A gear transmission device includes a frame, a sun gear, a driven gear, a planetary gear, a contact member, and a guide. The guide guides the contact member as described below. When the planetary gear is at a meshing position, a first tooth portion and a first contact portion of the contact member are away from the planetary gear. When the planetary gear is at a farthest position, the first contact portion is in contact with the planetary gear and the first tooth portion is away from the planetary gear. When the planetary gear is between the meshing position and the farthest position, the first tooth portion moves in mesh with the planetary gear in a direction opposite to a moving direction of the planetary gear around the sun gear, and the first contact portion is switched between a state in contact with the planetary gear and a state away from the planetary gear.

A gear transmission device includes a frame, a sun gear, a driven gear, a planetary gear, a contact member, and a guide. The guide guides the contact member as described below. When the planetary gear is at a meshing position, a first tooth portion and a first contact portion of the contact member are away from the planetary gear. When the planetary gear is at a farthest position, the first contact portion is in contact with the planetary gear and the first tooth portion is away from the planetary gear. When the planetary gear is between the meshing position and the farthest position, the first tooth portion moves in mesh with the planetary gear in a direction opposite to a moving direction of the planetary gear around the sun gear, and the first contact portion is switched between a state in contact with the planetary gear and a state away from the planetary gear.

A joint actuator includes a motor, a first gear part configured to change a direction of a rotational driving force applied by the motor and increase the applied rotational driving force, a spring member, a degree of a torsional deflection of Which is determined by a rotational. driving force supplied by the first gear part, and a second gear part configured to receive a rotational driving force according to the degree of the torsional deflection from the spring member. The first gear part includes a worm gear and a worm wheel gear configured to selectively engage with the worm gear. A joint structure includes the joint actuator mounted on a housing thereof and a joint unit coupled to the housing to be rotatably driven by the joint actuator.

A gear transmission device includes a frame, a sun gear, a driven gear, a planetary gear, a contact member, and a guide. The guide guides the contact member as described below. When the planetary gear is at a meshing position, a first tooth portion and a first contact portion of the contact member are away from the planetary gear. When the planetary gear is at a farthest position, the first contact portion is in contact with the planetary gear and the first tooth portion is away from the planetary gear. When the planetary gear is between the meshing position and the farthest position, the first tooth portion moves in mesh with the planetary gear in a direction opposite to a moving direction of the planetary gear around the sun gear, and the first contact portion is switched between a state in contact with the planetary gear and a state away from the planetary gear.

A gear transmission device includes a frame, a sun gear, a driven gear, a planetary gear, a contact member, and a guide. The guide guides the contact member as described below. When the planetary gear is at a meshing position, a first tooth portion and a first contact portion of the contact member are away from the planetary gear. When the planetary gear is at a farthest position, the first contact portion is in contact with the planetary gear and the first tooth portion is away from the planetary gear. When the planetary gear is between the meshing position and the farthest position, the first tooth portion moves in mesh with the planetary gear in a direction opposite to a moving direction of the planetary gear around the sun gear, and the first contact portion is switched between a state in contact with the planetary gear and a state away from the planetary gear.

Provided is a wire driving device including: wires one ends of which are attached to a movable member; pulleys to which the other ends of the individual wires are secured; driven gears that are coaxially secured to the individual pulleys; a drive gear that is connected to a driving source; and movable gears that are disposed between the drive gear and the individual driven gears and that can transmit the motive power of the driving source to the driven gears from the drive gear. The movable gears are provided in a movable manner so that the movable gears engage with the drive gear and the driven gears when the drive gear is rotated in a direction, and so that the engagements of the movable gears with at least one of the drive gear and the driven gears are released when the drive gear is rotated in the other direction.

Provided is a wire driving device including: wires one ends of which are attached to a movable member; pulleys to which the other ends of the individual wires are secured; driven gears that are coaxially secured to the individual pulleys; a drive gear that is connected to a driving source; and movable gears that are disposed between the drive gear and the individual driven gears and that can transmit the motive power of the driving source to the driven gears from the drive gear. The movable gears are provided in a movable manner so that the movable gears engage with the drive gear and the driven gears when the drive gear is rotated in a direction, and so that the engagements of the movable gears with at least one of the drive gear and the driven gears are released when the drive gear is rotated in the other direction.

Various exemplary methods, systems, and devices for limiting torque in robotic surgical tools are provided. In general, a surgical tool can be configured to releasably and removably couple to a robotic surgical system. The robotic surgical system can include a motor configured to provide torque to the surgical tool to drive two different functions of the surgical tool. The surgical tool can include two torque limiting mechanisms, each associated with the motor, each associated with one of the functions, and each configured to limit an amount of the torque from the motor that drives the function associated therewith.

Provided is a wire driving device including: wires one ends of which are attached to a movable member; pulleys to which the other ends of the individual wires are secured; driven gears that are coaxially secured to the individual pulleys; a drive gear that is connected to a driving source; and movable gears that are disposed between the drive gear and the individual driven gears and that can transmit the motive power of the driving source to the driven gears from the drive gear. The movable gears are provided in a movable manner so that the movable gears engage with the drive gear and the driven gears when the drive gear is rotated in a direction, and so that the engagements of the movable gears with at least one of the drive gear and the driven gears are released when the drive gear is rotated in the other direction.

Provided is a wire driving device including: wires one ends of which are attached to a movable member; pulleys to which the other ends of the individual wires are secured; driven gears that are coaxially secured to the individual pulleys; a drive gear that is connected to a driving source; and movable gears that are disposed between the drive gear and the individual driven gears and that can transmit the motive power of the driving source to the driven gears from the drive gear. The movable gears are provided in a movable manner so that the movable gears engage with the drive gear and the driven gears when the drive gear is rotated in a direction, and so that the engagements of the movable gears with at least one of the drive gear and the driven gears are released when the drive gear is rotated in the other direction.