This application is being filed as a PCT International Patent application on March 31 , 2017 in the name of Delaware Capital Formation, Inc., a U.S. national corporation, applicant for the designation of all countries and Amos E. Avery, a U.S. Citizen and inventor only for the designation of all countries, and Steven Bruce Williams II, a U.S. Citizen, applicant and inventor for the designation of all countries, and claims priority to U.S. Provisional Patent Application No. 62/317,005, filed April 1, 2016, the contents of which are herein incorporated by reference in its entireties.

Field of the Technology

The technology disclosed herein relates generally to a manipulator system and more particularly to a manipulator having a motor with a flexible drive shaft.

Backround

In various industries it is preferable to work, test, assemble, and the like, in an environment that is 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. An operator elicits and directs motion of the remote arm by maneuvering the command arm, and in many instances can perform quite complex tasks through the use of such a device.

Many telemanipulators also have indexing functionality, which uses electric motors to effect responsive motion in the remote arm based on input to the motor by a user. The user input can be a toggle, button, switch, joystick, or the like. Disparate motors are used for each direction of indexing motion. Each electric motor generally has a rigid, rotatable drive shaft extending out from the motor that interfaces with an actuator on the manipulator. Each actuator is in mechanical communication with a mechanical communication chain leading to the remote arm such that user input to the motor results in indexing motion in the remote arm in the particular indexing direction.

Each indexing actuator is necessarily positioned to abut its associated mechanical communication chain in the manipulator to transmit mechanical motion. Further, the position of each indexing motor is defined by the location of its respective actuator on the manipulator. This has a number of disadvantages. First, the manipulator is typically crowded with various components, making individual components difficult to access, and the position of the indexing motor on the manipulator adds to that challenge. Second, the position of the actuator can necessitate that the motors themselves be in hard-to-access locations, contributing to the substantial time and effort sometimes required to maintain or replace a motor.

Summary

Some embodiments disclosed herein relate to a manipulator including a through-tube having a distal end. The distal end is configured to extend into an isolated environment. The through tube also has a proximal end. The proximal end is configured to extend into a second environment. The manipulator also includes a remote arm configured to extend from the distal end of the through-tube. The manipulator also includes a motor bank assembly including a motor having a flexible drive shaft. The motor is in mechanical communication with the remote arm through the through-tube. The motor bank assembly is configured to be positioned in the second environment.

In some embodiments, the motor bank assembly is coupled to the proximal end of the through-tube. In some embodiments, the manipulator further includes a command arm configured to extend from the proximal end of the through-tube. In some embodiments, the motor is in electrical communication with the command arm. In some embodiments, the command arm is in mechanical communication with the remote arm through a mechanical communication chain extending through the through-tube. In some embodiments, the motor is configured to effect reversible motion of the remote arm. In some embodiments, the motor is in mechanical communication with the remote arm through a gear drive. In some embodiments, the motor is in mechanical communication with the remote arm through a linear actuator. In some embodiments, the motor is in mechanical communication with the remote arm through a worm gear.

Some embodiments of the current technology relate to a system for a manipulator including a first motor having a first flexible drive shaft. The system also includes a first actuator in mechanical communication with the first flexible drive shaft. The first actuator is configured to effect reversible motion of a manipulator remote arm in a first direction. The system also includes a manipulator command arm having an electrical input to the first motor.

In some embodiments, the system further includes a second motor having a second flexible drive shaft, and a second actuator in mechanical communication with the second flexible drive shaft, wherein the second actuator is configured to effect reversible motion of a manipulator remote arm in a second direction. In some embodiments, the system further includes a third motor having a third flexible drive shaft, and a third actuator in mechanical communication with the third flexible drive shaft, wherein the third actuator is configured to effect reversible motion of a manipulator remote arm in a third direction. In some embodiments, the remote arm is configured to be positioned in an isolated environment and the drive system is positioned in an ambient environment. In some embodiments, the first actuator includes at least one in the group consisting of a gear drive, a linear actuator, and a worm gear. In some embodiments, the reversible motion in the first direction comprises at least one in the group consisting of rotating the remote arm about a y- axis; rotating the remote arm about an x-axis; and translating the remote arm on a z- axis.

