US 10,376,322 B2
Robotic device with compact joint design and related systems and methods
Tom Frederick, Omaha, NE (US); Eric Markvicka, Ravenna, NE (US); Shane Farritor, Lincoln, NE (US); and Dmitry Oleynikov, Omaha, NE (US)
Assigned to Board of Regents of the University of Nebraska, Lincoln, NE (US)
Filed by Board of Regents of the University of Nebraska, Lincoln, NE (US)
Filed on Nov. 11, 2015, as Appl. No. 14/938,667.
Claims priority of provisional application 62/078,192, filed on Nov. 11, 2014.
Prior Publication US 2016/0135898 A1, May 19, 2016
Int. Cl. A61B 34/30 (2016.01); A61B 18/14 (2006.01); A61B 18/08 (2006.01); A61B 17/00 (2006.01); A61B 18/00 (2006.01); A61B 18/12 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 18/14 (2013.01); A61B 18/082 (2013.01); A61B 18/1445 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00407 (2013.01); A61B 2017/00477 (2013.01); A61B 2018/00595 (2013.01); A61B 2018/1253 (2013.01); A61B 2018/1422 (2013.01); A61B 2034/305 (2016.02); A61B 2217/005 (2013.01); A61B 2217/007 (2013.01); A61B 2218/002 (2013.01); A61B 2218/007 (2013.01)] 20 Claims
OG exemplary drawing
 
19. A robotic surgical device comprising:
(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.