Patent Description:
The technology disclosed herein relates generally to a manipulator system for a telemanipulator and more particularly to a manipulator system with a detachable handle.

In various industries it is desirable to work, test, assemble, and the like, in an environment that is relatively isolated from normal ambient conditions. For example, in some medical and pharmaceutical applications, it may be preferable for such activities to occur in a substantially cleaner environment, where outside debris and bacteria cannot substantially affect conditions in the clean environment. In another example, it can be preferable for activities to be contained in a substantially dirtier environment, such as hot cells or laboratories, so inside waste does not substantially affect conditions on the outside. It is often necessary to have the capacity to manipulate devices, components, and the like, inside the isolated environment from the outside of the isolated environment without breaching the isolation of the environment itself. In various instances telemanipulators are used to conduct such activities.

Telemanipulators generally have a command arm that is mechanically, electrically, hydraulically, or combinations thereof, connected to a remote arm. The remote arm is positioned on the inside of the isolated environment and the command arm is positioned outside of the isolated environment. The remote arm typically has an end effector, which can be a tong, for example, that interfaces with the contents of the isolated environment. The master arm typically has a command handle. An operator elicits and directs motion of the remote arm by maneuvering the command arm, or more particularly by maneuvering the command handle, and in many instances can perform quite complex tasks through the use of such a device. For example, manual manipulation of the command handle can elicit clasping of a tong of the remote arm via a mechanical communication chain starting at the command handle, extending through the manipulator, and ending at the tong of the remote arm. Typically the portion of the mechanical communication chain extending from the command handle to the command arm is a segment of a cable. It should be noted that the term "cable" as used herein refers to any linear translation mechanisms such as cables, chains, tape, rope, string, and the like. The term "cable" also refers to segments of linear translation mechanisms joined together.

<CIT> discloses a remote-control manipulator with two arms that are connected by a tube, which is located in a protective wall. A first arm carries a tool at its lower end and, the second arm provides a handle with a finger grip at its lower end. Manipulation of the tool by means of the handle is achieved by cables that are coupled to tapes through connecting rings, wherein the connecting rings are located in the corresponding boom tubes of the respective arms.

In manipulator systems it is often necessary to remove the command handle to replace with a different handle or to perform maintenance on the command handle. It is typically a slow and laborious process to remove and replace the command handle because the linear translation mechanism extending to the handle would need to be disconnected from the current handle and re-routed in the replacement handle.

This problem is solved by the manipulator system according to claim <NUM>. Preferred embodiments of the invention are evident from the dependent claims.

The manipulator assembly includes a cable coupling assembly. The cable coupling assembly has a first cable defining a first end. The cable coupling assembly also has a second cable defining a second end. The cable coupling assembly has a first coupler block releasably coupled to the first end of the first cable. The cable coupling assembly also has a second coupler block releasably coupled to the second cable towards the second end of the second cable. The cable coupling assembly has an attachment structure configured to releasably engage the first coupler block and the second coupler block such that the first coupler block and the second coupler block are fixed.

In some embodiments, the first coupler block defines a housing configured to receive the second coupler block. In some embodiments, each of the first coupler block and the second coupler block mutually define a channel configured to receive the attachment structure. In some embodiments, the first coupler block includes a first block portion and a first block clamp portion configured to engage the first end of the first cable. In some embodiments, the second coupler block comprises a second block portion and a second block clamp portion configured to engage the second cable towards the second end of the second cable. In some embodiments, the first coupler block and the second coupler block are substantially identical. In some embodiments, the attachment structure is an interference fit mutually defined by the first coupler block and the second coupler block. In some embodiments, the attachment structure comprises a pin receptacle defined by the first coupler block and a pin defined by the second coupler block, wherein the pin receptacle is configured to frictionally engage the pin. In some embodiments, the attachment structure comprises a housing configured to receive the first coupler block and the second coupler block.

The manipulator system according to the invention also includes a manipulator handle. The manipulator handle has a handle framework. The manipulator handle also has a first cable defining a first end and a second end. The second end of the first cable is coupled to the handle framework. The manipulator handle has a first coupler block coupled to the first end of the first cable. The manipulator handle also has a connector configured to reversibly couple to an output shaft of a manipulator wrist joint.

The manipulator system further includes an attachment structure, wherein the first coupler block preferably defines a channel configured to slidably receive the attachment structure. The first coupler block defines an attachment structure configured to receive a second coupler block of the manipulator wrist joint. In some embodiments, the attachment structure comprises a pin opening defined by the first coupler block, wherein the pin opening is configured to frictionally engage a pin of a second coupler block. In some embodiments, the connector comprises a clamp defining an opening that is configured to receive the output shaft of the manipulator wrist joint. In some embodiments, the manipulator handle further includes a manually actuatable clamp lever coupled to the handle framework and in mechanical communication with the connector, wherein the clamp lever is configured to selectably engage and disengage the connector.