Some embodiments of the current technology relate to a motor bank assembly including a mounting framework. The motor bank assembly also includes two or more motor mounts coupled to the mounting framework. The motor bank assembly also includes a motor coupled to each motor mount, where each motor has a flexible drive shaft. The motor bank assembly also includes an actuator in mechanical engagement with each flexible drive shaft. Each actuator is configured to effect one or more motions in a remote arm of a manipulator.

In some embodiments, the mounting framework is substantially planar and is configured to couple to a wall. In some embodiments, the mounting framework is configured to couple to a through-tube of a manipulator. In some embodiments, the actuator comprises at least one in the group consisting of a gear drive; a linear actuator; and a worm gear. In some embodiments, the one or more motions comprises at least one in the group consisting of rotating the remote arm about a y-axis; rotating the remote arm about an x-axis; and translating the remote arm on a z-axis.

Other embodiments are also described.

Brief Description of the Drawings

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. 1 is an example telemanipulator.

FIG. 2 is a perspective view of an example manipulator from a first direction consistent with the technology disclosed herein.

FIG. 3 is a perspective view of an example motor bank assembly of the manipulator of FIG. 2.

FIG. 4 is a perspective view of the manipulator of FIG. 2 from a second direction.

FIG. 5 is a perspective view of a first motor bank assembly consistent with the technology disclosed herein.

FIG. 6 is a perspective view of a second motor bank assembly.

FIG. 7 is a perspective view of a third motor bank assembly consistent with the technology disclosed herein.

Detailed Description

FIG. 1 is an example telemanipulator 100. The telemanipulator 100 is consistent with the technology disclosed throughout this application in various embodiments. The telemanipulator 100 broadly has three main components: a command arm 140, a remote arm 160, and a through-tube 150 that connects the command arm 140 to the remote arm 160. The remote arm 160 is configured to be positioned in an isolated environment 110 for the purpose of manipulating content in the isolated environment 110. The command arm 140 is outside of the isolated environment 110, more specifically in a second environment 120 that is generally accessible to a user. The isolated environment 110 and the second environment 120 are separated by a wall 130 through which the through-tube 1 p5a0sses to connect the remote arm 160 to the command arm 140. The wall 130 defines a window 135 through which components in the isolated environment 110 can be viewed from the second environment 120.

The isolated environment 110 is, in a variety of embodiments, sealed off from the second environment 120 so that gases, debris, and the like cannot pass from one environment to the other, including around the through-tube 15 a0nd the window 13S. In some other embodiments, the isolated environment 110 is not sealed off from the second environment 120. The isolated environment 110 can be a hot cell, for example.

In various embodiments, the telemanipulator 100 can configured so that, when a user maneuvers the command arm 140 in a particular manner ("directive motion") in the second environment 120, the remote arm 160 responds with substantially corresponding movements ("responsive motion") in the isolated environment 110. The command arm 140 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 140 about an axis parallel to the Y-axis. The Y-axis motion is defined by rotation of the command arm 140 about an axis parallel to the X-axis. The Z-axis motion is defined by linear motion along the longitudinal axis // of the command arm 140. Depending on the orientation of the command arm 140, extension or retraction of the command arm 140 along its longitudinal axis // will not always be aligned with the Z-axis in space. However, for purposes of this application, extension or retraction of the command arm 140 along its longitudinal axis // shall be referred to as being in the Z direction. The Z-axis azimuth direction is rotation about the longitudinal axis // of the command arm 140. The responsive motion of the remote arm 160 is likewise in one or more of the x-axis, y-axis, z-axis, and z-axis azimuth directions.

