Single site robotic device and related systems and methods

摘要

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various medical devices for in vivo medical procedures.

主权项

1. A surgical robotic system, comprising:
a. an insertion tube adapted for traversing the body of a patient into a body cavity; b. a robotic device configured to be completely disposed within the body cavity, comprising:
i. an elongate device body comprising:
A. first and second ends defining a longitudinal axis;B. at least one housing;C. a plurality of motors disposed within the at least one housing; andD. a first shoulder joint and a second shoulder joint,wherein the first and second shoulder joints are operably coupled to the plurality of motors;wherein the elongate body defines a horizontal plane through the first and second shoulder joints and the longitudinal axis; andfurther wherein the elongate body is configured so as to be capable of traversing the insertion tube from the exterior to interior of the patient;ii. a first movable segmented robotic arm operationally connected to the first shoulder joint, wherein the first moveable segmented robotic arm comprises a first link and second link joined by an elbow joint;iii. a second movable segmented robotic arm operationally connected to the second shoulder joint, wherein the second moveable segmented robotic arm comprises a first link and second link joined by an elbow joint;iv. a first operational component operationally connected to the first robotic arm; andv. a second operational component operationally connected to the second robotic arm; and c. an operations system for control of the robotic device from outside the patient by way of the insertion tube and device body, the operations system in electrical communication with the robotic device, wherein the first and second segmented robotic arms are configured to be positioned in at least:
i. a first fully extended position coplanar with the horizontal plane defined by the body and the first and second shoulder joints and coaxial with the longitudinal axis; andii. a second offset position, non-coplanar with the horizontal plane defined by the body and shoulders, wherein the segmented robotic arms are substantially parallel with the longitudinal axis.