The manipulator system of the invention has a handle defining a handle framework. The handle has a first cable defining a first end and a second end. The second end of the first cable is coupled to the handle framework. The manipulator system also has a first coupler block coupled to the first end of the first cable. The manipulator system has a connector. The manipulator system has a command arm. The command arm has a wrist joint. The wrist joint has an output shaft configured to reversibly couple to the connector. The command arm also has a second cable defining a first end. The command arm further has a second coupler block releasably coupled to the second cable towards the first end of the second cable. The manipulator system also includes an attachment structure configured to releasably engage the first coupler block and the second coupler block such that the first coupler block and the second coupler block are fixed. Other embodiments are described herein.

In some embodiments, the manipulator system further includes a through-tube configured to be coupled to the command arm, wherein the second cable is a component in a mechanical communication chain extending adjacent to the through-tube. In some embodiments, the manipulator system further includes a remote arm configured to be coupled to the through-tube, wherein the remote arm has an end effector and second cable is in mechanical communication with the end effector. In some embodiments, the attachment structure comprises an interference fit mutually defined by the first coupler block and the second coupler block. In some embodiments, the attachment structure comprises a pin receptacle defined by the first coupler block and a pin defined by the second coupler block, wherein the pin receptacle is configured to frictionally engage the pin. In some embodiments, the attachment structure comprises a housing configured to receive the first coupler block and the second coupler block.

The current technology may be more completely understood and appreciated in consideration of the following detailed description of various embodiments of the current technology in connection with the accompanying drawings.

<FIG> is an example telemanipulator <NUM>. The telemanipulator <NUM> is consistent with the technology disclosed throughout this application in various embodiments. The telemanipulator <NUM> broadly has three main components: a command arm <NUM>, a remote arm <NUM>, and a through-tube <NUM> that connects the command arm <NUM> to the remote arm <NUM>. The remote arm <NUM> is configured to be positioned in an isolated environment <NUM> for the purpose of manipulating content in the isolated environment <NUM>. The command arm <NUM> is outside of the isolated environment <NUM>, more specifically in a second environment <NUM> that is generally accessible to a user. The isolated environment <NUM> and the second environment <NUM> are separated by a wall <NUM> through which the through-tube <NUM> passes to connect the remote arm <NUM> to the command arm <NUM>. The wall <NUM> defines a window <NUM> through which components in the isolated environment <NUM> can be viewed from the second environment <NUM>.

The isolated environment <NUM> is, in a variety of embodiments, sealed off from the second environment <NUM> so that gases, debris, and the like cannot pass from one environment to the other, including around the through-tube <NUM> and the window <NUM>. In some other embodiments, the isolated environment <NUM> is not sealed off from the second environment <NUM>. The isolated environment <NUM> can be a hot cell, for example.

In various embodiments, the telemanipulator <NUM> can configured so that, when a user maneuvers the command arm <NUM> in a particular manner ("directive motion") in the second environment <NUM>, the remote arm <NUM> responds with substantially corresponding movements ("responsive motion") in the isolated environment <NUM>. The command arm <NUM> can be directed in one or more of the X-axis, Y-axis, Z-axis, and Z-axis azimuth directions. The X-axis motion is defined by rotation of the command arm <NUM> about an axis parallel to the Y-axis. The Y-axis motion is defined by rotation of the command arm <NUM> about an axis parallel to the X-axis. The Z-axis motion is defined by linear motion along the longitudinal axis <NUM> of the command arm <NUM>. Depending on the orientation of the command arm <NUM>, extension or retraction of the command arm <NUM> along its longitudinal axis <NUM> will not always be aligned with the Z-axis in space. However, for purposes of this application, extension or retraction of the command arm <NUM> along its longitudinal axis <NUM> shall be referred to as being in the Z direction. The Z-axis azimuth direction is rotation about the longitudinal axis <NUM> of the command arm <NUM>. The responsive motion of the remote arm <NUM> is likewise in one or more of the x-axis, y-axis, z-axis, and z-axis azimuth directions.

The command arm <NUM> has a command wrist joint <NUM> and a command handle <NUM> by which to further facilitate directive motions. The command wrist joint <NUM> is positioned between the distal end of the command arm <NUM> and the command handle <NUM>. Correspondingly, the remote arm <NUM> has an end effector <NUM>, which is a tong in some embodiments, and a remote wrist joint <NUM>. The remote wrist joint <NUM> is positioned between the distal end of the remote arm <NUM> and the end effector <NUM>.

