Patent Description:
Invasive surgical procedures are essential for addressing various medical conditions. When possible, minimally invasive procedures such as laparoscopy are preferred.

However, known minimally invasive technologies such as laparoscopy are limited in scope and complexity due in part to <NUM>) mobility restrictions resulting from using rigid tools inserted through access ports, and <NUM>) limited visual feedback. Known robotic systems such as the da Vinci® Surgical System (available from Intuitive Surgical, Inc. , located in Sunnyvale, CA) are also restricted by the access ports, as well as having the additional disadvantages of being very large, very expensive, unavailable in most hospitals, and having limited sensory and mobility capabilities.

There is a need in the art for improved surgical methods, systems, and devices, including improved robotic arms and end effectors for use with the devices.

<CIT> describes an end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system.

<CIT> describes an industrial robot in which a concentric triple shaft is constituted by a first drive shaft, a cylindrical, second drive shaft, which concentrically encloses the first drive shaft, and a cylindrical, third drive shaft, which concentrically encloses the second drive shaft.

<CIT> relates to a robot drive assembly for moving a working tool in x, y, z and theta directions comprising three independent, coaxially nested tubes, each tube being driven around a common central axis by drive belts attached to separate drive motors located in a mounting flange associated with the outermost tube.

<CIT> describes an industrial robot of articulated arm type, having a movable main body, an upper arm, a forearm, and a wrist assembly. The forearm is provided with a rear extension extending rearward of the axis of articulation between the upper arm and forearm.

The present invention is defined with reference to the appended claims. Discussed herein are various robotic devices having a compact joint design that results from the configuration of the internal components and allows for three degrees of freedom in the arm or other component extending from the compact joint. Also discussed herein are various arms and/or end effectors that can be used with the robotic devices disclosed herein or other known robotic devices.

In Example <NUM>, a robotic device comprises an elongate device body, a first shoulder joint, and a first arm operably coupled to the first shoulder joint. The elongate device body comprises a first driveshaft rotatably disposed within the device body (the first driveshaft having a first lumen defined along a length of the first driveshaft), a second driveshaft rotatably disposed within the first lumen (the second driveshaft having a second lumen defined along a length of the second driveshaft), and a third driveshaft rotatably disposed within the second lumen. The first shoulder joint comprises a conversion body operably coupled to at least one of the first, second, or third driveshafts, and a rotation body rotatable in relation to the conversion body.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the conversion body is a yoke body comprises a yoke shaft extending from the yoke body, wherein a longitudinal axis of the yoke shaft is transverse to a longitudinal axis of the first driveshaft, and a yoke opening defined in the yoke shaft.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the first driveshaft is operably coupled to the first drive gear and wherein the third driveshaft is rotatably disposed through the yoke opening, the third driveshaft being operably coupled to the third drive gear.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the first and third drive gears are rotatably coupled to the rotation body.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the second driveshaft is operably coupled to the second drive gear, wherein the second drive gear is rotatably coupled to a first shoulder gear, wherein the first shoulder gear is operably coupled to a second shoulder gear through a first opening in the rotation body, wherein the second shoulder gear is rotatably coupled to a third shoulder gear, wherein the third shoulder gear is operably coupled to a fourth shoulder gear through a second opening in the rotation body, wherein the fourth shoulder gear is rotatably coupled to an output gear.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the conversion body is a shoulder housing comprising a top opening defined in the shoulder housing, the top opening comprising at least one coupling feature, and a side opening defined in the shoulder housing.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the first driveshaft is operably coupled to the at least one coupling feature on the shoulder housing, whereby rotation of the first driveshaft causes rotation of the shoulder housing.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the second driveshaft is disposed through the top opening in the shoulder housing and operably coupled to a second drive gear, wherein the second drive gear is disposed within a cavity in the shoulder housing.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the second drive gear is rotatably coupled to a first shoulder gear, wherein the first shoulder gear is operably coupled to the rotation body.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the third driveshaft is disposed through the top opening in the shoulder housing and operably coupled to a third drive gear, wherein the third drive gear is disposed within a cavity in the shoulder housing.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the third drive gear is rotatably coupled to a second shoulder gear, wherein the second shoulder gear is operably coupled to a third shoulder gear through a first opening in the rotation body, wherein the third shoulder gear is rotatably coupled to a fourth shoulder gear, wherein the fourth shoulder gear is operably coupled to a fifth shoulder gear through a second opening in the rotation body, wherein the fifth shoulder gear is rotatably coupled to an output gear.

