US 10,376,323 B2
Multifunctional operational component for robotic devices
Shane Farritor, Lincoln, NE (US); Amy Lehman, York, NE (US); Mark Rentschler, Boulder, CO (US); Nathan Wood, Lincoln, NE (US); Jason Dumpert, Omaha, 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 Feb. 5, 2018, as Appl. No. 15/888,723.
Application 15/888,723 is a continuation of application No. 14/936,234, filed on Nov. 9, 2015, granted, now 9,883,911.
Application 14/936,234 is a continuation of application No. 14/202,353, filed on Mar. 10, 2014, granted, now 9,179,981.
Application 14/202,353 is a continuation of application No. 12/324,364, filed on Nov. 26, 2008, granted, now 8,679,096.
Application 12/324,364 is a continuation in part of application No. 12/192,779, filed on Aug. 15, 2008, granted, now 8,974,440.
Application 12/192,779 is a continuation in part of application No. 11/766,683, filed on Jun. 21, 2007, granted, now 8,968,332.
Application 11/766,683 is a continuation in part of application No. 11/966,741, filed on Dec. 28, 2007, granted, now 9,579,088.
Claims priority of provisional application 60/990,086, filed on Nov. 26, 2007.
Claims priority of provisional application 60/956,032, filed on Aug. 15, 2007.
Claims priority of provisional application 60/990,076, filed on Nov. 26, 2007.
Claims priority of provisional application 60/990,106, filed on Nov. 26, 2007.
Claims priority of provisional application 61/025,346, filed on Feb. 1, 2008.
Claims priority of provisional application 61/030,617, filed on Feb. 22, 2008.
Claims priority of provisional application 60/815,741, filed on Jun. 22, 2006.
Claims priority of provisional application 60/845,608, filed on Sep. 19, 2006.
Claims priority of provisional application 60/686,030, filed on May 31, 2005.
Claims priority of provisional application 60/884,792, filed on Jan. 12, 2007.
Claims priority of provisional application 60/888,182, filed on Feb. 5, 2007.
Claims priority of provisional application 60/890,691, filed on Feb. 20, 2007.
Claims priority of provisional application 60/956,032, filed on Aug. 15, 2007.
Claims priority of provisional application 60/983,445, filed on Oct. 29, 2007.
Prior Publication US 2018/0153631 A1, Jun. 7, 2018
Int. Cl. A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/30 (2016.01); B33Y 80/00 (2015.01)
CPC A61B 34/30 (2016.02) [A61B 90/30 (2016.02); A61B 90/37 (2016.02); A61B 90/361 (2016.02); A61B 2017/00283 (2013.01); B33Y 80/00 (2014.12)] 20 Claims
OG exemplary drawing
 
1. A robotic device, comprising:
(a) an elongate device body constructed and arranged to be positionable within a cavity of a patient;
(b) a connection component operably coupled with the elongate device body;
(c) a first operational arm comprising:
(i) a first inner arm segment operably coupled with the device body via a first shoulder joint at a first end of the elongate device body;
(ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint; and
(iii) a first procedural tool operably coupled with the first outer arm segment;
(e) a second operational arm comprising:
(i) a second inner arm segment operably coupled with the device body via a second shoulder joint at a second end of the elongate device body;
(ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint; and
(iii) a second procedural tool operably coupled with the second outer arm segment; and
(f) at least one actuator disposed within each arm, the at least one actuator being configured to actuate movement of the arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component.