In some embodiments the command handle <NUM> incorporates a trigger that, when engaged, produces a grasping responsive motion in the end effector <NUM> of the remote arm <NUM>. The command handle <NUM> can have a ratchet device capable of maintaining the grasp of the end effector <NUM>. The ratchet is capable of being locked in or locked out of engagement. The command handle <NUM> also can have an adjustment screw to adjust the size of the grasp of the end effector <NUM> for handling objects of various widths. In multiple embodiments it can be desirable to adjust the size of the grasp of the end effector <NUM> so that it is proportional to the grip sensation of a user operating the command handle <NUM>.

In various embodiments the pivot of the command handle <NUM> about the command wrist joint <NUM> results in a slight lift of the command handle <NUM> relative to the command arm <NUM>. These dual motions are collectively hereinafter referred to as the "elevation and twist" motion. The elevation and twist motion of the command handle <NUM> can be replicated by the end effector <NUM> relative to the remote wrist joint <NUM> and the remote arm <NUM>.

In various embodiments, the remote arm <NUM> is an independent remotely-removable unit that is interchangeable and couples with the through-tube <NUM>. The remote arm <NUM> generally extends from a distal end of the through-tube <NUM>. In some embodiments, the remote arm <NUM> couples to and uncouples from the through-tube <NUM> without breaking the seal between the isolated environment <NUM> and the second environment <NUM>. In such embodiments the remote arm <NUM> can contain a self-aligning, self-locking mechanism for remotely coupling or uncoupling the remote arm <NUM> to or from the through-tube <NUM> from outside of the isolated environment <NUM>. The end effector <NUM> can also be remotely removable and interchangeable with other types of end effectors.

In some embodiments, the command arm <NUM> can be an independent, interchangeable, removable unit that couples with the through-tube <NUM> without breaking the seal of the isolated environment <NUM>. In some embodiments, command arm <NUM> incorporates X-axis, Y-axis and Z-axis motion counterbalance weights for both the command arm <NUM> and remote arm <NUM>.

The through-tube <NUM> is a sealed unit capable of transmitting directive motion from the second environment <NUM> to the isolated environment <NUM> while keeping the isolated environment <NUM> isolated. The through-tube generally has a proximal end <NUM> and a distal end <NUM>. The proximal end <NUM> is configured to be positioned towards, and in some embodiments, extend into the second environment <NUM>. The distal end <NUM> is configured to be positioned towards, and in some embodiments, extend into the isolated environment <NUM>. In a variety of embodiments, one or more seals are disposed within the through-tube <NUM> towards the command end of the through-tube <NUM>. In some example embodiments, the space in between each pair of seals is filled with grease. In embodiments where the through-tube seals off the isolated environment <NUM> or otherwise separates the isolated environment <NUM> from the second environment <NUM>, the through-tube can be referred to as a seal tube.

In at least one embodiment the through-tube <NUM> seals off the isolated environment <NUM> through a wall tube <NUM> that sealably extends through at least a portion of the wall <NUM> from the second environment <NUM> to the isolated environment <NUM>. In a variety of embodiments, the through-tube <NUM> is sealably disposed within the wall tube <NUM>. As an example, the through-tube <NUM> can be sealably disposed within the wall tube <NUM> with seals such as one or more nitrile rubber spring-loaded lip seals sealed towards the end of the wall tube <NUM> towards second environment <NUM>. If multiple seals are used, the space between the seals can be filled with grease. Such a configuration allows the through-tube <NUM> to rotate within the wall tube <NUM> while maintaining the isolation of the sealed isolated environment <NUM>. The through-tube <NUM> can be configured to engage command arms and remote arms having a variety of different configurations that can vary to fit the needs of particular applications.

In some embodiments the through-tube <NUM> seals to the second environment <NUM> side of the wall <NUM>. There can be a contamination barrier between the through-tube <NUM> and the wall tube <NUM>, located on the isolated end of the through-tube <NUM>. Such a contamination barrier can be consistent with those known in the art. In some embodiments, the through-tube <NUM> mounts and seals to the inside diameter of the wall tube <NUM> towards the second environment <NUM> side of the wall tube <NUM>. Such a seal can be a pair of neoprene, nitrile, and/or viton rings, for example, which are compressed axially and expand to seal the through-tube <NUM> assembly to the inside diameter of the wall tube <NUM>.

