A driving apparatus according to an embodiment includes an arm, an operation target, and a brake unit. The arm has one end supported by a support mechanism, and includes an electric driving source. The operation target is attached to the other end of the arm, the other end being an end on the opposite side of the one end, and is enabled to be pivoted by the driving source about one rotational axis intersecting with a direction from the one end to the other end. The brake unit secures immobility of a target gear that is a gear disposed in the arm, and that is a gear being rotated as the operation target is pivoted, when the power supply to the driving source stops.

A driving apparatus according to an embodiment includes an arm, an operation target, and a brake unit. The arm has one end supported by a support mechanism, and includes an electric driving source. The operation target is attached to the other end of the arm, the other end being an end on the opposite side of the one end, and is enabled to be pivoted by the driving source about one rotational axis intersecting with a direction from the one end to the other end. The brake unit secures immobility of a target gear that is a gear disposed in the arm, and that is a gear being rotated as the operation target is pivoted, when the power supply to the driving source stops.

A joint exoskeleton auxiliary driving mechanism has a first driving module. The first driving module has a first gear member, a first connecting member, a first rotating driver, a first linear driver, and a first motion element. The first connecting member is disposed on a side of the first gear member. The first rotating driver is disposed on the first connecting member and engages with the first gear member. The first linear driver is disposed on the first connecting member. The first motion assembly is connected to a first power output element of the first linear driver. The joint exoskeleton auxiliary driving mechanism has two degrees of freedom motion function such as forward rotation, reverse rotation, and dorsiflexion or extension, and has the advantages of structural simplification, precise strength controlling, lightweight, and miniaturization.

A joint exoskeleton auxiliary driving mechanism has a first driving module. The first driving module has a first gear member, a first connecting member, a first rotating driver, a first linear driver, and a first motion element. The first connecting member is disposed on a side of the first gear member. The first rotating driver is disposed on the first connecting member and engages with the first gear member. The first linear driver is disposed on the first connecting member. The first motion assembly is connected to a first power output element of the first linear driver. The joint exoskeleton auxiliary driving mechanism has two degrees of freedom motion function such as forward rotation, reverse rotation, and dorsiflexion or extension, and has the advantages of structural simplification, precise strength controlling, lightweight, and miniaturization.

A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

A barricade includes a foundation frame, a finger wedge barrier, a hinge hingedly coupling the finger wedge barrier to the foundation frame, and an actuator mechanism coupled to the foundation frame and the finger wedge barrier. The finger wedge barrier is configured to rotate about the hinge between a stowed configuration and a deployed configuration, and the actuator mechanism is configured to rotate the finger wedge barrier between the stowed configuration and the deployed configuration. The actuator mechanism includes an actuator comprising a housing and a rod configured to reciprocally move in the housing, a first linkage having a first end rotatably coupled to the rod and a second end rotatably coupled to the finger wedge barrier, and a second linkage having a first end rotatably coupled to the rod and a second end rotatably coupled to the foundation frame.

A barricade includes a foundation frame, a finger wedge barrier, a hinge hingedly coupling the finger wedge barrier to the foundation frame, and an actuator mechanism coupled to the foundation frame and the finger wedge barrier. The finger wedge barrier is configured to rotate about the hinge between a stowed configuration and a deployed configuration, and the actuator mechanism is configured to rotate the finger wedge barrier between the stowed configuration and the deployed configuration. The actuator mechanism includes an actuator comprising a housing and a rod configured to reciprocally move in the housing, a first linkage having a first end rotatably coupled to the rod and a second end rotatably coupled to the finger wedge barrier, and a second linkage having a first end rotatably coupled to the rod and a second end rotatably coupled to the foundation frame.

A working device has a configuration with seven degrees of freedom, and is configured to perform work using an end effector. The working device includes: a linear motion unit having three degrees of freedom; a rotary unit having three degrees of freedom; and a rotary drive mechanism having one degree of freedom. The rotary drive mechanism is configured to rotate the rotary unit relative to the linear motion unit. The linear motion unit is mounted on a mount such that a base portion thereof is fixed to the mount. The rotary drive mechanism is mounted on an output portion of the linear motion unit. The rotary unit is mounted on an output portion of the rotary drive mechanism. The end effector is mounted on an output portion of the rotary unit.

A working device has a configuration with seven degrees of freedom, and is configured to perform work using an end effector. The working device includes: a linear motion unit having three degrees of freedom; a rotary unit having three degrees of freedom; and a rotary drive mechanism having one degree of freedom. The rotary drive mechanism is configured to rotate the rotary unit relative to the linear motion unit. The linear motion unit is mounted on a mount such that a base portion thereof is fixed to the mount. The rotary drive mechanism is mounted on an output portion of the linear motion unit. The rotary unit is mounted on an output portion of the rotary drive mechanism. The end effector is mounted on an output portion of the rotary unit.