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Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers

  • US 9,743,987 B2
  • Filed: 03/13/2014
  • Issued: 08/29/2017
  • Est. Priority Date: 03/14/2013
  • Status: Active Grant
First Claim
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1. A gross positioning system for use with a robotic surgical device, the system comprising:

  • (a) a base;

    (b) a body operably coupled to the base;

    (c) a first arm link operably coupled to the body at a first rotational joint;

    (d) a second arm link operably coupled to the first arm link at a second rotational joint; and

    (e) an extendable third arm link operably coupled to the second arm link, wherein at least a portion of the third arm link is rotatable about a third rotational joint, wherein the third arm link is configured to be positionable through an incision in a patient, the third arm link comprising a connection component at a distal end of the third arm link, wherein the connection component is configured to be coupleable to the robotic surgical device,wherein an axis of rotation of the first rotational joint, an axis of rotation of the second rotational joint, and an axis of rotation of the third rotational joint intersect at a spherical joint.

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