The command arm 140 has a command wrist joint 145 and a command handle 147 by which to further facilitate directive motions. The command wrist joint 145 is positioned between the distal end of the command arm 140 and the command handle 147. Correspondingly, the remote arm 160 has an end effector 167, which is a tong in some embodiments, and a remote wrist joint 165. The remote wrist joint 165 is positioned between the distal end of the remote arm 160 and the end effector 167. In some embodiments the command handle 147 incorporates a trigger mat, when engaged, produces a grasping responsive motion in the end effector 167 of the remote arm 160. In various embodiments the pivot of the command handle 147 about the command wrist joint 14S results in a slight lift of the command handle 147 relative to the command arm 140. These dual motions are collectively hereinafter referred to as the "elevation and twist" motion. The elevation and twist motion of the command handle 147 can be replicated by the end effector 167 relative to the remote wrist joint 165 and the remote arm 160.

In various embodiments, the remote arm 160 is an independent remotely- removable unit that is interchangeable and couples with the through-tube 150. The remote arm 160 generally extends from a distal end of the through-tube 1 SO. In some embodiments, the remote arm 160 couples to and uncouples from the through-tube

150 without breaking the seal between the isolated environment 110 and the second environment 120. In such embodiments the remote arm 160 can contain a self- aligning, self-locking mechanism for remotely coupling or uncoupling the remote arm

160 to or from the through-tube 150 from outside of the isolated environment 110.

The end effector 167 can also be remotely removable and interchangeable with other types of end effectors.

In some embodiments, the command arm 140 can be an independent, interchangeable, removable unit that couples with the through-tube 1 w50ithout breaking the seal of the isolated environment 110. In some embodiments, command arm 140 incorporates X-axis, Y-axis and Z-axis motion counterbalance weights for both the command arm 140 and remote arm 160.

The through-tube 150 is a sealed unit capable of transmitting directive motion from the second environment 120 to the isolated environment 110 while keeping the isolated environment 110 isolated. The through-tube generally has a proximal end

151 and a distal end 152. The proximal end 151 is configured to be positioned towards, and in some embodiments, extend into the second environment 120. The distal end 152 is configured to be positioned towards, and in some embodiments, extend into the isolated environment 110. In a variety of embodiments, one or more seals are disposed within the through-tube 150 towards the command end of the through-tube 150. 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 110 or otherwise separates the isolated environment 110 from the second environment 120, the through-tube can be referred to as a seal tube.

In at least one embodiment the through-tub1e50 seals off the isolated environment 110 through a wall tube 155, that sealably extends through at least a portion of the wall 130 from the second environment 120 to the isolated environment 110. In a variety of embodiments, the through-tub1e50 is sealably disposed within the wall tube 1SS. As an example, the through-tub1e50 can be sealably disposed within the wall tube 1SS with seals such as one or more nitrile rubber spring-loaded lip seals sealed towards the end of the wall tube 1SS towards second environment 120. If multiple seals are used, the space between the seals can be filled with grease. Such a configuration allows the through-tube 1 SO to rotate within the wall tube 1SS while maintaining the isolation of the sealed isolated environment 110. The through-tube 150 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-tub1e50 seals to the second environment

120 side of the wall 130. There can be a contamination barrier between the through- tube150 and the wall tube 155, located on the isolated end of the through-tube 150. Such a contamination barrier can be consistent with those known in the art. In some embodiments, the through-tube 150 mounts and seals to the inside diameter of the wall tube 1SS towards the second environment 120 side of the wall tube 1SS. 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-tube150 assembly to the inside diameter of the wall tube 155,.

In addition to executing movements in response to directive motion from the command arm 140, the remote arm is also configured to execute movements in response to directive input from the command arm 140. The manipulator 100 has motor-driven movements mat are accessed through manually operated inputs in the second environment 120 that provide directive input to the remote arm 160 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 160. The motor is in mechanical communication with the remote arm 160 along the through-tube 150. The motor can be an electrical motor, but other types of motors are certainly contemplated. The directive input from the command arm 140 can be electrical input to the motor. The command arm 140 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 140 including the command wrist joint 14S and the command handle 147.

