone anchor, tightening the suture and attached soft tissue, and clamping the suture within the bone anchor. The bone anchor may be a tubular body having a lumen containing a plurality of suture-locking elements that clamp the suture therein. The locking elements may be thin and C-shaped. One or more locking plugs attached to separable actuation rods displace axially within the lumen and act on the locking elements to displace them radially. A generally uniform passage through the locking elements in their first positions converts to a smaller irregular passage after the locking plug displaces the elements to their second positions, thus effectively clamping the suture. The bone anchor further may include locking structure for securing itself within a bone cavity.

The present invention provides a bi-directional catheter with nearly double the throw in its catheter tip deflection. In particular, the travel path of each the puller wire includes a U-turn or doubling-back around a pulley which minimizes the offset angle between the puller wire and the longitudinal axis of the control handle while maximizing the travel distance of that puller wire for any given distance traveled by the pulley drawing the puller wire. In one embodiment, the catheter has an elongated catheter body, a catheter tip section with first and second diametrically-opposed off-axis lumens, and a control handle which includes a steering assembly having a lever structure carrying a pair of pulleys for simultaneously drawing and releasing corresponding puller wires to deflect the tip section of the catheter.

A decoupler for an alternator pulley in a serpentine drive system has a resilient, helical spring member that couples the alternator pulley with a hub structure through a spring retaining member. A bushing is disposed between the spring retaining member and the hub structure to facilitate sliding engagement therebetween. An annular sleeve member is disposed between the spring member and the alternator pulley to facilitate sliding engagement therebetween. The spring member is connected at one end thereof to the hub structure and connected at an opposite end thereof to the spring retaining member. The resilient spring member transmits the driven rotational movements of the alternator pulley by the serpentine belt to the hub structure such that the alternator shaft is rotated in the same direction as the alternator pulley while being capable of instantaneous relative resilient movements in opposite directions with respect to the alternator pulley during the driven rotational movement.

An exercise device having a body extension mechanism including a press plate mechanism and an articulating seat structure. The press plate mechanism is pivotally connected to a frame forwardly of the articulating seat structure, which is also connected with the frame. The press plate mechanism is operably connected with the articulating seat structure by a transfer link so that when a user actuates the press plate mechanism, the movement of a back support of the articulating seat structure is coordinated with the movement of the press plate mechanism. Resistance for the exercise device is provided by a weight stack that is operably connected with the body extension mechanism through an arrangement of pulleys so that when the user actuates the press plate mechanism a portion of the weight stack is lifted.

A decoupler assembly for transferring rotary movement between an engine driven shaft and a serpentine belt. The decoupler includes a hub configured to be assembled to the shaft. The hub has a helical first slot formed therein. A pulley is rotatably coupled to the hub. A carrier is mounted on the hub and includes a helical second slot formed therein, as well as an anti-ramp up boss formed thereon. A thrust plate is fixed to the hub and has a slot formed therein. A torsion spring is compressed between a hub end retained in the helical first slot and a carrier end retained in the helical second slot for transferring torque between the hub and carrier. The anti-ramp up boss travels within the slot formed in the thrust plate for limiting rotation between the carrier and thrust plate and preventing rotation of the torsion spring relative to the hub and carrier.

An exercise system is provided in which multiple exercise routines may be conducted with a single system. The exercise system may be used for skiing exercises, rowing exercises, and for weight training / resistance exercises. The exercise system may also be stored in a compact position and may by integrated with articles of furniture for space saving benefits. In one embodiment, resistance to motion is provided by one or more tension transmission members and may be selectively adjusted by controlling the configuration of the tension transmission member relative to a torsion spring. Use of intermediate devices between the spring and the tension transmission member are described that provide a non-linear relationship between force and displacement. In another embodiment, the tension transmission member may be configured in different positions by adjusting the position of movable pulleys, thereby allowing the device to be used for a number of different exercise routines.