In Example <NUM>, a robotic device comprises an elongate device body sized and constructed to be disposable through a port or an incision into a cavity of a patient, a first shoulder joint, and a first arm operably coupled to the output gear. The elongate device body comprises a first driveshaft rotatably disposed within the device body, the first driveshaft comprising a first lumen extending along a length of the first driveshaft, a second driveshaft rotatably disposed within the first lumen such that the second driveshaft is disposed within and coaxial with the first driveshaft, the second driveshaft comprising a second lumen extending along a length of the second driveshaft, and a third driveshaft rotatably disposed within the second lumen such that the third driveshaft is disposed within and coaxial with the second driveshaft. The first shoulder joint comprises a conversion body operably coupled to at least one of the first, second, or third driveshafts, a rotation body rotatable in relation to the conversion body, and an output gear operably coupled with the rotation body, wherein the output gear is rotatable around an axis parallel to a longitudinal axis of the first driveshaft.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the first driveshaft is operably coupled to a first drive gear and wherein the third driveshaft is rotatably disposed through an opening in the conversion body, the third driveshaft being operably coupled to a third drive gear.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the second driveshaft is operably coupled to the second drive gear, wherein the second drive gear is operably coupled to an output gear via at least one shoulder gear.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the first driveshaft is operably coupled to the conversion body, whereby rotation of the first driveshaft causes rotation of the conversion body.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the second driveshaft is operably coupled to a second drive gear, wherein the second drive gear is rotatably coupled to a first shoulder gear, wherein the first shoulder gear is operably coupled to the rotation body.

Example <NUM> relates to the robotic device according to Example <NUM>, wherein the third driveshaft is operably coupled to a third drive gear, wherein the third drive gear is operably coupled to an output gear via at least one shoulder gear.

In Example <NUM>, a robotic device comprises an elongate device body sized and constructed to be disposable through a port or an incision into a cavity of a patient, a first shoulder joint, and a first arm operably coupled to the first shoulder joint. The elongate device body comprises a first drivetrain, a second drivetrain, and a third drivetrain. The first drivetrain comprises a first motor, and a first driveshaft operably coupled to the first motor, the first driveshaft rotatably disposed within the device body, the first driveshaft comprising a first lumen extending along a length of the first driveshaft. The second drivetrain comprises a second motor, and a second driveshaft operably coupled to the second motor, the second driveshaft rotatably disposed within the first lumen such that the second driveshaft is disposed within and coaxial with the first driveshaft, the second driveshaft comprising a second lumen extending along a length of the second driveshaft. The third drivetrain comprises a third motor, and a third driveshaft operably coupled to the third motor, the third driveshaft rotatably disposed within the second lumen such that the third driveshaft is disposed within and coaxial with the second driveshaft. The first shoulder joint comprises a conversion body operably coupled to at least one of the first, second, or third driveshafts, and a rotation body rotatable in relation to the conversion body.

The various disclosures contemplated herein relate to surgical robotic devices, systems, and methods. More specifically, various embodiments relate to various medical devices, including robotic devices and related methods anitd systems. Certain implementations relate to such devices for use in laparo-endoscopic single-site (LESS) surgical procedures. Further embodiments relate to certain robotic arms and/or end effectors that can used with the robotic devices, including grasper and/or cautery end effectors.

The robotic devices in these various implementations have a compact joint design as set forth herein, and, in certain embodiments, the arm or other component extending from the joint has at least three degrees of freedom. More specifically, these embodiments have compact shoulder joints with each joint having three nested bevel gear sets that provide three intersecting degrees of freedom, as will be described in additional detail herein. The compact nature of the device results from the three concentric driveshafts that are coupled to and drive the three bevel gear sets at each shoulder. Nesting the three driveshafts of each shoulder within each other as will be described herein enables the three motors that drive the driveshafts (and thus the three bevel gear sets of each shoulder) to be positioned axially along the length of the device body - away from the three gear sets - thereby resulting in a smaller overall circumferential or radial size (width and thickness) of the device body since the motors and driveshafts do not need to be positioned alongside the coupled bevel gear sets.