In some embodiments, indexing of the remote arm 160 is enabled in the X- axis, Y-axis and Z-axis directions. Hie X-axis motion is defined by rotation of the remote arm 160 about an axis parallel to the Y-axis. In some embodiments the remote arm 160 can be indexed up to 45° in either X-axis direction relative to the command arm 140. The Y-axis motion is defined by rotation of the remote arm 160 about an axis parallel to the X-axis. In some embodiments the remote arm 160 is capable of being indexed from 90° to -15° relative to the remote arm 160 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 130. The Z-axis motion is defined by linear motion along the longitudinal axis l ₂ of the remote arm 160. In some embodiments, the motor is capable of lifting 100 pounds (45 kg) in the Z-axis direction.

Indexing the remote arm 160 is initiated through an indexing mechanical communication chain that transmits the directive inputs originating at the command arm 140 to the remote arm 160. Directive inputs, which are generally indexed movements described above, can be disposed on the command arm 140, and are generally referred to as being inputted from the command arm 140 for purposes of this application.

The command arm 140 is in mechanical communication with the remote arm 160. The command arm 140 can be in mechanical communication with the remote arm 160 through a mechanical communication chain extending through or adjacent to the through-tube 150. For purposes of this application, the combination of elements that contribute to the responsive motion of the remote arm 160 in response to directive motions and inputs of the command arm 140 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 140 and eventually leads to corresponding responsive motion of the remote arm 160. 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 140 to elicit responsive motion of the remote arm 160.

Generally each axis of motion available to the remote arm 160 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 160 along a first axis in response to a directive input of the command arm 140. The first axis can be the X-axis in multiple embodiments. A second mechanical communication chain is further configured to direct the remote arm 160 along a second axis in response to the directive input of the command arm 140. In various embodiments the second axis is the Y-axis. A third mechanical communication chain is configured to direct the remote arm 160 along a third axis in response to the directive input of the command arm 140, which can be the Z-axis. A fourth mechanical communication chain is configured to direct the remote arm 160 about the third axis in response to the directive of the command arm 140, which can correspond to the Z-axis azimuth responsive motion.

FIG. 2 is a perspective view of an example manipulator 200. The manipulator 200 has a through-tube 250 configured to span a wall between an isolated environment and a second environment, where the second environment can be an ambient environment. The through-tube 2S0 defines a distal end 252 configured to extend into the isolated environment and a proximal end 251 configured to extend into the second environment. The manipulator 200 has a remote arm 240 configured to extend from the distal end 252 of the through-tube. The manipulator 200 has a command arm 260 configured to extend from the proximal end of the through-tube.

The command arm 260 is in mechanical communication with the remote arm through a plurality of mechanical communication chains. The through-tube 250 can house components of one or more of the mechanical communication chains. Some mechanical communication chains can be adjacent to the through-tube 250. The through-tube 250, remote arm 240, and command arm 260 can each be consistent with those described above with reference to FIG. 1. At least a portion of the mechanical communication chains can be indexing mechanical communication chains that allow indexing of the remote arm 240 based on directive input at the command arm 260.

To facilitate indexing of the manipulator, the manipulator has a motor bank assembly 202 configured to be positioned in the second environment, which can be the ambient environment. The motor bank assembly 202 is coupled to the proximal end of the through-tube 2S0 and has one or more motors 208 mounted thereto for indexing the remote arm 240 in one or more directions. Each direction of indexing is enabled by a disparate indexing mechanical communication chain extending from the command arm 260 to the remote arm 240 through a corresponding motor 208 mounted to the motor bank assembly 202. Indexing can generally be consistent with the descriptions above with reference to FIG. 1. The motor bank assembly 202 has each of the motors 208. In examples consistent with this particular embodiment, the motor bank assembly 202 provides the manipulator with indexing in the X-axis, Y- axis, and Z-axis directions as described above. In other example embodiments, the motor bank assembly 202 can provide additional, alternative, or fewer directions of indexing motion to the remote arm 240.