In addition to executing movements in response to directive motion from the command arm <NUM>, the remote arm is also configured to execute movements in response to directive input from the command arm <NUM>. The manipulator <NUM> has motor-driven movements that are accessed through manually operated inputs in the second environment <NUM> that provide directive input to the remote arm <NUM> by engaging a motor. Such motor-driven movements can be referred to as "indexing. " Generally, a motor is configured to effect reversible motion of the remote arm <NUM>. The motor is in mechanical communication with the remote arm <NUM> along the length of the through-tube <NUM>. The motor can be an electrical motor, but other types of motors are certainly contemplated. The directive input from the command arm <NUM> can be electrical input to the motor. The command arm <NUM> can incorporate user inputs such as triggers, toggles, buttons, switches, and the like for any number of commands that serve as directive input. Such user inputs can be disposed on the command arm <NUM> including the command wrist joint <NUM> and the command handle <NUM>.

In some embodiments, indexing of the remote arm <NUM> is enabled in the X-axis, Y-axis and Z-axis directions. The X-axis motion is defined by rotation of the remote arm <NUM> about an axis parallel to the Y-axis. In some embodiments the remote arm <NUM> can be indexed up to <NUM>° in either X-axis direction relative to the command arm <NUM>. The Y-axis motion is defined by rotation of the remote arm <NUM> about an axis parallel to the X-axis. In some embodiments the remote arm <NUM> is capable of being indexed from <NUM>° to - <NUM>° relative to the remote arm <NUM> position perpendicular to the plane defined by the X-axis and the Y-axis, where a positive angle is defined as movement away from the wall <NUM>. The Z-axis motion is defined by linear motion along the longitudinal axis l2 of the remote arm <NUM>. In some embodiments, the motor is capable of lifting <NUM> pounds (<NUM>) in the Z-axis direction.

Indexing the remote arm <NUM> is initiated through an indexing mechanical communication chain that transmits the directive inputs originating at the command arm <NUM> to the remote arm <NUM>. Directive inputs, which are generally indexed movements described above, can be disposed on the command arm <NUM>, and are generally referred to as being inputted from the command arm <NUM> for purposes of this application. Furthermore, for purposes of this application, the combination of elements that contribute to the responsive motion of the remote arm <NUM> in response to directive motions and inputs of the command arm <NUM> are referred to as mechanical communication chains. In various embodiments the mechanical communication chain is a substantially mechanical system that can incorporate electronic elements. In some embodiments the mechanical communication chain is a substantially electronic system that incorporates mechanical elements. Such mechanical communication chains generally originate from a directive motion or directive input at the command arm <NUM> and eventually leads to corresponding responsive motion of the remote arm <NUM>. The mechanical communication chains can have a variety of gears, pulleys, chains, cables, tapes, belts, drums, motors, links, and the like that are configured to receive directive motions and directive inputs from the command arm <NUM> to elicit responsive motion of the remote arm <NUM>.

Generally each axis of motion available to the remote arm <NUM> through directive motion or directive input has a particular mechanical communication chain associated with it. A first mechanical communication chain is configured to direct the remote arm <NUM> along a first axis in response to a directive input of the command arm <NUM>. The first axis can be the X-axis in multiple embodiments. A second mechanical communication chain is further configured to direct the remote arm <NUM> along a second axis in response to the directive input of the command arm <NUM>. In various embodiments the second axis is the Y-axis. A third mechanical communication chain is configured to direct the remote arm <NUM> along a third axis in response to the directive input of the command arm <NUM>, which can be the Z-axis. In some embodiments, the command arm <NUM> is in mechanical communication with the remote arm <NUM>. The command arm <NUM> can be in mechanical communication with the remote arm <NUM> through a mechanical communication chain extending through or adjacent to the length of the through-tube <NUM>. A fourth mechanical communication chain is configured to direct the remote arm <NUM> about the third axis in response to the directive of the command arm <NUM>, which can correspond to the Z-axis azimuth responsive motion.

<FIG> is a perspective view of an example command arm <NUM> having a command wrist joint <NUM> and the command handle <NUM> coupled to the command wrist joint <NUM>. <FIG> is a perspective view of the example command arm <NUM> of <FIG> from a second direction. The command handle <NUM> is generally configured to receive directive motions and direction inputs from a user to result in responsive motion in the remote arm as discussed above with reference to <FIG>. The command handle <NUM> is also generally configured to detachably couple to the command wrist joint <NUM> by a user. In some embodiments the command handle <NUM> is configured to both couple to and detach from the command wrist joint <NUM> without the use of tools by a user.

The command handle <NUM> generally defines a handle framework <NUM> that defines the general structure of the command handle <NUM>. The command handle <NUM> is generally configured to be grasped by a user. The command handle <NUM> generally has user inputs through which the user can provide directive motion and/or directive input. For example, the command handle <NUM> has finger receptacles <NUM> that are configured to receive the fingers of a user. In examples, one of the finger receptacles <NUM> is configured to receive a thumb of the user and the other of the finger receptacles <NUM> is configured to receive one or more other fingers of a user, such as a pointer finger and a middle finger. The finger receptacles are generally translatably disposed on the handle framework <NUM>.