It is understood that the various disclosures of robotic devices and related methods and systems disclosed herein can be incorporated into or used with any other known medical devices, systems, and methods. For example, the various disclosures disclosed herein may be incorporated into or used with any of the medical devices and systems disclosed in <CIT> and entitled "Magnetically Coupleable Robotic Devices and Related Methods"), <CIT> and entitled "Magnetically Coupleable Surgical Robotic Devices and Related Methods"), <CIT> and entitled "Robotic Surgical Devices and Related Methods" and published under <CIT>), <CIT> and entitled "Methods, Systems, and Devices for Surgical Visualization and Device Manipulation"), <CIT> and entitled "Methods and Systems of Actuation in Robotic Devices"), <CIT> and entitled "Methods and Systems of Actuation in Robotic Devices"), <CIT> and entitled "Methods and Systems of Actuation in Robotic Devices" and published under <CIT>), <CIT> and entitled Medical Inflation, Attachment, and Delivery Devices and Related Methods" and published under <CIT>), <CIT> and entitled "Medical Inflation, Attachment, and Delivery Devices and Related Methods" and published under <CIT>), <CIT> and entitled "Modular and Cooperative Medical Devices and Related Systems and Methods"), <CIT> and entitled "Multifunctional Operational Component for Robotic Devices"), <CIT> and entitled "Multifunctional Operational Component for Robotic Devices"), <CIT> and entitled "Multifunctional Operational Component for Robotic Devices" and published under <CIT>), <CIT> and entitled "Modular and Cooperative Medical Devices and Related Systems and Methods"), <CIT> and entitled "Methods and Systems for Handling or Delivering Materials for Natural Orifice Surgery"), <CIT> and entitled "Methods, Systems, and Devices Relating to Surgical End Effectors" ), <CIT> and entitled "Methods, Systems, and Devices Relating to Surgical End Effectors" and published under <CIT>), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods"), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods" and published under <CIT>), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods" and published under <CIT>), <CIT> and entitled "Methods, Systems, and Devices for Surgical Access and Insertion" and published under <CIT>), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods" and published under <CIT>), <CIT> and entitled "Methods, Systems, and Devices for Surgical Access and Insertion" and published under <CIT>), <CIT> and entitled "Single Site Robotic Devices and Related Systems and Methods"), <CIT> and entitled "Single Site Robotic Devices and Related Systems and Methods" and published under <CIT>), <CIT> and entitled "Local Control Robotic Surgical Devices and Related Methods"), <CIT> and entitled "Local Control Robotic Surgical Devices and Related Methods" and published under <CIT>), <CIT> and entitled "Methods, Systems, and Devices Relating to Robotic Surgical Devices, End Effectors, and Controllers" and published under <CIT>), <CIT> and entitled "Methods, Systems, and Devices Relating to Force Control Surgical Systems and published under <CIT>), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods" and published under <CIT>), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods" and published under <CIT>), <CIT> and entitled "Quick-Release End Effectors and Related Systems and Methods" and published <CIT>), <CIT> and entitled "Robotic Device with Compact Joint Design and Related Systems and Methods" and published under <CIT>), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods" and published under <CIT>), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods"), <CIT> and entitled "Quick-Release End Effector Tool Interface" and published under <CIT>), <CIT> and entitled "Improved Gross Positioning Device and Related Systems and Methods"), <CIT> and entitled "Controller with User Presence Detection and Related Systems and Methods"), <CIT> and entitled "Releasable Attachment Device for Coupling to Medical Devices and Related Systems and Methods"), and <CIT> and entitled "Robot for Surgical Applications"), <CIT> and entitled "Robot for Surgical Applications"), and <CIT>, and entitled "Robotic Devices with Agent Delivery Components and Related Methods").

