Robotic device with compact joint design and related systems and methods
First Claim
Patent Images
1. A robotic device comprising:
- (a) an elongate device body comprising;
(i) a first lower gear drivetrain comprising;
(A) a first motor disposed within the elongate device body; and
(B) a first driveshaft operably coupled to the first motor and fixedly attached to a first lower bevel gear, wherein the first driveshaft is disposed within and independently rotatable in relation to a first upper bevel gear, wherein the first driveshaft is concentric with the first lower bevel gear and the first upper bevel gear; and
(ii) a first upper gear drivetrain comprising a second motor disposed within the elongate device body, wherein the second motor is operably coupled to the first upper bevel gear;
(b) a first shoulder joint comprising a first output shaft fixedly attached to a first output bevel gear, wherein the first output bevel gear is mechanically engaged with the first upper and first lower bevel gears; and
(c) a first arm operably coupled to the first shoulder joint.
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Abstract
The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations. 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.
489 Citations
20 Claims
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1. A robotic device comprising:
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(a) an elongate device body comprising; (i) a first lower gear drivetrain comprising; (A) a first motor disposed within the elongate device body; and (B) a first driveshaft operably coupled to the first motor and fixedly attached to a first lower bevel gear, wherein the first driveshaft is disposed within and independently rotatable in relation to a first upper bevel gear, wherein the first driveshaft is concentric with the first lower bevel gear and the first upper bevel gear; and (ii) a first upper gear drivetrain comprising a second motor disposed within the elongate device body, wherein the second motor is operably coupled to the first upper bevel gear; (b) a first shoulder joint comprising a first output shaft fixedly attached to a first output bevel gear, wherein the first output bevel gear is mechanically engaged with the first upper and first lower bevel gears; and (c) a first arm operably coupled to the first shoulder joint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A robotic device comprising:
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(a) an elongate device body comprising; (i) a first shoulder gear set, comprising; (A) a first upper bevel gear; (B) a first lower bevel gear; (C) a first output bevel gear mechanically engaged with the first upper and first lower bevel gears; (ii) a first lower gear drivetrain comprising; (A) a first motor disposed within the elongate device body; (B) a first driveshaft operably coupled to the first motor and fixedly attached to the first lower bevel gear, wherein the first driveshaft is disposed within and independently rotatable in relation to the first upper bevel gear, wherein the first driveshaft is concentric with the first upper and lower bevel gears; (iii) a first upper gear drivetrain comprising a second motor disposed within the elongate device body, wherein the second motor is operably coupled to the first upper bevel gear; (b) a first shoulder joint comprising a first output shaft fixedly attached to the first output bevel gear; and (c) a first arm operably coupled to the first shoulder joint. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A robotic surgical device comprising:
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(a) an elongate body sized to be disposable through an incision in a patient, the elongate body comprising; (i) a first shoulder drivetrain comprising; (A) a first motor disposed within the elongate body; (B) a first driveshaft disposed within the elongate body and rotatably coupled to the first motor; and (C) a second motor disposed within the elongate body; (ii) a second shoulder drivetrain comprising; (A) a third motor disposed within the elongate body; (B) a second driveshaft disposed within the elongate body and rotatably coupled to the third motor; and (C) a fourth motor disposed within the elongate body; (b) a first shoulder joint disposed at a distal end of the elongate body, the first shoulder joint comprising; (i) a first upper gear rotatably coupled to the second motor, the first upper gear comprising a first gear opening defined therein, wherein the first driveshaft is disposed through the first gear opening such that the first upper gear is independently rotatable in relation to the first driveshaft; (ii) a first lower gear fixedly attached to the first driveshaft, wherein the first driveshaft is concentric with the first upper gear and the first lower gear; and (iii) a first output gear mechanically engaged with first upper gear and the first lower gear; (c) a second shoulder joint disposed at the distal end of the elongate body, the second shoulder joint comprising; (i) a second upper gear rotatably coupled to the fourth motor, the second upper gear comprising a second gear opening defined therein, wherein the second driveshaft is disposed through the second gear opening such that the second upper gear is independently rotatable in relation to the second driveshaft; (ii) a second lower gear fixedly attached to the second driveshaft, wherein the second driveshaft is concentric with the second upper gear and the second lower gear; and (iii) a second output gear mechanically engaged with second upper gear and the second lower gear; (d) a first arm operably coupled to the first shoulder joint; and (e) a second arm operably coupled to the second shoulder joint. - View Dependent Claims (20)
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Specification