The command handle <NUM> can also have additional surfaces and structures that are configured to be grasped by a user. In examples consistent with the current embodiment, the command handle <NUM> has a secondary grip <NUM> configured to be grasped by a user. The secondary grip <NUM> can provide stability for a user resulting from using two hands to provide directive motion to the manipulator. The command handle <NUM> also has a pistol grip <NUM> in embodiments. The pistol grip <NUM> can be grasped by a user to provide directive input to the manipulator, and/or to access additional functionality available at the command handle <NUM>.

A grasping motion by a remote tong of the manipulator is generally the result of directive motion executed by a user at the command handle <NUM>. The directive motion is generally a squeezing motion on command handle <NUM> components that is translated through a mechanical communication chain that extends to the remote tong. In the current embodiment, the directive motion is translating the finger receptacles <NUM> of the command handle <NUM> towards each other. In response, a remote tong on the isolated side of the manipulator executes a grasping motion. Furthermore, when the finger receptacles <NUM> are translated away each other by a user, the remote tong on the isolated side of the manipulator executes a releasing motion.

The mechanical communication chain in mechanical communication with the finger receptacles <NUM> can have a variety of particular configurations, but in general the mechanical communication chain has a cable <NUM> that extends from the command handle <NUM> through the command wrist joint <NUM> to the command arm <NUM>. In some embodiments the cable <NUM> additionally extends through or adjacent to the manipulator through-tube (see <FIG>) and can even extend further to the end effector. Regardless of the specific extension of the cable <NUM> across the manipulator, the cable <NUM> is in mechanical communication with the end effector of the remote arm of the manipulator through a mechanical communication chain. The cable <NUM> is configured to linearly translate in response to translation of the finger receptacles <NUM>, and that linear translation of the cable <NUM> is transmitted further down the mechanical communication chain along the through-tube to result in a grasping motion of the end effector.

In this particular embodiment, a linkage assembly <NUM> causes translation of the cable <NUM> in response to translation of the finger receptacles <NUM>. The linkage assembly <NUM> has symmetrically disposed links <NUM> coupled to a slider <NUM> at pivot points <NUM>. The slider <NUM> is slidably disposed on a slider guide <NUM>. As the finger receptacles <NUM> are translated towards each other by a user, the links <NUM> effect translation of the slider <NUM> along the slider guide <NUM> toward the distal end of the slider guide <NUM>. The slider guide <NUM> provides a bearing surface for the slider <NUM>, limiting translation of the slider <NUM> to the direction of extension of the slider guides <NUM>.

The slider <NUM> is coupled to a pulley <NUM> that guides a portion of a first cable <NUM>. The first cable <NUM> is coupled to a cable coupling assembly <NUM> at one end and the handle framework <NUM> via an adjustment screw <NUM> at the other end that generally remains fixed. The cable coupling assembly <NUM> is also coupled to a second cable <NUM> such that the first cable <NUM>, the second cable <NUM>, and the cable coupling assembly <NUM> form a single linear translation mechanism so that linear translation of the first cable <NUM> results in equal linear translation of the second cable <NUM>. As such, when the slider <NUM> slides along the slider guide, the second cable <NUM> is linearly translated.

The adjustment screw <NUM> is configured to adjust the position of the second end of the first cable <NUM>. The adjustment screw <NUM> can be a threaded screw that adjusts the position of the second end of the first cable <NUM> as the adjustment screw <NUM> is rotated. By changing the position of the second end of the first cable <NUM>, the adjustment screw <NUM> can adjust the size of the grasp of the remote tong for handling objects of various widths. In multiple embodiments it can also be desirable to adjust the size of the grasp of the tong so that it is proportional to the grip sensation of a user operating the command handle <NUM>.

It will be appreciated that the linkage assembly <NUM> can have a variety of different configurations that can be vastly different than the one described herein. In some examples no pulley is incorporated in the system which, compared to the current system, would approximately halve the linear translation of the second cable <NUM>. In some embodiments, the adjustment screw <NUM> is omitted and the second end of the first cable <NUM> is fixed relative to the handle framework <NUM> through any means. Other modifications can also be made.

