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US 11,950,867 B2Granted
Single-arm robotic device with compact joint design and related systems and methods
AssigneeBoard of Regents of the University of Nebraska
InventorsJoseph Palmowski, Shane Farritor
Life of this patent
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Abstract
Disclosed herein are various robotic surgical devices and systems that include first and second elongate bodies, first and second driveshafts disposed through the second elongate body, and an in-line shoulder joint with a robotic arm coupled thereto. In certain implementations, the in-line shoulder joint has a differential yoke and a dual shaft disposed within the yoke lumen.
Claims18
A robotic device comprising:
- (a) an elongate device body comprising:
- (i) a proximal section comprising a proximal section diameter;
- (ii) a distal section comprising a distal section diameter, wherein the distal section diameter is less than the proximal section diameter;
- and
- (iii) first and second motors disposed within the device body;
- (b) a first driveshaft operably coupled to the first motor;
- (c) a second driveshaft operably coupled to the second motor, the second driveshaft operably coupled at a distal end to a first bevel gear;
- (d) a shoulder joint comprising:
- (i) a differential yoke rotationally coupled to the first driveshaft, the differential yoke comprising a yoke body and a yoke lumen defined in the differential yoke, wherein the lumen has a longitudinal axis that is transverse to the longitudinal axis of the yoke body, and wherein the differential yoke rotates around a first rotational axis;
- and
- (ii) a dual shaft rotatably disposed within the yoke lumen, the dual shaft comprising:
- (A) a rotational shaft rotatably disposed within the yoke lumen, the rotational shaft rotationally coupled to the first bevel gear, wherein the rotational shaft rotates around a second rotational axis;
- and
- (B) an extension shaft extending from the rotational shaft such that a longitudinal axis of the extension shaft is transverse to a longitudinal axis of the rotational shaft;
- and
- (iii) an output body rotatably disposed around the extension shaft such that the extension shaft is rotatably disposed within a lumen of the output body, and wherein the output body rotates around a third rotational axis,
- wherein the first, second, and third rotational axes intersect at a single point;
- and
- (e) an arm operably coupled to the output body.
16 more elements
A robotic device of comprising:
- (a) an elongate device body comprising:
- (i) a proximal section comprising a proximal section diameter;
- (ii) a distal section comprising a distal section diameter, wherein the distal section diameter is less than the proximal section diameter;
- and
- (iii) first and second motors disposed within the device body;
- (b) a first driveshaft operably coupled to the first motor;
- (c) a second driveshaft operably coupled to the second motor, the second driveshaft operably coupled at a distal end to a first bevel gear;
- (d) a shoulder joint comprising:
- (i) a differential yoke rotationally coupled to the first driveshaft, the differential yoke comprising a yoke body and a yoke lumen defined in the differential yoke, wherein the lumen has a longitudinal axis that is transverse to the longitudinal axis of the yoke body;
- and
- (ii) a dual shaft rotatably disposed within the yoke lumen, the dual shaft comprising:
- (A) a rotational shaft rotatably disposed within the yoke lumen, the rotational shaft rotationally coupled to the first bevel gear;
- and
- (B) an extension shaft extending from the rotational shaft such that a longitudinal axis of the extension shaft is transverse to a longitudinal axis of the rotational shaft;
- and
- (iii) an output body rotatably disposed around the extension shaft such that the extension shaft is rotatably disposed within a lumen of the output body,
- wherein the shoulder joint is an in-line joint that is collinear with the distal section;
- and
- (e) an arm operably coupled to the output body.
16 more elements
A robotic device comprising:
- (a) an elongate device body comprising first, second, and third motors disposed within the elongate device body;
- (b) a first driveshaft disposed through the elongate device body and operably coupled to the first motor;
- (c) a second driveshaft disposed through the elongate device body and operably coupled to the second motor, the second driveshaft operably coupled at a distal end to a first shoulder gear;
- (d) a third driveshaft disposed through the elongate device body and operably coupled to the third motor, the third driveshaft operably coupled at a distal end to a second shoulder gear;
- (e) a shoulder joint comprising:
- (i) a differential yoke rotationally coupled to the first driveshaft, the differential yoke comprising a yoke lumen defined in the differential yoke;
- and
- (ii) a T shaft rotatably disposed within the yoke lumen, the T shaft comprising:
- (A) a rotational shaft rotatably disposed within the yoke lumen, the rotational shaft rotationally coupled to the first shoulder gear;
- and
- (B) an extension shaft extending from the rotational shaft;
- (iii) an output body rotatably disposed over the extension shaft, the output body rotationally coupled to the second shoulder gear,
- wherein the first shoulder gear defines a radial outer limit of the shoulder joint;
- and
- (f) an arm operably coupled to the output body.
12 more elements
A robotic device comprising:
- (a) an elongate device body comprising first and second motors disposed therein;
- (b) a first driveshaft disposed through the device body and operably coupled to the first motor;
- (c) a second driveshaft disposed through the device body and operably coupled to the second motor, the second driveshaft operably coupled at a distal end to a first bevel gear;
- (d) a shoulder joint comprising:
- (i) a differential yoke fixedly attached to the first driveshaft, the differential yoke comprising a yoke lumen defined in the differential yoke;
- and
- (ii) a dual shaft rotatably disposed within the yoke lumen, the dual shaft comprising:
- (A) a rotational shaft rotatably disposed within the yoke lumen, the rotational shaft rotationally coupled to the first bevel gear;
- and
- (B) an extension shaft extending from the rotational shaft;
- and
- (iii) an output body rotatably disposed around the extension shaft such that the extension shaft is rotatably disposed within a lumen of the output body;
- and
- (e) an arm operably coupled to the output body.
11 more elements
Dependencies are inferred from the claim text.