Each motor 208 is capable of bi-directional rotation such that it is configured to effect reversible motion of the remote arm 240. The motors 208 can be electric motors. The motors 208 can be direct current (DC) or alternating current (AC) electric, hydraulic, pneumatic, or any other type of motor capable of producing bidirectional rotation at a desired speed and provide a desired torque. In some examples, a plurality of the motors is the same model. This can lead to a reduced manufacturing cost and a reduced part inventory.

Each motor 208 has a flexible drive shaft 210. The flexible drive shaft 210 allows the motor 208 to be positioned in a variety of locations while still routing mechanical power to an actuator positioned at a specific location on the manipulator 200. Each flexible drive shaft 210 can be constructed of a wire rope or coil which is free to bend but has substantial torsional stiffness. Each flexible drive shaft 210 is capable of being routed around obstacles and deliver power to its respective actuator. Flexible drive shafts can offer superior performance over solid drive shafts joined with universal joints, such as increased efficiency and increased routing options. Many commercial flexible drive shafts, such as those available from S.S. White Technologies, Inc. of Piscatawa, NJ, are metallic shafts that can deliver power at an efficiency between 85% and 95%. Flexible drive shafts used in various embodiments can have one or more of mandrel cores, one or more layers of wound wire, stationary casings, end fittings, ferrules, and bearing housings. In some embodiments, the flexible drive shafts 210 are enclosed in sheaths. In such embodiments, the sheath prevents a flexible drive shaft 210 from interfering with other components of the manipulator 200.

Because many motors with flexible drive shafts transmit power at a reduced efficiency compared to motors with a direct drive shaft, in some embodiments the motors 208 with a flexible drive shaft are rated for relatively higher power.

While the motor bank assembly 202 is mounted to a proximal end 251 of a through-tube 250 in the current embodiment, in other embodiments, the motor bank assembly 202 can be mounted elsewhere on or near the manipulator 200. In some embodiments, the motor bank assembly 202 is mounted remotely from the manipulator, such as on a wall or a bench. Although the motor bank assembly 202 depicted in this particular example has three motors 208, a motor bank assembly 202 can have two or more motors 208.

The indexing mechanical communication chains transmit power from the one or more motors 208 of the motor bank assembly 202 to corresponding actuators that effect responsive motion in the remote arm 240. Each indexing mechanical communication chain incorporates a flexible drive shaft 210 to transmit rotational power from a motor 208 to a corresponding actuator, and the actuator transmits rotational power from the flexible drive shaft 210 further down the indexing mechanical communication chain to result in responsive motion of the remote arm 240. The indexing mechanical communication chains can have components passing through or adjacent to the through-tube 250. In some embodiments, the through-tube 250 itself is a part of a mechanical communication chain 210. In some embodiments, one or more motors 208 are in mechanical communication with the remote arm 240 through the through-tube 250.

The motors 208 are generally in electrical communication with the command arm 260. Each motor 208 is generally in electrical communication with a user input that a user manually manipulates to provide directive input to the manipulator. As described above, the user input can be a variety of different inputs such as toggles, buttons, switches, joysticks, and the like. In many embodiments, the user input is located on the command arm 260, although other user input locations are contemplated, such as adjacent to the command arm 260. The directive input generally provides an electrical input to a motor 208. In some embodiments, the user input is in electrical communication with an electrical box 215 which is configured to electrical communication with a respective motor 208. In such embodiments, the electrical box 215 responds to directive input by directing electrical power to the respective motor 208.

FIG. 3 is a perspective view of an example motor bank assembly 202 consistent with FIG. 2. The motor bank assembly 202 is generally configured to define a single location having multiple motors 208. The motor bank assembly 202 generally has a mounting framework 212 and two or more motor mounts 214 each having a motor 208 mounted thereto.

In this particular example, the motor bank assembly 202 has three motors 208.

Each motor 208 is capable of bidirectional rotation and provides the facility for reversibly indexing the remote arm in one direction (and the reverse of mat direction).