In example embodiments consistent with <FIG> and <FIG>, the handle <NUM> is removable from the command wrist joint <NUM>. According to the invention, command handle <NUM> has a connector <NUM> and the command wrist joint <NUM> of the command arm <NUM> has an output shaft <NUM> configured to reversibly couple to the connector <NUM>. In a variety of embodiments the connector <NUM> defines an opening <NUM> that is configured to receive the output shaft <NUM> of the command wrist joint <NUM>. In some embodiments the connector <NUM> has a clamp that is configured to clamp to the output shaft <NUM> of the command wrist joint <NUM>. In such embodiments, a manually actuatable clamp lever <NUM> can be in mechanical communication with the connector <NUM> and configured to selectively engage and disengage the connector <NUM>. The clamp lever <NUM> is coupled to the handle framework <NUM>.

The cable coupling assembly <NUM> also enables command handle <NUM> detachment from and attachment to the command wrist joint <NUM>. In particular, the cable coupling assembly <NUM> couples the first cable <NUM>, which is a component of the command handle <NUM>, and the second cable <NUM>, which is a component of the command wrist joint <NUM>. The cable coupling assembly <NUM> will now be described with reference to <FIG>.

An example cable coupling assembly <NUM> is depicted in <FIG> which can be viewed in conjunction with this description. The cable coupling assembly <NUM> generally couples a first cable <NUM> defining a first end <NUM> to a second cable <NUM> defining a second end <NUM>. The cable coupling assembly <NUM> has a first coupler block <NUM> releasably coupled to the first end <NUM> of the first cable <NUM>. The cable coupling assembly <NUM> has a second coupler block <NUM> releasably coupled to the second cable <NUM> towards the second end <NUM> of the second cable <NUM>.

The cable coupling assembly <NUM> also has an attachment structure configured to releasably engage the first coupler block <NUM> and the second coupler block <NUM> such that the first coupler block <NUM> and the second coupler block <NUM> are fixed. A housing <NUM> can be a component of the attachment structure. In some embodiments, the attachment structure is additionally or alternatively an interference fit <NUM> mutually defined by the first coupler block <NUM> and the second coupler block <NUM> visible in <FIG>. For example, the second coupler block <NUM> can define pin receptacle <NUM> and the first coupler block <NUM> can define a pin <NUM> that is configured to be frictionally engaged by the pin receptacle <NUM>. In some embodiments both the first coupler block <NUM> and the second coupler block <NUM> define both a pin <NUM> and a pin receptacle <NUM>.

In some embodiments the housing <NUM> can be omitted. In some embodiments the housing <NUM> is an outer sleeve that is configured to be manually slid over the first coupler block <NUM> and the second coupler block <NUM>. In such embodiments the housing <NUM> can be the sole attachment structure, and in other embodiments the housing <NUM> can reinforce other attachment structures, such as embodiments where there is an interference fit between the first coupler block <NUM> and the second coupler block <NUM>. The housing <NUM> can be constructed of a variety of materials and combinations of materials. In some examples the housing <NUM> is a flexible sleeve such as a rubber sleeve. In some examples the housing <NUM> is a rigid sleeve such as a metal sleeve.

The first coupler block <NUM> has a first block portion <NUM> and a first block clamp portion <NUM> configured to engage the first end <NUM> of the first cable <NUM>. Fasteners <NUM> such as screws can be used to couple the first block portion <NUM> to the first block clamp portion <NUM>, but in some embodiments other fastening structures can be used to couple the first block portion <NUM> to the first block clamp portion <NUM>. In some embodiments the first block portion <NUM> and the first block clamp portion <NUM> compresses the first end <NUM> of the first cable <NUM> when they are coupled.

The first coupler block <NUM> and the second coupler block <NUM> have a substantially identical configuration in embodiments. The second coupler block <NUM> has a second block portion <NUM> and a second block clamp portion <NUM> configured to engage the second cable <NUM> towards the second end <NUM> of the second cable <NUM>. In some particular embodiments the second block portion <NUM> and the second block clamp portion <NUM> are configured to engage the second cable <NUM> at its second end <NUM>. In some embodiments, a terminus <NUM> of the second end <NUM> of the second cable <NUM> can extend beyond the second coupler block <NUM>, and in some embodiments the terminus <NUM> of the second end <NUM> of the second cable <NUM> is engaged by the second coupler block <NUM>. Fasteners such as screws <NUM> (<FIG>) can be used to couple the second block portion <NUM> to the second block clamp portion <NUM>, but in some embodiments other fastening structures can be used. In some embodiments the second block portion <NUM> and the second block clamp portion <NUM> compresses the second end <NUM> of the second cable <NUM> when they are coupled.

The first coupler block <NUM> and the second coupler block <NUM> are generally configured to manually detach without the use of tools. The first coupler block <NUM> is generally a component of the command handle <NUM> (<FIG> and <FIG>, for example), and the second coupler block <NUM> is generally a component of the command wrist joint <NUM> and/or the command arm <NUM>.

