Actuation of a device comprising mechanical arms

Abstract

Some embodiments of the invention relate to a mechanism for actuating a shaft having two degrees of freedom, comprising: a first actuator configured to rotate the shaft around the shaft axis, and a second actuator configured to bend the shaft using one or more elongated elements attached to the shaft, wherein actuation of the first actuator indirectly manipulates the elongated elements controlled by the second actuator, thereby affecting operation of the second actuator. Some embodiments relate to motorized actuation of a system comprising at least one surgical arm.

1 . A mechanism for actuating movement of a shaft having two degrees of freedom, comprising:
 a first actuator configured to rotate said shaft around the shaft axis;   a second actuator configured to bend said shaft using one or more elongated elements attached to said shaft;   wherein actuation of said first actuator indirectly manipulates said elongated elements controlled by said second actuator, thereby affecting operation of said second actuator;   wherein said indirect manipulation comprises changing a position of said elongated elements in response to rotation of said shaft by said first actuator.   
     
     
         2 . The mechanism according to  claim 1 , wherein said mechanism comprises at least one motor and wherein at least one of said first and second actuators comprises at least one gear driven by said motor. 
     
     
         3 . (canceled) 
     
     
         4 . The mechanism according to  claim 1 , wherein rotation of said shaft by said first actuator tensions at least one of said elongated elements controlled by said second actuator. 
     
     
         5 . The mechanism according to  claim 1 , wherein said elongated elements are attached to said shaft at a point distal to a flexible joint of said shaft. 
     
     
         6 . The mechanism according to  claim 5 , wherein said second actuator is configured to respectively tension and release said elongated elements to cause flexion and extension of said joint. 
     
     
         7 . The mechanism according to  claim 1 , wherein one or both of said first and second actuators comprises a gear. 
     
     
         8 . The mechanism according to  claim 7 , wherein said gear is positioned to rotate about said shaft axis. 
     
     
         9 . The mechanism according to  claim 7 , wherein both of said actuators comprise gears and are positioned to rotate about said shaft axis. 
     
     
         10 . The mechanism according to  claim 1 , wherein relative actuation of said first and second actuators is configured to bend said shaft. 
     
     
         11 . The mechanism according to  claim 10 , wherein said relative actuation comprises driving said actuators at different speeds. 
     
     
         12 . The mechanism according to  claim 1 , wherein unified actuation of said first and second actuators is configured to rotate said shaft as a single rigid body. 
     
     
         13 . The mechanism according to  claim 1 , wherein each of said actuators is driven by a motor. 
     
     
         14 . The mechanism according to  claim 13 , wherein a gear of said motor or one or more transmission gears driven by said motor are positioned to interfere, at least in part, with rotation of said second actuator. 
     
     
         15 . The mechanism according to  claim 14 , wherein an amount of friction imposed on said second actuator by said interference effects a final shaft articulation actuated by said mechanism. 
     
     
         16 . The mechanism according to  claim 15 , wherein when high friction is imposed on said second actuator, actuation of said first actuator results in simultaneous rotation and bending of said shaft; and wherein when low or no friction is imposed on said second actuator, actuation of said first actuator results in rotation of said shaft as a rigid body. 
     
     
         17 . The mechanism according to  claim 1 , wherein said shaft forms at least a portion of a surgical arm. 
     
     
         18 - 30 . (canceled) 
     
     
         31 . A mechanism for linear movement of elongated elements driven by rotational movement, comprising:
 a gear operably coupled to a threaded screw, said gear configured to rotate said screw around the screw axis;   at least two rider elements coupled to the thread of said screw; wherein a first rider element is attached to at least one first elongated element and a second rider element is attached to at least one second elongated element;   wherein rotation of said screw moves said rider elements laterally in opposing directions, tensioning said first elongated element and releasing tension of said second elongated element or vice versa.   
     
     
         32 . The mechanism according to  claim 31 , wherein rotational movement of said rider elements around the screw is limited by one or more protrusions configured on an internal face of a housing in which said screw is received. 
     