Certain device and system implementations disclosed in the applications listed above can be positioned within a body cavity of a patient in combination with the robotic arms and/or end effectors disclosed herein. An "in vivo device" as used herein means any device that can be positioned, operated, or controlled at least in part by a user while being positioned within a body cavity of a patient, including any device that is coupled to a support component such as a rod or other such component that is disposed through an opening or orifice of the body cavity, also including any device positioned substantially against or adjacent to a wall of a body cavity of a patient, further including any such device that is internally actuated (having no external source of motive force), and additionally including any device that may be used laparoscopically or endoscopically during a surgical procedure. As used herein, the terms "robot," and "robotic device" shall refer to any device that can perform a task either automatically or in response to a command.

Certain disclosures provide for insertion of the device and system into the cavity while maintaining sufficient insufflation of the cavity. Further disclosures minimize the physical contact of the surgeon or surgical users during the insertion process. Other implementations enhance the safety of the insertion process for the patient. For example, some disclosures provide visualization of the device as it is being inserted into the patient's cavity to ensure that no damaging contact occurs between the system/device and the patient. In addition, certain disclosures allow for minimization of the incision size/length. Further implementations reduce the complexity of the access/insertion procedure and/or the steps required for the procedure. Other disclosures relate to devices that have minimal profiles, minimal size, or are generally minimal in function and appearance to enhance ease of handling and use.

Certain implementations disclosed herein relate to "combination" or "modular" medical devices that can be assembled in a variety of configurations. For purposes of this application, both "combination device" and "modular device" shall mean any medical device having modular or interchangeable components that can be arranged in a variety of different configurations. The modular components and combination devices disclosed herein also include segmented triangular or quadrangular-shaped combination devices. These devices, which are made up of modular components (also referred to herein as "segments") that are connected to create the triangular or quadrangular configuration, can provide leverage and/or stability during use while also providing for substantial payload space within the device that can be used for larger components or more operational components. As with the various combination devices disclosed and discussed above, according to one disclosure these triangular or quadrangular devices can be positioned inside the body cavity of a patient in the same fashion as those devices discussed and disclosed above.

An exemplary disclosure of a robotic device <NUM> is depicted in <FIG>. As best shown in <FIG>, the device <NUM> has an elongate device body <NUM>, a right shoulder joint <NUM>, and a left shoulder joint <NUM>. While no arms are depicted in <FIG>, it is understood that a robotic arm or other component can be coupled to each of the right and left shoulder joints <NUM>, <NUM>. The main body <NUM> has a motor section 12A and a shaft section 12B, wherein the motors (discussed below) are disposed in the motor section 12A and the elongate driveshafts (discussed below) are disposed in the shaft section 12B. In one disclosure, the control electronics <NUM> (circuit boards, processors, etc.) are disposed on an outer surface of the motor section 12A as best shown in both <FIG>. It is understood that, according to some implementations, a cover (not shown) will be positioned over the top of the control electronics <NUM>.

As will be discussed in additional detail below, each of the nested or compact shoulder joints <NUM>, <NUM> provides three intersecting degrees of freedom. As an example, the left shoulder joint <NUM> has three intersecting degrees of freedom as shown in <FIG>. The first degree of freedom is depicted at arrow A, which represents rotation around the axis <NUM> parallel to the longitudinal axis of the device body <NUM>, which causes any arm (not shown) coupled to the shoulder <NUM> to rotate about that axis <NUM>, thereby moving left and right in relation to the device body <NUM> ("yaw"). The second degree of freedom is depicted at arrow B, which represents rotation around the axis <NUM> perpendicular to the longitudinal axis of the device body <NUM>, which causes any arm (not shown) coupled to the shoulder <NUM> to rotate about that axis <NUM>, thereby moving "up and down" in relation to the device body <NUM> ("pitch"). More specifically, if the device body <NUM> were laid on a flat plane along its longitudical axis, the arm (not shown) would move into and out of the flat plane. The third degree of freedom is depicted at arrow C, which represents rotation around the axis <NUM> that causes any arm (not shown) coupled to the shoulder <NUM> to rotate around it's own longitudinal axis (or "roll"). These three degrees of freedom are intersecting because all three axes of rotation intersect at a single point <NUM>, as shown in <FIG>. While this description above relates to the left shoulder joint <NUM>, it is understood that the right shoulder joint <NUM> also has substantially the same three intersecting degrees of freedom.

