Patent ID: 11931888

Abstract:
A robotic tool has a longitudinal shaft, defining a longitudinal axis when the shaft is in a default, centered position. A lockout rod is moveable between first and second positions. In the first position, the lockout rod allows the longitudinal shaft to move with 360 radial degrees of compliance about the longitudinal axis. In the second position, the lockout rod limits compliance of the longitudinal shaft to only one radial angle from the longitudinal axis. In one embodiment the lockout rod is positioned adjacent (e.g., above or below) part of one ring of a 2-axis concentric ring gimbal. The lockout rod is shaped so as to not contact any part of the gimbal in the first position, allowing compliance in a full 360 radial degrees. In the second position, the lockout rod limits the motion of one ring of the gimbal, limiting compliance of the shaft to motion of the other ring, which is necessarily limited to only one radial angle. In one embodiment the lockout rod is shaped and position such that it moves between the first and second positions by rotational motion about its own longitudinal axis.