In other embodiments, there may be more or fewer motors corresponding to a desired number of indexing directions. Each motor 208 is coupled to the motor mount 214.

Each motor mount 214 is coupled to the mounting framework 212.

The motor bank assembly 202 is generally configured to be positioned in a second environment 120 separate from an isolated environment 110 (see discussion of

FIG. 1, above). In some embodiments, motor bank assembly 202 is configured to be mounted on a manipulator through-tube 250 (See FIG. 2). In such embodiments, motor bank assembly 202 can be further configured to mount to a proximal end 251 of the through-tube 250 (FIG. 2). In other embodiments, the motor bank assembly 202 can be configured to mount to a location elsewhere on the manipulator. In yet other embodiments, the motor bank assembly 202 is configured to mount to a location remote from the manipulator 200, such as on a wall, which will be described further herein.

Each motor 208 is in mechanical engagement with a flexible drive shaft 210. Each flexible drive shaft 210 is in mechanical engagement with an actuator 220. As such, each motor 208 is in mechanical communication with its respective actuator 220 through a flexible drive shaft 210. Various configurations of actuators 220 are contemplated. An actuator is generally defined herein as the component(s) configured to directly receive rotational energy from the flexible drive shaft and transmit that energy further down the indexing mechanical communication chain to result in responsive motion of the remote arm

The actuators 220 can by any type of mechanism or structure in the indexing mechanical communication chain 204 that couples the flexible drive shaft 210 of a motor 208 to an indexing mechanical communication chain in mechanical communication with a manipulator remote arm. Actuators 220 are generally configured to effect reversible motion of the manipulator remote arm 240 in a defined direction. An actuator 220 can have gears, pulleys, teeth, chains, wheels, links, and other mechanical components. Actuators 220 are generally positioned adjacent to the through-tube of the manipulator because the indexing mechanical communication chains - of which the actuators are a part - either pass through the through-tube or are at least adjacent to the through-tube. The use of flexible drive shafts 210 enables the motors 208 to be placed in locations that are not directly adjacent to the actuators 220. The remotely located motors 208 can be placed together in an easily accessible location, such as within the motor bank assembly 202, within the second environment.

In some embodiments, an actuator 220 can be a gear drive 222. The gear drive 222 can enable indexing of a remote arm in the Z-axis direction in some examples. In some embodiments the gear drive 222 is an extension gear drive. The gear drive 222 can be a gear reduction transmission mat provides a rotational output 223 for driving an extension linkage. An extension linkage can be any mechanical communication chain that transfers the rotational output of the gear drive 222 into, for example, linear indexing of the manipulator remote arm 240, such as extension or retraction in the Z- axis direction. In some embodiments, the extension linkage passes through the through-tube 250 such that a motor 208 is in mechanical communication with the remote arm through the through-tube 250.

In some embodiments, an actuator 224 can be a linear actuator 224. The linear actuator 224 can enable indexing of a remote arm in the Y-axis direction in some examples. The linear actuator 224 is configured to translate rotational motion from the flexible drive shaft 210 to linear translation of an extension portion 225. The linear translation of the linear actuator 224 can be configured to drive an indexing mechanical communication chain that transfers the linear output of the linear actuator 224 into Y-axis indexing of the manipulator remote arm 240. In some embodiments, a Y-axis indexing mechanical communication chain can incorporate a push-pull type linkage that is configured to pivot the manipulator remote arm 160 (FIG. 1) such that the remote arm 160 rotates about an axis parallel to the X-axis. In some embodiments, the Y-axis indexing mechanical communication chain passes through the through- tube such that the associated motor 208 is in mechanical communication with the remote arm through the through-tube. In some embodiments, the actuator 220 can be a worm gear 228. The worm gear 228 can enable indexing of a remote arm in the X-axis direction in some examples. The worm gear 228 is configured to translate rotational motion from the flexible drive shaft 210 through the through-tube to an indexing mechanical communication chain ending at the remote arm resulting in X-axis indexing of the manipulator remote arm. In some embodiments, the indexing mechanical

communication chain mechanically coupled to the worm gear 228 can have a rigid tube or shaft that is driven by the worm gear 228. In such embodiments, the rigid tube or shaft can define a pivot point of the manipulator remote arm, causing the remote arm to swing about an axis parallel to the Y-axis. In some embodiments, the indexing mechanical communication chain passes through the through-tube 250 such that the motor 208 is in mechanical communication with the remote arm through the through- tube 250.

