Robotic Device with Compact Joint Design and Related Systems and Methods

摘要

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.

主权项

1. A robotic device comprising:
(a) an elongate device body comprising:
(i) a first lower gear drivetrain comprising:
(A) a first motor; and(B) a first driveshaft operably coupled to the first motor and to a first lower bevel gear, wherein the first driveshaft is rotatably disposed within and is concentric with the first lower bevel gear and a first upper bevel gear; and(ii) a first upper gear drivetrain comprising a second motor operably coupled to the first upper bevel gear; (b) a first shoulder joint comprising a first output shaft operably coupled to a first output bevel gear, wherein the first output bevel gear is operably coupled to the first upper and first lower bevel gears; and (c) a first arm operably coupled to the first shoulder joint.