It should be noted that the third degree of freedom is not limited to actuating an arm to rotate on its own longitudinal axis. Instead, the form of actuation is determined based on the configuration of the arm that is coupled to the shoulder. In certain disclosures, the arm coupled to the shoulder is configured such that the rotation around the axis <NUM> causes the arm to roll (rotate on its own axis). According to other disclosures as will be described in further detail below, the arm coupled to the shoulder is configured such that the rotation around the axis <NUM> actuates the elbow of the arm to rotate. In further disclosures, it is understood that the type of actuation that occurs as a result of the rotation around the axis <NUM> is limited only by the configuration of the arm coupled thereto.

<FIG> depicts a cross-sectional front view of the body <NUM> in which certain internal components of the body <NUM> are visible, according to one exemplary disclosure. The body <NUM> has a right set of nested driveshafts <NUM> and a left set of nested driveshafts <NUM>, wherein both sets are rotatably disposed within the body <NUM>. As set forth herein, the word "nested" is intended to describe components that are concentric such that at least one of the components is positioned inside another of those components and each of the components have a common axis of rotation. In the remainder of this description of the body <NUM> and its components, the description will focus on the right side of the body <NUM>, the right set of nested driveshafts <NUM>, and components coupled thereto. It is understood that the components of the left side of the body <NUM>, the left set of nested driveshafts <NUM>, the components coupled thereto, the relationship of those components to each other, and their functionality is substantially similar to those components of the right side of the body <NUM>.

With respect to <FIG>, the right set of nested driveshafts <NUM> is made up of a first or outer driveshaft 40A, a second or middle driveshaft 40B, and a third or inner driveshaft 40C. The right set of nested driveshafts <NUM> extend from the motor section 12A into and through the shaft section 12B as shown. The inner driveshaft 40C is rotatably disposed within the middle driveshaft 40B as shown, and has a driven gear 42C fixedly or integrally attached at its proximal end. At its distal end, the inner driveshaft 40C is coupled to a third or lower drive bevel gear 44C. The middle driveshaft 40B is rotatably disposed within the outer driveshaft 40A as shown, and has a driven gear 42B fixedly or integrally attached at its proximal end. At its distal end, the middle driveshaft 40B is coupled to a second or middle drive bevel gear 44B. The outer driveshaft 40A is rotatably disposed on the right side of the body <NUM> and has a driven gear 42A fixedly or integrally attached at its proximal end. At its distal end, the outer driveshaft 40A is coupled to a first or upper drive bevel gear 44A. The right set of nested driveshafts <NUM> is supported at its proximal end by first set bearing <NUM> and at its distal end by second set bearing <NUM>.

In accordance with one disclosure, the shaft section 12B is coupled to the motor section 12A via two or more screws 60A, 60B or other known attachment components or devices. In one disclosure, five screws like screws 60A, 60B are used to couple the shaft 12B and motor 12A sections.

Expanded views of various internal components at the proximal end of the body <NUM>, including the proximal end of the driveshafts 40A, 40B, 40C and related gears and motors that drive those driveshafts 40A, 40B, 40C, are depicted in <FIG>, according to one disclosure. As best shown in <FIG>, the proximal end of the inner driveshaft 40C, including the driven gear 42C, is rotatably supported in the body <NUM> via a first shaft bearing <NUM> and a second shaft bearing <NUM>. Further, the proximal end of the middle driveshaft 40B, including driven gear 42B, is rotatably supported in the body <NUM> via the second shaft bearing <NUM> and a third shaft bearing <NUM>. In addition, the proximal end of the outer driveshaft 40A, including driven gear 42A, is rotatably supported in the body <NUM> via the third shaft bearing <NUM> and the first set bearing <NUM>.

