Local control robotic surgical devices and related methods
First Claim
Patent Images
1. 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;
(ii) a gear housing disposed at a distal end of the device body, the gear housing comprising;
(A) a first gear positioned at a distal end of the gear housing, the first gear operably coupled to the first motor; and
(B) a second gear positioned at a distal end of the gear housing, the second gear operably coupled to the second motor; and
(iii) a coupling mechanism disposed at a proximal end of the device body, the coupling mechanism constructed and arranged to be coupleable with an external positioning component;
(b) a first arm operably coupled to the first gear, 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 gear, 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.
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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.
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Citations
20 Claims
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1. A robotic device, comprising:
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(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; (ii) a gear housing disposed at a distal end of the device body, the gear housing comprising; (A) a first gear positioned at a distal end of the gear housing, the first gear operably coupled to the first motor; and (B) a second gear positioned at a distal end of the gear housing, the second gear operably coupled to the second motor; and (iii) a coupling mechanism disposed at a proximal end of the device body, the coupling mechanism constructed and arranged to be coupleable with an external positioning component; (b) a first arm operably coupled to the first gear, 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 gear, 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A robotic device, comprising:
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(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 gear positioned at a distal end of the device body, the first gear configured to rotate around a first axis parallel to a length of the device body; (ii) a second gear positioned at the distal end of the device body, the second gear configured to rotate around a second axis parallel to the length of the device body; and (iii) a coupling mechanism disposed at a proximal end of the device body, the coupling mechanism constructed and arranged to be coupleable with an external positioning component; (b) a first arm operably coupled to the first gear at a 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 gear at a 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. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A robotic device, comprising:
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(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; (ii) a gear housing disposed at a distal end of the device body, the gear housing comprising; (A) a first gear positioned at a distal end of the gear housing, the first gear operably coupled to the first motor, wherein the first gear is positioned to rotate around a first axis parallel to a length of the device body, wherein the first gear comprises a first tooth-free portion; and (B) a second gear positioned at a distal end of the gear housing, the second gear operably coupled to the second motor, wherein the second gear is positioned to rotate around a second axis parallel to the length of the device body, wherein the second gear comprises a second tooth-free portion; and (iii) an external positioning structure coupling mechanism disposed at a proximal end of the device body; (b) a first arm operably coupled to the first gear, 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 gear, 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. - View Dependent Claims (19, 20)
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Specification