72582 results about "Pulley" patented technology

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.

A manipulator includes a working unit comprising an operation command unit, horizontal roller and vertical rollers mounted thereon, drive pulleys rotatable in response to operation of the horizontal roller and the vertical roller, a connector, a first rotational axis disposed on a distal end of the connector, a second rotational axis extending perpendicularly to the first rotational axis, tubular members rotatably supported on a shaft providing the first rotational axis, and wires having rear and front portions trained around the drive pulleys and the tubular members, respectively. A drive mechanism operates about the first rotational axis in response to rotation of the tubular member, and an end effector operates about the second rotational axis in response to rotation of the tubular member.

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.

An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

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.

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.

A multi-function Pilates exercise apparatus featuring a foldable frame (200-203), a counterbalance mechanism (271), a wheeled base (90), a rotatable pulley riser with a flexible pulley mount (112), gear changing apparatus (FIG. 9) and adjustable footbar (471). The frame is designed to fold into an upright position and to be rolled to a desired location. The pulley assemblies may be rotated and positioned below the carriage rails. The gear changing apparatus permits the user to adjust the carriage position with a single handed operation. The exercise system includes a reformer, a pole apparatus, and mat mode including a long / short box.

An orthotic device is provided, including an orthosis body adapted to be wrapped around the torso of a wearer of the device, the orthosis body having at least two segments in juxtaposed relationship. Means are provided at free end portions of the at least two segments to releasably secure the free end portions to one another. At least two cables are provided, each cable operatively connected to the at least two segments. At least two sets of pulleys are mounted on the at least two segments with each cable operatively connected to the at least two segments running through a pulley on each of the at least two segments in alteration, shortening of each cable pulling the at least two segments together and tightening the orthotic device with the aid of a mechanical advantage dependent upon the number of pulleys mounted on each of the at least two segments.

A bi-directional catheter with nearly double the throw in its catheter tip deflection defines a puller wire travel path having a U-turn 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 particular, the control handle of the catheter which includes a steering assembly having a lever arm carrying a pair of pulleys for drawing corresponding puller wires to deflect the tip section of the catheter. The pulleys are rotatably mounted on opposing portions of the lever arm such that one pulley is moved distally as the other pulley is moved proximally when the lever arm is rotated. Because each puller wire is trained on a respective pulley, rotation of the lever arm causes the pulley that is moved proximally to draw its puller wire to deflect the tip section in the direction of the off-axis lumen in which that puller wire extends.

A continuously variable transmission is mounted on a vehicle capable of selecting plural drive modes and changes a target engine speed between drive modes. A pulley ratio is controlled by a motor. An ECU for transmission control includes a calculation section which outputs a target engine speed as a function of throttle opening and vehicle speed, and a motor control value determination section which outputs a control value for controlling the motor based on the target engine speed and an actual engine speed. In a case where, when a drive mode is selected, the current target engine speed changes by an amount exceeding a predetermined judgment value according to vehicle speed, the motor control value determination section updates the current target engine speed in a stepwise manner. The resulting configuration reduces a shift shock caused by a drive mode change.

An introducer has a shaft with a central lumen, a control handle with a deflection assembly, and a tensile member with a distal portion extending along opposing sides of within the shaft and a proximal portion extending within the control handle. The deflection assembly has a deflection arm, and a rotatable member rotationally coupled to the deflection arm, wherein the rocker member has at least one pulley engaged with the proximal tensile member portion. Rotation of the deflection arm in one direction draws the proximal tensile member portion for deflecting the shaft.

To provide a continuously variable transmission and a control method thereof, allowing for control of the axial position of a movable sheave without a sensor for measuring the axial position of the movable sheave on a rotational shaft and for stable control with the movable sheave being held in position, without the increase in the size of mechanisms and power consumption. A continuously variable transmission in which, on a rotational shaft 1 thereof are mounted a fixed sheave 2 positioned in the axial direction and a movable sheave 3 slidable axially, so as to face each other, a motor is provided for driving the movable sheave, and a slide driving means 16 is provided for sliding the movable sheave 3 axially by the rotation of the motor, characterized in that: the motor is a step motor 6, and the step motor 6 and the slide drive means 16 are mounted coaxially with the rotational shaft 1.

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 delivery system for deploying a medical device, such as a stent, at increasing deployment speed is described. The system comprises a catheter comprising a catheter shaft, a retractable sheath slidably mounted on the catheter shaft, and the device in a compressed state sandwiched between the shaft and sheath. A control handle is included with a housing and knobs for a user to apply a rotary or other force to retract the sheath. The sheath is attached to a slider that is mounted on a slide rod and attached to a drive belt. A take up pulley is provided in the housing and connected to the belt input knob, so that the pulley turns when the knob is turned. The belt is attached to the pulley so that the drive is wound onto the rotating pulley. As the belt winds upon the pulley, the overall outside diameter of the pulley increases, thereby increasing the deployment speed.

A Pilates machine tension device support system for efficiently providing a tension force to a movable platform of an exercise machine. The Pilates machine tension device support system generally includes a frame, a platform movably positioned upon the frame and a tension assembly connected between the frame and the platform to provide selective tension upon the platform in a first direction. The tension assembly is comprised of a plurality of pulleys and a plurality of tension devices positioned upon the pulleys, wherein the tension devices are attached between a frame and the platform. The tension members are selectively engaged to the platform to increase or decrease the tension applied to the platform for varying levels of workouts.

A factory-prepared preterminated and pre-connectorized fiber optic distribution cable having at least one mid-span access location for providing access to a plurality of preterminated optical fibers pre-connectorized with a multi-fiber connector is provided. Also provided is a method of forming a pre-connectorized fiber optic distribution cable by terminating and pre-connectorizing a predetermined number of the plurality of optical fibers of the cable to create a pre-connectorized mid-span access location. The fiber optic distribution cable provides a low profile mid-span access location that is sufficiently flexible to be installed through relatively small-diameter buried conduits and over aerial installation sheave wheels and pulleys without violating the minimum bend radius of the cable or the optical fibers. A protective encapsulant protects and seals the mid-span access location during cable reeling, unreeling, installation and until the access location is needed for interconnecting a connectorized fiber optic drop or branch cable.

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.