<FIG> depicts an example command arm <NUM> having a wrist joint <NUM> that is detached from a manipulator handle. The wrist joint <NUM> is generally a component of a command arm <NUM> which is highly simplified in the drawing. The wrist joint <NUM> has an output shaft <NUM> configured to reversibly couple to a connector <NUM> of a command handle (see <FIG> for example). The command arm <NUM> has a second cable <NUM> defining a second end <NUM>. A second coupler block <NUM> is releasably coupled to the second cable <NUM> towards the second end <NUM> of the second cable <NUM>.

The command arm <NUM> is generally configured to be coupled to a through-tube which is coupled to a remote arm having an end effector (see <FIG>), where the command arm <NUM> and the remote arm are in mechanical communication. The second cable <NUM> is generally a component in a mechanical communication chain extending adjacent to the through-tube, such as through the through-tube. The second cable <NUM> is generally in mechanical communication with the end effector of the remote arm.

The second cable <NUM> extends from the wrist joint <NUM>. The second cable can be similar to cables already described herein. The second cable <NUM> extends through the output shaft <NUM>. In various embodiments, bearings are disposed in the output shaft <NUM> between the output shaft and the second cable <NUM>. The output shaft <NUM> is generally configured to transmit the "elevation and twist" motion of the command handle to the end effector of the remote arm. In the current embodiment, the output shaft <NUM> has an output gear <NUM> that transmits the elevation and twist directive motion (described above with reference to <FIG>) to the mechanical communication chain extending to the remote side of the manipulator.

The second coupler block <NUM> can be similar to coupler blocks already described herein. In the current embodiment, the second coupler block <NUM> defines an attachment structure <NUM> configured to releasably engage a first coupler block (not currently depicted) to fix the second coupler block <NUM> to the first coupler block. The attachment structure <NUM> is a pin in the current example and can be configured to form an interference fit with the first coupler block. The second coupler block <NUM> has a second block portion <NUM> and a second block clamp portion <NUM> that are configured to engage the second cable <NUM> towards the second end <NUM> of the second cable <NUM>.

<FIG> is a perspective view of a command handle <NUM> configured to be coupled to the wrist joint <NUM> of <FIG>. The command handle <NUM> is generally configured to receive directive motion and directive input from a user. The command handle <NUM> generally defines a handle framework <NUM> and a first cable <NUM> defining a first end <NUM> and a second end <NUM>. The handle <NUM> has a first coupler block <NUM> coupled to the first end <NUM> of the first cable <NUM>. The second end <NUM> of the first cable <NUM> is coupled to the handle framework <NUM>. The handle <NUM> has a connector that is configured to couple to an output shaft of a wrist joint (See <FIG>).

As described above in the description associated with <FIG>, the first coupler block <NUM> and the second coupler block <NUM> (<FIG>) are releasably engaged by an attachment structure such that the first coupler block <NUM> and the second coupler block <NUM> are fixed. The attachment structure can be an interference fit mutually defined by the first coupler block and the second coupler block. For example, the attachment structure can be a pin receptacle defined by the first coupler block <NUM> and a pin defined by the second coupler block <NUM>, wherein the pin receptacle is configured to frictionally engage the pin. In some embodiments, including that depicted in <FIG>, the attachment structure at least in part is a housing configured to receive the first coupler block and the second coupler block.

In the current embodiment the connector <NUM> of the command handle <NUM> defines an opening <NUM> that is configured to receive the output shaft <NUM> of the wrist joint <NUM> (<FIG>). The opening <NUM> can be configured to frictionally engage the output shaft <NUM>. The opening <NUM> and the output shaft <NUM> can define mating features. While in the current embodiment the opening <NUM> is a cylindrical opening, other shapes are possible. The connector <NUM> also defines a slot <NUM> configured to accommodate the second cable <NUM> of the wrist joint <NUM>. The slot <NUM> extends from an outer surface of the handle framework <NUM> to the opening <NUM>. The slot <NUM> allows positioning of the second cable <NUM> to extend through the opening <NUM> without needing to thread the second cable <NUM> through the opening <NUM> when inserting the output shaft <NUM> into the opening <NUM>.

As described above in association with <FIG> and <FIG>, the connector <NUM> can have a clamp in communication with the opening <NUM>. The clamp can be in mechanical communication with a manually actuatable clamp lever <NUM> coupled to the handle framework <NUM>. The clamp lever <NUM> is configured to selectably engage and disengage the connector <NUM>. The clamp lever <NUM> can enable connection and disconnection of the command handle <NUM> and the wrist joint <NUM> by a user without the use of tools.