Although specific actuators 220 are described above with reference to indexing a remote arm in various directions, other actuators types can be used to index a remote arm in a desired direction in various embodiments. For example, although a worm gear is described to be used in this particular embodiment to index a remote arm in an X-axis direction, other mechanisms and actuators are contemplated that provide such X-axis indexing.

FIG. 4 is a perspective view of the manipulator 200 of FIG. 2 from a second direction. In this particular embodiment, the extension gear drive 222, the linear actuator 224, and the worm gear 228 are mounted at various locations on the through- tube 250. Other mounting locations are contemplated. In mis and other embodiments consistent with the technology, flexible drive shafts 210 eliminate the necessity of mounting each motor directly to its respective actuator and the motor bank assembly 202 allows power from centrally-located motors 208 to be distributed to the actuators 220, where each actuator 220 is at a different location on the manipulator 200. The flexible drive shafts 210 are routed from the motor bank assembly 202 directly to the actuators 220.

In some embodiments, the motor bank assembly 202 has a shaft guide 211 that provides spatial separation between the flexible drive shafts 210. The shaft guide 211 can additionally route the flexible drive shafts 210. The motor bank assembly 202 can have other shaft guides at additional or alternate locations. Shaft guides can additionally prevent the rotation of the flexible drive shafts 210 from interfering with other components of the manipulator 200.

The motor bank assemblies generally provide a central location for the indexing motors. The motor bank assemblies generally have two or more motors. While a motor bank assembly is generally located in an environment separate from the isolated environment having the remote arm of the manipulator, motor bank assemblies can be of various configurations such that it can couple to various structures. FIGS. 5 and 6, for example depicts a motor bank assembly 606 that can be configured to couple to a through-tube of a manipulator. FIG. 7, as another example, depicts a motor bank assembly 706 that can be configured to couple to a wall.

The motor bank assembly 606 of FIG. S generally has a mounting framework 612 and two or more motor mounts 614 coupled to the mounting framework 612. A motor 608 is coupled to each motor mount, where each motor has an output shaft 61S configured to be coupled to a flexible drive shaft. The motor bank assembly 606 has three motors 608 in the current embodiment, but in some embodiments there can be fewer motors or additional motors.

The mounting framework 612 is generally a rigid structure that is configured to mount to a particular location on the command-side of the manipulator and support multiple motors 608 and motor mounts 614 in fixed positions relative to each other. In the current embodiment consistent with some implementations, the mounting framework 612 has a planar component such as a plate 611 defining surfaces configured to receive one or more motors 608. The mounting framework 612 can be configured to configured to couple to a manipulator. In such embodiments, the mounting framework 612 can be configured to couple to a proximal end of a manipulator through-tube. The mounting framework 612 can define various openings and have hardware configured to couple to one or more motor mounts 614.

The motor mounts 614 generally define the mounting locations of the motors relative to the mounting framework 612. A plurality of couplers 613 can couple each motor mount 614 to the mounting framework 612. Each motor mount 614 defines one or more motor surfaces 616 that are configured to abut the motor 608 to retain the motor 608 in a particular position relative to the mounting framework 612. In examples consistent with the current embodiment, the motor mounts 614 can each define through-holes 617 that accommodate the motor output shafts 615. In some embodiments, the motor mounts 614 can have shrouds that shield the motor output shafts 61S. Such an embodiment is depicted in FIG. 6, which is similar to the embodiment depicted in FIG. S, but the embodiment of FIG. 6 additionally incorporated shrouds 618 disposed over the motor output shafts 615 to shield the motor output shafts 615 from outside interference.