     
         33 . The mechanism according to  claim 31 , wherein a coupling between said gear and said screw comprises a clutch. 
     
     
         34 . The mechanism according to  claim 33 , wherein said clutch comprises a spring coupled to screw such that when torque and/or tension produced by rotation of said screw exceeds a threshold, the spring yields and further rotation of the screw is no longer effective to actuate movement of said elongated elements. 
     
     
         35 . The mechanism according to  claim 33 , wherein said clutch comprises one or more springs attached between said rider elements and said elongated elements such that when an elongated element is tensioned above a threshold, the spring yields and further movement of the rider element is no longer effective to tension the elongate element. 
     
     
         36 . The mechanism according to  claim 31 , wherein each of said rider elements is attached to two elongated elements. 
     
     
         37 . The mechanism according to  claim 31 , wherein said elongated elements are each coupled at their proximal end to said respective rider element, and at their distal end to a shaft which forms at least a portion of a surgical arm. 
     
     
         38 . The mechanism according to  claim 37 , wherein said elongated elements are coupled to said shaft at a point distal to a flexible joint of said shaft. 
     
     
         39 - 48 . (canceled) 
     
     
         49 . A mechanism for actuating movement of a shaft having two degrees of freedom, comprising:
 a first actuator configured to rotate said shaft around the shaft axis;   a second actuator configured to bend said shaft using one or more elongated elements attached to said shaft;   wherein actuation of said first actuator indirectly manipulates said elongated elements controlled by said second actuator, thereby affecting operation of said second actuator;   wherein relative actuation of said first and second actuators is configured to bend said shaft.   
     
     
         50 . The mechanism according to  claim 49 , wherein said mechanism comprises at least one motor and wherein at least one of said first and second actuators comprises at least one gear driven by said motor. 
     
     
         51 . The mechanism according to  claim 49 , wherein said indirect manipulation comprises changing a position of said elongated elements in response to rotation of said shaft by said first actuator. 
     
     
         52 . The mechanism according to  claim 49 , wherein rotation of said shaft by said first actuator tensions at least one of said elongated elements controlled by said second actuator. 
     
     
         53 . The mechanism according to  claim 49 , wherein said elongated elements are attached to said shaft at a point distal to a flexible joint of said shaft. 
     
     
         54 . The mechanism according to  claim 53 , wherein said second actuator is configured to respectively tension and release said elongated elements to cause flexion and extension of said joint. 
     
     
         55 . The mechanism according to  claim 49 , wherein one or both of said first and second actuators comprises a gear. 
     
     
         56 . The mechanism according to  claim 55 , wherein said gear is positioned to rotate about said shaft axis. 
     
     
         57 . The mechanism according to  claim 55 , wherein both of said actuators comprise gears and are positioned to rotate about said shaft axis. 
     
     
         58 . The mechanism according to  claim 49 , wherein said relative actuation comprises driving said actuators at different speeds. 
     
     
         59 . The mechanism according to  claim 49 , wherein unified actuation of said first and second actuators is configured to rotate said shaft as a single rigid body. 
     
     
         60 . The mechanism according to  claim 49 , wherein each of said actuators is driven by a motor. 
     
     
         61 . The mechanism according to  claim 60 , wherein a gear of said motor or one or more transmission gears driven by said motor are positioned to interfere, at least in part, with rotation of said second actuator. 
     
     
         62 . The mechanism according to  claim 61 , wherein an amount of friction imposed on said second actuator by said interference effects a final shaft articulation actuated by said mechanism. 
     
     
         63 . The mechanism according to  claim 62 , wherein when high friction is imposed on said second actuator, actuation of said first actuator results in simultaneous rotation and bending of said shaft; and wherein when low or no friction is imposed on said second actuator, actuation of said first actuator results in rotation of said shaft as a rigid body. 
     
     
         64 . The mechanism according to  claim 49 , wherein said shaft forms at least a portion of a surgical arm.