Patent ID: 9050119
Filing Date: 2015-06-09
Classification: A61B,B25J,G16H,G16Z,Y10T

Abstract:
1. A cable tensioning apparatus of a robotic surgical manipulator, the cable tensioning apparatus comprising: an arm; a first pulley system comprising two idler pulleys along a same axis, the first pulley system being rotatably coupled to a first end of the arm and positioned between second and third pulley systems in the robotic surgical manipulator; and a base operably coupled to a second end of the arm, the base including a translation mechanism configured to limit movement of the first pulley system along a linear path to control a tension of a closed loop cable extending between the second and third pulley systems and movable along the first pulley system, wherein movement of the first pulley system along the linear path moves the first pulley system toward one of the second or third pulley systems to tension the cable; wherein the closed loop cable passes over each of the two idler pulleys such that movement of the closed loop cable causes rotation of the two idler pulleys in opposite directions of each other.