A harmonic pin ring gear system includes an input and output shaft and two outer gears, each with internal toothing, a single inner gear with external toothing arranged concentrically to a first outer gear and inside said first outer gear in axial direction, and a drive means extending between the two outer gears and the inner gear comprising a pin ring formed as one part in circumferential direction and a multiplicity of pins that protrude laterally in axial direction from the pin ring, a rotary transmitter for lifting the drive means off the external toothing of the inner gear and pressing the drive means into the internal toothing of the outer gear, wherein the input shaft is mounted on one side in the inner gear, the inner gear is mounted in an inner gear ball bearing, and the inner gear ball bearing is mounted in a housing cover.

Provided is a system comprising a tool (50) and a stator unit (500). The tool (50) comprises an instrument (100, 102) having a proximal end (20) and a distal (40) end, an end effector (300) at the distal end (40) actuated by torque, and a rotor unit (400) body (410) having at least two cammed surfaces to provide the torque. The stator unit (500) comprises a plurality of stator pushers (530-Ua, 530-Va, 530-Wa, 530-Ub, 530-Vb, 530-Wb, 530-Uc, 530-Vc, 530-Wc) configured for movement in a direction radial to a centre of rotation (405) of the body (410) of the rotor unit (400) and for the application of the radial force, whereby movement of the stator pushers induces rotation of the body (410) around the axis of rotation (210).

The gearbox mechanism includes a plurality of cam-actuated rocker block assemblies, for transferring power to an output gear. Each rocker block assembly includes a gear pad having a surface that periodically interfaces with the output gear. The interface surface comprises a plurality of projections which correspond to complementary projections on the output gear. Each rocker block assembly further includes a gear pad, a rocker arm, cam followers and/or path followers, which connect or link the rocker block to a cam assembly, which in turn is connected to a power source. The cam assembly includes about its circumference a unique pathway or groove for each cam followers and/or a second unique pathway or groove in the cam's planar surface for the pathway follower so that the movement of the gear block may be controlled in two or three dimensions in accordance with a certain design parameter.

The gearbox mechanism includes a plurality of cam-actuated rocker block assemblies, for transferring power to an output gear. Each rocker block assembly includes a gear pad having a surface that periodically interfaces with the output gear. The interface surface comprises a plurality of projections which correspond to complementary projections on the output gear. Each rocker block assembly further includes a gear pad, a rocker arm, cam followers and/or path followers, which connect or link the rocker block to a cam assembly, which in turn is connected to a power source. The cam assembly includes about its circumference a unique pathway or groove for each cam followers and/or a second unique pathway or groove in the cam's planar surface for the pathway follower so that the movement of the gear block may be controlled in two or three dimensions in accordance with a certain design parameter.

The improved gearbox mechanism of the present invention includes a plurality of cam-actuated simplified gear block assemblies, which transfer power from a power shaft to a secondary or output gear element. Each gear block assembly includes a gear block having a surface that periodically interfaces with a secondary or output gear element. In a preferred embodiment the interface surface comprises a plurality of projections or teeth which correspond to complementary projections or gear teeth on the output gear element. Each gear block assembly further includes a gear block, a torque lever arm, cam followers and/or a socket, which connect or link the gear block to a cam assembly, which in turn is connected to a power source. The cam assembly includes about its circumference a unique pathway or groove for each linkage assembly of a particular gear block assembly so that the movement of the gear block may be controlled in two dimensions in accordance with a certain design parameter.

The improved gearbox mechanism of the present invention includes a plurality of cam-actuated simplified gear block assemblies, which transfer power from a power shaft to a secondary or output gear element. Each gear block assembly includes a gear block having a surface that periodically interfaces with a secondary or output gear element. In a preferred embodiment the interface surface comprises a plurality of projections or teeth which correspond to complementary projections or gear teeth on the output gear element. Each gear block assembly further includes a gear block, a torque lever arm, cam followers and/or a socket, which connect or link the gear block to a cam assembly, which in turn is connected to a power source. The cam assembly includes about its circumference a unique pathway or groove for each linkage assembly of a particular gear block assembly so that the movement of the gear block may be controlled in two dimensions in accordance with a certain design parameter.

The improved gearbox mechanism of the present invention includes a plurality of cam-actuated gear block assemblies, which transfer power from a power shaft to a secondary or output gear element. Each gear block assembly includes a gear block having a surface that periodically interfaces with a secondary or output gear element. In a preferred embodiment the interface surface comprises a plurality of projections or teeth which correspond to complementary holes, projections or gear teeth on the output gear element. Each gear or torque block assembly further includes pivot assemblies, which connect or link the torque block to a cam assembly, which in turn is connected to a power source. The cam assembly comprises a set of corresponding cam elements arranged in a tandem configuration and having a unique circuitous pathway or groove formed therein so that the movement of the torque block may be controlled in three dimensions in accordance with a certain design parameter. In a preferred embodiment, a portion of the pathway is generally spiral in shape.

The improved gearbox mechanism of the present invention includes a plurality of cam-actuated gear block assemblies, which transfer power from a power shaft to a secondary or output gear element. Each gear block assembly includes a gear block having a surface that periodically interfaces with a secondary or output gear element. In a preferred embodiment the interface surface comprises a plurality of projections or teeth which correspond to complementary holes, projections or gear teeth on the output gear element. Each gear or torque block assembly further includes pivot assemblies, which connect or link the torque block to a cam assembly, which in turn is connected to a power source. The cam assembly comprises a set of corresponding cam elements arranged in a tandem configuration and having a unique circuitous pathway or groove formed therein so that the movement of the torque block may be controlled in three dimensions in accordance with a certain design parameter. In a preferred embodiment, a portion of the pathway is generally spiral in shape.

The gearbox mechanism includes a plurality of cam-actuated rocker block assemblies, for transferring power to an output gear. Each rocker block assembly includes a gear pad having a surface that periodically interfaces with the output gear. The interface surface comprises a plurality of projections which correspond to complementary projections on the output gear. Each rocker block assembly further includes a gear pad, a rocker arm, cam followers and/or path followers, which connect or link the rocker block to a cam assembly, which in turn is connected to a power source. The cam assembly includes about its circumference a unique pathway or groove for each cam followers and/or a second unique pathway or groove in the cam's planar surface for the pathway follower so that the movement of the gear block may be controlled in two or three dimensions in accordance with a certain design parameter.

The gearbox mechanism includes a plurality of cam-actuated rocker block assemblies, for transferring power to an output gear. Each rocker block assembly includes a gear pad having a surface that periodically interfaces with the output gear. The interface surface comprises a plurality of projections which correspond to complementary projections on the output gear. Each rocker block assembly further includes a gear pad, a rocker arm, cam followers and/or path followers, which connect or link the rocker block to a cam assembly, which in turn is connected to a power source. The cam assembly includes about its circumference a unique pathway or groove for each cam followers and/or a second unique pathway or groove in the cam's planar surface for the pathway follower so that the movement of the gear block may be controlled in two or three dimensions in accordance with a certain design parameter.