The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 23, 2021
Filed:
Jul. 22, 2016
Cmr Surgical Limited, Cambridge, GB;
Thomas Bates Jackson, Cambridge, GB;
Edward John Mottram, Cambridge, GB;
Gordon Thomas Deane, Cambridge, GB;
Keith Marshall, Cambridge, GB;
Paul Christopher Roberts, Cambridge, GB;
Ricardo Michael Henderson Da Silva, Cambridge, GB;
CMR SURGICAL LIMITED, Cambridge, GB;
Abstract
A robot arm comprising a joint mechanism for articulating one limb () of the arm relative to another limb () of the arm about two non-parallel rotation axes (), the mechanism comprising: an intermediate carrier () attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear () disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear () disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.