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US 2020/0046440 A1Published application
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.
Claims21
(canceled)
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 housing comprising a first motor and a second motor;
- and
- (ii) a second housing disposed at a distal end of the device body, the second housing comprising:
- (A) a first shoulder joint positioned at a distal end of the second housing, the first shoulder joint operably coupled to the first motor;
- and
- (B) a second shoulder joint positioned at a distal end of the second housing, the second shoulder joint operably coupled to the second motor;
- (b) a first arm operably coupled to the first shoulder joint, wherein the first arm is positioned substantially within a longitudinal cross-section of the device body when the first arm is extended in a straight configuration, 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, wherein the second arm is positioned substantially within the longitudinal cross-section of the device body when the second arm is extended in a straight configuration, 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.
15 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;
- 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;
- (b) a first arm operably coupled to the first shoulder joint, wherein the first shoulder joint is positioned substantially within a longitudinal cross-section of the device body, 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, wherein the second shoulder joint is positioned substantially within the longitudinal cross-section of the device body, 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.
12 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 motor housing comprising a first motor and a second motor;
- and
- (ii) a shoulder joint housing disposed at a distal end of the device body, the shoulder joint housing comprising:
- (A) a first shoulder joint positioned at a distal end of the shoulder joint housing, 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;
- and
- (B) a second shoulder joint positioned at a distal end of the shoulder joint housing, 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;
- 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, wherein the first arm is positioned substantially within a longitudinal cross-section of the device body when the first arm is extended in a straight configuration such that the first upper arm and the first forearm are collinear, 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, wherein the second arm is positioned substantially within the longitudinal cross-section of the device body when the second arm is extended in a straight configuration such that the second upper arm and the second forearm are collinear, the second upper arm comprising a second arm motor.
8 more elements
Dependencies are inferred from the claim text.