<FIG> depicts an example command arm generally consistent with <FIG> and <FIG> with a cover assembly <NUM> disposed over the linear translation mechanism that is the first cable <NUM>, the cable coupling assembly <NUM>, and the second cable <NUM> depicted in <FIG>. The cover assembly <NUM> can generally be configured to prevent interference with the components of the linear translation mechanism. The cover assembly <NUM> can also be configured to provide an additional gripping surface by a user. The cover assembly <NUM> can be coupled to the handle framework <NUM>.

<FIG> is an exploded view of another example coupling assembly <NUM> consistent with the technology disclosed herein. The coupling assembly <NUM> coupled a first cable <NUM> to a second cable <NUM>. A first coupler block <NUM> is releasably coupled to a first end <NUM> defined by the first cable <NUM>. A second coupler block <NUM> is releasably coupled to the second cable <NUM> towards the second end <NUM> of the second cable <NUM>. An attachment structure <NUM> is configured to releasably engage the first coupler block <NUM> and the second coupler block <NUM> such that the first coupler block <NUM> and the second coupler block <NUM> are fixed.

The first coupler block <NUM> has a first block portion <NUM> and a first block clamp portion <NUM> configured to engage the first end <NUM> of the first cable <NUM>, similar to embodiments described above. A variety of fastening structures can be used to couple the first block portion <NUM> to the first block clamp portion <NUM>.

The second coupler block <NUM> has a second block portion <NUM> and a second block clamp portion <NUM> configured to engage the second cable <NUM> towards its second end <NUM>. In some embodiments the second block portion <NUM> and the second block clamp portion <NUM> compresses the second end <NUM> of the second cable <NUM> when they are coupled.

In this example the first coupler block <NUM> and the second coupler block <NUM> are not substantially identical. In particular, the first coupler block <NUM> defines a housing that is configured to receive the second coupler block <NUM>. The second coupler block <NUM> can be inserted into the first coupler block <NUM>.

Each of the first coupler block <NUM> and the second coupler block <NUM> mutually define a channel <NUM> that is configured to receive the attachment structure <NUM>. The attachment structure <NUM> is configured to be manually slid through the channel <NUM> to fix the first coupler block <NUM> relative to the second coupler block <NUM>. In the current embodiment the attachment structure <NUM> defines a lock opening <NUM> configured to receive a locking pin <NUM>. The locking pin <NUM> can prevent translation of the attachment structure <NUM> relative to the first coupler block <NUM> and the second coupler block <NUM>.

The currently-described example coupling assembly <NUM> can be used in conjunction with manipulators already described herein. The first cable <NUM> can have a second end coupled to a handle and the second cable <NUM> can extend from a wrist joint. In other embodiments, the first cable <NUM> can extend from the wrist joint and a second end of the second cable <NUM> can be coupled to a handle.

The phrase "configured" can be used interchangeably with other similar phrases such as "arranged", "arranged and configured", "constructed and arranged", "constructed", "manufactured and arranged", and the like.

All publications and patent applications in this specification are indicative of the level of ordinary skill in the art to which the present technology pertains.

Claim 1:
A manipulator system for a telemanipulator (<NUM>) comprising:
a detachable manipulator handle (<NUM>, <NUM>) including
a handle framework (<NUM>);
a first cable (<NUM>, <NUM>, <NUM>) defining a first end (<NUM>, <NUM>, <NUM>) and a second end (<NUM>), wherein the second end (<NUM>) of the first cable (<NUM>, <NUM>, <NUM>) is coupled to the handle (<NUM>) framework; and
a first coupler block (<NUM>, <NUM>, <NUM>) coupled to the first end (<NUM>, <NUM>, <NUM>) of the first cable (<NUM>, <NUM>, <NUM>);
a command arm including
a second cable (<NUM>, <NUM>, <NUM>) defining a second end (<NUM>, <NUM>, <NUM>);
characterised by the command arm further including
a second coupler block (<NUM>, <NUM>, <NUM>) releasably coupled to the second cable (<NUM>, <NUM>, <NUM>). towards the second end (<NUM>, <NUM>, <NUM>) of the second cable (<NUM>, <NUM>, <NUM>); and
a manipulator wrist joint (<NUM>) with an output shaft (<NUM>);
and the manipulator system further comprising
an attachment structure (<NUM>, <NUM>, <NUM>, <NUM>) configured to releasably engage the first coupler block (<NUM>, <NUM>, <NUM>) of the manipulator handle and the second coupler block (<NUM>, <NUM>, <NUM>) of the command arm such that the first coupler block (<NUM>, <NUM>, <NUM>) and the second coupler block (<NUM>, <NUM>, <NUM>) are fixed; and
the manipulator handle further including a connector (<NUM>, <NUM>) configured to reversibly couple the command arm to the output shaft (<NUM>) of the manipulator wrist joint (<NUM>).