Robotic device with compact joint design and an additional degree of freedom and related systems and methods

• US 10,702,347 B2
• Filed: 08/30/2017
• Issued: 07/07/2020
• Est. Priority Date: 08/30/2016
• Status: Active Grant

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Farritor, Shane, Frederick, Thomas, Cubrich, Lou
• Primary Examiner(s): Elahmadi, Zakaria
• Application Number:
  US15/691,087
• Publication Number:
  US 20180055584A1
• Time in Patent Office: 1,042 Days
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: B25J 9/0024 Wrist motors at rear part of the upper arm
• CPC Class Codes: B25J 9/102 Gears specially adapted therefor, e.g. reduction gears gearings in general F16H

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.

Claims

1. A robotic device comprising:

(a) an elongate device body comprising;

(i) a first driveshaft rotatably disposed within the device body, the first driveshaft comprising;

(A) a first lumen defined along a length of the first driveshaft; and

(B) a first drive bevel gear operably coupled to the first driveshaft;

(i) a second driveshaft rotatably disposed within the first lumen, the second driveshaft comprising;

(A) a second lumen defined along a length of the second driveshaft; and

(B) a second drive bevel gear operably coupled to the second driveshaft; and

(iii) a third driveshaft rotatably disposed within the second lumen;

(b) a first shoulder joint comprising;

(i) a conversion body operably coupled to at least one of the first, second, or third driveshafts;

(ii) a rotation body rotatable in relation to the conversion body, the rotation body comprising first and second openings;

(iii) a first inner bevel gear rotatably coupled to the second drive gear;

(iv) a first spur gear operably coupled to the first inner bevel gear through the first opening;

(v) a second spur gear operably coupled to a first spur gear;

(vi) a second inner bevel gear operably coupled to the second spur gear through the second opening; and

(vii) an output gear rotatably coupled to the second inner bevel gear; and

(c) a first arm operably coupled to the first shoulder joint.

2. The robotic device of claim 1, wherein the conversion body is a yoke body comprising:

(a) a yoke shaft extending from the yoke body, wherein a longitudinal axis of the yoke shaft is transverse to a longitudinal axis of the first driveshaft; and

(b) a yoke opening defined in the yoke shaft.

3. The robotic device of claim 2, wherein the third driveshaft is rotatably disposed through the yoke opening, the third driveshaft being operably coupled to the third drive gear.

4. The robotic device of claim 3, wherein the first and third drive gears are rotatably coupled to the rotation body.

5. A robotic device comprising:

(a) an elongate device body comprising;

(i) a first driveshaft rotatably disposed within the device body, the first driveshaft comprising a first lumen defined along a length of the first driveshaft;

(i) a second driveshaft rotatably disposed within the first lumen, the second driveshaft comprising a second lumen defined along a length of the second driveshaft, wherein the second driveshaft is operably coupled to a second driveshaft drive gear; and

(iii) a third driveshaft rotatably disposed within the second lumen, wherein the third driveshaft is operably coupled to a third driveshaft drive gear;

(b) a first shoulder joint comprising;

(i) a shoulder housing operably coupled to at least one of the first, second, or third driveshafts, the shoulder housing comprising;

(A) a top opening defined in the shoulder housing, the top opening comprising at least one coupling feature, wherein the third driveshaft is disposed through the top opening;

(B) a side opening defined in the shoulder housing; and

(C) a cavity defined in the shoulder housing, wherein the third driveshaft drive gear is disposed within the cavity; and

(ii) a rotation body rotatable in relation to the shoulder housing, the rotation body comprising first and second openings;

(iii) a first driven bevel gear rotatably coupled to the third driveshaft drive gear;

(iv) a first spur gear operably coupled to the first driven bevel gear through the first opening;

(v) a second spur gear rotatably coupled to the first spur gear;

(vi) a second driven bevel gear operably coupled to the second spur gear through the second opening; and

(vii) an output gear rotatably coupled to the second driven bevel gear; and

(c) a first arm operably coupled to the first shoulder joint.

6. The robotic device of claim 5, wherein the first driveshaft is operably coupled to the at least one coupling feature on the shoulder housing, whereby rotation of the first driveshaft causes rotation of the shoulder housing.

