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US 12,527,636 B2Granted
Local control robotic surgical devices and related methods
AssigneeBoard of Regents of the University of Nebraska
InventorsEric Markvicka, Tom Frederick, Jack Mondry, Joe Bartels, Shane Farritor
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Abstract
The various robotic medical devices include robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Additional embodiments relate to devices having arms coupled to a device body wherein the device has a minimal profile such that the device can be easily inserted through smaller incisions in comparison to other devices without such a small profile. Further embodiments relate to methods of operating the above devices.
Claims20
A robotic device, comprising:
- (a) an elongate device body configured to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising:
- (i) a first motor and a second motor;
- (ii) a first shoulder joint positioned at a distal end of the elongate device body, the first shoulder joint operably coupled to the first motor, wherein the first shoulder joint is positioned substantially within a longitudinal cross-section of the device body;
- and
- (iii) a second shoulder joint positioned at the distal end of the elongate device body, the second shoulder joint operably coupled to the second motor, wherein the second shoulder joint is positioned substantially within the longitudinal cross-section of the device body;
- (b) a first arm operably coupled to the first shoulder joint, the first arm comprising:
- (i) a first upper arm segment comprising a first arm motor;
- (ii) a first forearm segment;
- and
- (iii) a first end effector;
- and
- (c) a second arm operably coupled to the second shoulder joint, the second arm comprising:
- (i) a second upper arm segment comprising a second arm motor;
- (ii) a second forearm segment;
- and
- (iii) a second end effector.
13 more elements
A robotic device, comprising:
- (a) an elongate device body configured to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising:
- (i) a first shoulder joint positioned at a distal end of the device body, the first shoulder joint configured to rotate around a first axis parallel to a length of the device body, wherein the first shoulder joint is positioned substantially within a longitudinal cross-section of the device body;
- and
- (ii) a second shoulder joint positioned at the distal end of the device body, the second shoulder joint configured to rotate around a second axis parallel to the length of the device body, wherein the second shoulder joint is positioned substantially within the longitudinal cross-section of the device body;
- (b) a first arm operably coupled to the first shoulder joint, the first arm comprising a first arm motor and a first end effector;
- and
- (c) a second arm operably coupled to the second shoulder joint, the second arm comprising a second arm motor and a second end effector.
4 more elements
A robotic device, comprising:
- (a) an elongate device body configured to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising:
- (i) a first motor and a second motor;
- and
- (ii) a first shoulder joint positioned at a distal end of the elongate device body, the first shoulder joint operably coupled to the first motor, wherein the first shoulder joint is positioned to rotate around a first axis parallel to a length of the device body, wherein the first shoulder joint is positioned substantially within a longitudinal cross-section of the device body;
- and
- (iii) a second shoulder joint positioned at the distal end of the elongate device body, the second shoulder joint operably coupled to the second motor, wherein the second shoulder joint is positioned to rotate around a second axis parallel to the length of the device body, wherein the second shoulder joint is positioned substantially within the longitudinal cross-section of the device body;
- and
- (b) a first arm operably coupled to the first shoulder joint, the first arm comprising a first upper arm, a first forearm, and a first end effector, the first upper arm comprising a first arm motor;
- and
- (c) a second arm operably coupled to the second shoulder joint, the second arm comprising a second upper arm, a second forearm, and a second end effector, the second upper arm comprising a second arm motor.
7 more elements
Dependencies are inferred from the claim text.