In examples consistent with the current embodiment, the motors 608 are arranged in the motor bank assembly 606 to have a pyramid configuration. The pyramid configuration provides the motor bank assembly 606 with a relatively compact footprint. The motors 608 are mounted such that their output shafts 615 are oriented in a first direction. In some embodiments, the motors 608 are configured to be positioned in an upright position such that the output shafts 615 point upwardly, such as in the direction of the Z-axis described above.

As discussed above, the motors 608 are generally electric motors. The motors 608 can have an electrical input 630. The electrical input 630 is generally in electrical communication with an electrical power source such as an electrical power outlet. In some embodiments, the manipulator has one or more user inputs that are in electrical communication with the electrical power source. The power source generally provides electrical power to one or more motors 608 in response to directive input through the user input. As such, the user input is in electrical communication with the one or more motors 608. Other types of motors are contemplated, such as hydraulic or pneumatic motors. In such embodiments, the electrical input 630 can be replaced with a hydraulic input, pneumatic input, or other input in communication with a user input.

Generally, the motor bank assembly 606 is located remotely from the actuators that effect indexing of the remote arm 240 of the manipulator. A remotely mounted motor bank assembly 606 can be subjected to fewer space constraints than designs where motors are mounted directly to the manipulator to be abutting its corresponding actuator. In some embodiments, the motor bank assembly 606 has two or more motors 608 that are of like design. For example, the motors 608 could all be electrical motors of the same make and model. Using motors 608 of a like design can simplify production and maintenance of a manipulator. With fewer spatial constraints, it is possible to use a motor 608 that is physically larger in one or more dimensions than if a motor 608 was required to directly drive an actuator without a flexible drive shaft.

Turning now to the motor bank assembly 706 of FIG. 7, three motor mounts 714 are coupled to a mounting framework 712 and each motor mount 714 has a motor 708 mounted thereto. As such, the three motors 708 are arranged in an in-line configuration.

The mounting framework 712 is a substantially planar component such as a metal plate 711 having two major surfaces 718, 719. The in-line configuration of the motors 708 on one major surface 719 provides the motor bank assembly 706 with a relatively small thickness and allows the other major surface 718 of the mounting framework 712 to remain unobstructed so as to allow mounting of the mounting framework 712 to a relatively flat surface such as a wall or a bench. An in-line configuration can be desirable to minimize the outward protrusion of motors 708 in wall-mount applications. In examples consistent with the current embodiment, the motors 708 are mounted such that their output shafts 715 are oriented in a first direction.

In some embodiments, the mounting framework 712 is configured to couple to a wall. In such embodiments, the mounting framework 712 can be configured to couple to a wall adjacent to a manipulator. A major surface 718 of the mounting framework 712 can be substantially planar such that it can be relatively flush with a mounting wall. The plate 711 of the mounting framework 712 can define various openings configured to receive coupling hardware to couple to the motor mounts 714.

In some embodiments, the motor mounts 714 are configured to mount the motors 708 in a uniformly oriented configuration, consistent with the above description. Each motor mount 714 can define a through-hole 717 that receives a motor output shaft 715. Each motor mount 714 defines one or more motor surfaces 616 that are configured to abut surfaces of the mounted motor 608. In some embodiments, the motor mounts 714 include shrouds (not shown) that shield the motor shafts 715 and couplers 713.

In some embodiments, the motors 708 are electric motors. The motors can have an electrical input 730. The functions and features of the motors 708 and electrical input 730 are consistent with those of the motors and electrical input discussed above.

It should also be noted that, as used in this specification and the appended claims, the phrase "configured" describes a system, apparatus, or other structure that is constructed or configured to perform a particular task or adopt a particular configuration. 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. All publications and patent applications are herein incorporated by reference to the same extent as if each individual publication or patent application was specifically and individually indicated by reference.

This application is intended to cover adaptations or variations of the present subject matter. It is to be understood that the above description is intended to be illustrative, and not restrictive.