Robotic device with compact joint design and an additional degree of freedom and related systems and methods
AssigneeBoard of Regents of the University of Nebraska
InventorsShane Farritor, Thomas Frederick, Lou Cubrich
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Abstract
The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations and at least three degrees of freedom. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.
Claims16
A robotic device comprising:
- a) an elongate device body comprising a first driveshaft, a second driveshaft, and a third driveshaft nested coaxially within one another and independently rotatable;
- b) a compact shoulder joint disposed at a distal end of the elongate device body, the compact shoulder joint comprising:
- i) a conversion body coupled to at least one of the first, second, or third driveshafts;
- ii) a rotation body rotatable relative to the conversion body;
- iii) a differential coupling operably connecting the conversion body and the rotation body to both the first and third driveshafts such that coordinated rotation of the first and third driveshafts in a same rotational sense causes rotation of the conversion body about an axis generally parallel to a longitudinal axis of the elongate device body and coordinated rotation of the first and third driveshafts in opposite rotational senses causes rotation of the rotation body about an axis generally transverse to the longitudinal axis of the elongate device body;
- and
- iv) an output member driven by the second driveshaft through a gear train;
- and
- c) an arm coupled to the compact shoulder joint,
- wherein the conversion body axis, rotation body axis, and output member axis intersect at a single point within the compact shoulder joint to provide three intersecting degrees of freedom for the arm.
An end effector interface comprising:
- a) a coupling structure sized to couple to a forearm of a robotic arm, the coupling structure comprising a quick-release locking collar having locking protrusions mateable with notches in the coupling structure to retain an end effector with a twist-lock action;
- b) a first rotatable drive member configured to transmit rotational motion to rotate the end effector;
- and
- c) a second rotatable drive member nested within the first rotatable drive member, wherein the second rotatable drive member is configured to transmit rotational motion to actuate end effector graspers.
A method of operating a compact shoulder joint of a robotic device having first, second, and third driveshafts nested coaxially within an elongate device body, a conversion body, a rotation body, and an output member, the method comprising:
- rotating the first and third driveshafts in a same rotational sense to yaw the conversion body about a longitudinal axis of the elongate device body;
- rotating the first and third driveshafts in opposite rotational senses to pitch the rotation body about a transverse axis;
- and
- driving the second driveshaft to rotate the output member about an axis generally parallel to the longitudinal axis of the elongate device body.
Dependencies are inferred from the claim text.