	US 11,806,097 B2
	Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
Shane Farritor, Lincoln, NE (US); Thomas Frederick, Gretna, NE (US); Joe Bartels, Pittsburgh, PA (US); Eric Markvicka, Lincoln, NE (US); and Jack Mondry, Edina, MN (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 Mar. 30, 2020, as Appl. No. 16/834,131.
Application 16/834,131 is a continuation of application No. 15/687,787, filed on Aug. 28, 2017, granted, now 10,603,121, issued on Mar. 31, 2020.
Application 15/687,787 is a continuation of application No. 14/208,515, filed on Mar. 13, 2014, granted, now 9,743,987, issued on Aug. 29, 2017.
Claims priority of provisional application 61/782,413, filed on Mar. 14, 2013.
Prior Publication US 2020/0222132 A1, Jul. 16, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01)

CPC A61B 34/30 (2016.02) [A61B 2034/302 (2016.02); Y10S 901/28 (2013.01)]

19 Claims

1. A gross positioning system for use with a robotic surgical device, the system comprising:

(a) a body;

(b) a first arm link operably coupled to the body at a first rotational joint;

(d) an extendable third arm link operably coupled to the second arm link, wherein at least a portion of the third arm link is rotatable about a third rotational joint, the third arm link comprising a coupling component at a distal end of the third arm link, wherein the coupling component is configured to be coupleable to the robotic surgical device,

wherein at least two of an axis of rotation of the first rotational joint, an axis of rotation of the second rotational joint, and an axis of rotation of the third rotational joint substantially intersect at a spherical joint.