7. The robotic device of claim 5, wherein the second driveshaft is disposed through the top opening in the shoulder housing, and wherein the second driveshaft drive gear is disposed within the cavity in the shoulder housing.

8. The robotic device of claim 7, wherein the second driveshaft drive gear is rotatably coupled to a third driven bevel gear, wherein the third driven bevel gear is operably coupled to the rotation body.

9. A robotic device comprising:

(a) an elongate device body sized and constructed to be disposable through a port or an incision into a cavity of a patient, the elongate device body comprising a first set of driveshafts comprising;

(i) a first driveshaft rotatably disposed within the device body, the first driveshaft comprising a first lumen extending along a length of the first driveshaft and a first drive gear operably coupled to a distal end of the first driveshaft;

(i) a second driveshaft rotatably disposed within the first lumen such that the second driveshaft is disposed within and coaxial with the first driveshaft, the second driveshaft comprising a second lumen extending along a length of the second driveshaft and a second drive gear operably coupled to a distal end of the second driveshaft; and

(iii) a third driveshaft rotatably disposed within the second lumen such that the third driveshaft is disposed within and coaxial with the second driveshaft, the third driveshaft comprising a third drive gear operably coupled to a distal end of the third driveshaft;

(b) a shoulder joint comprising;

(i) a conversion body comprising an opening defined in the conversion body, wherein the third driveshaft is rotatably disposed through the opening;

(ii) a rotation body comprising first and second openings;

(iii) a plurality of gears comprising;

(A) a first inner gear rotatably coupled to the second drive gear;

(B) a first spur gear operably coupled to the first inner gear through the first opening;

(C) a second spur gear operably coupled to the first spur gear;

(D) a second inner gear operably coupled to the second spur gear through the second opening; and

(E) an output gear rotatably coupled with the second inner gear; and

(c) an arm operably coupled to the output gear.

10. The robotic device of claim 9, wherein the first and third drive gears are rotatably coupled to the rotation body.

11. The robotic device of claim 9, wherein the elongate device body comprises a second set of driveshafts comprising:

(a) a fourth driveshaft rotatably disposed within the device body, the fourth driveshaft comprising a fourth lumen extending along a length of the fourth driveshaft and a fourth drive gear operably coupled to a distal end of the fourth driveshaft;

(b) a fifth driveshaft rotatably disposed within the fourth lumen such that the fifth driveshaft is disposed within and coaxial with the fourth driveshaft, the fifth driveshaft comprising a fifth lumen extending along a length of the fifth driveshaft and a fifth drive gear operably coupled to a distal end of the fifth driveshaft; and

(c) a sixth driveshaft rotatably disposed within the fifth lumen such that the sixth driveshaft is disposed within and coaxial with the fifth driveshaft, the sixth driveshaft comprising a sixth drive gear operably coupled to a distal end of the sixth driveshaft.

12. The robotic device of claim 11, wherein the shoulder joint is a first shoulder joint, wherein the robotic device further comprises a second shoulder joint comprising:

(a) a conversion body of the second shoulder joint, the conversion body operably coupled to at least one of the fourth, fifth, or sixth driveshafts;

(b) a rotation body of the second shoulder joint, the rotation body of the second shoulder joint rotatable in relation to the conversion body of the second shoulder joint;

(c) a plurality of second shoulder joint gears, wherein at least one of the plurality of second shoulder joint gears is operably coupled to at least one of the fourth, fifth, or sixth drive gears; and

(d) a second arm operably coupled to the second shoulder joint.

13. The robotic device of claim 9, wherein the rotation body is rotatable in relation to the conversion body.

14. The robotic device of claim 9, wherein the output gear is rotatable around an axis parallel to a longitudinal axis of the first driveshaft.

15. The robotic device of claim 9, wherein the conversion body further comprises a conversion body shaft extending from the conversion body.

16. The robotic device of claim 15, wherein a longitudinal axis of the conversion body shaft is transverse to a longitudinal axis of the first driveshaft.

17. The robotic device of claim 9, further comprising:

(a) a first motor operably coupled to the first driveshaft;

(b) a second motor operably coupled to the second driveshaft; and

(c) a third motor operably coupled to the third driveshaft.