As best shown in <FIG>, each of the sets of nested driveshafts <NUM>, <NUM> have three motors operably coupled thereto. More specifically, as best shown in the side view of <FIG>, motor 80A has a motor drive gear 82A that is coupled to the driven gear 42A (which is coupled to the outer driveshaft 40A). Further, motor 80B has a motor drive gear 82B that is coupled to the driven gear 42B (which is coupled to the middle driveshaft 40B). In addition, motor 80C has a motor drive gear 82C that is coupled to the driven gear 42C (which is coupled to the inner driveshaft 40C). Thus, in operation, the motor 80A can be actuated to drive rotation of the outer driveshaft 40A by driving rotation of motor drive gear 82A, which drives rotation of the driven gear 42A. Similarly, the motor 80B can be actuated to drive rotation of the middle driveshaft 40B by driving rotation of motor drive gear 82B, which drives rotation of the driven gear 42B. In a similar fashion, the motor 80C can be actuated to drive rotation of the inner driveshaft 40C by driving rotation of motor drive gear 82C, which drives rotation of the driven gear 42C.

<FIG> provide a bottom view of the motors and driveshafts, according to one disclosure. More specifically, <FIG> depicts a partial cutaway bottom view of the motor section 12A, in which the outer body of the motor section 12A has been removed on the right half of the section 12A such that the left nested driveshaft shaft set <NUM> and coupled motors are shown in the cutaway portion of the figure. As can be seen in this figure, the motor section 12A is configured such that the entire section 12A is mirrored across its centerline D as shown in this disclosure. That is, the left side of the motor section 12A and the internal components therein are a mirror image of the right side of the section 12A and its components.

Further, <FIG> depicts a bottom view of the right nested driveshaft set <NUM> and coupled motors, 80A, 80B, 80C, thereby showing the arrangement of the motors 80A, 80B, 80C around the driveshaft set <NUM>.

In one implementation as shown in <FIG>, the driveshafts 40A, 40B, 40C are coupled to potentiometers 86A, 86B, 86C that provide absolute position feedback relating to each driveshaft 40A, 40B, 40C. As shown, the driven gear 42A (of the outer driveshaft 40A) is coupled to potentiometer gear 84A, which is coupled to potentiometer 86A, while driven gear 42B (of the middle driveshaft 40B) is coupled to potentiometer gear 84B, which is coupled to potentiometer 86B. Similarly, driven gear 42C (of the inner driveshaft 40C) is coupled to potentiometer gear 84C, which is coupled to potentiometer 86C. The potentiometer gears 84A, 84B, 84C and potentiometers 86A, 86B, 86C are coupled to a pin <NUM>. In one disclosure, each of the potentiometers 86A, 86B, 86C are single-turn potentiometers. Alternatively, these components 86A, 86B, 86C can be any known sensors or meters for detecting or monitoring position information.

<FIG> and <FIG> depict the right shoulder joint <NUM> and its various components, according to one implementation. More specifically, <FIG> depicts a cross-sectional front view of the internal components of both the right <NUM> and <NUM> shoulder joints, while <FIG> depicts an exploded view of the internal components of the right shoulder joint <NUM>. As discussed above, and as shown in both <FIG> and <FIG>, the outer driveshaft 40A is coupled (or rotationally constrained) to the upper drive bevel gear 44A, while the middle driveshaft 40B is coupled to the middle drive bevel gear 44B, and the inner driveshaft 40C is coupled to the lower drive bevel gear 44C. The outer driveshaft 40A and upper drive bevel gear 44A are supported by the second set bearing <NUM> and the first shoulder bearing <NUM>, wherein the first shoulder bearing <NUM> is positioned within the distal end of the bevel gear 44A as best shown in <FIG>. The middle driveshaft 40B and the middle drive bevel gear 44B are supported by the first shoulder bearing <NUM> and the second shoulder bearing <NUM>, wherein the second shoulder bearing <NUM> is positioned within the distal end of the bevel gear 44B as best shown in <FIG>.

The right shoulder <NUM> also has a differential yoke (also referred to as a "shoulder housing" or "conversion body") <NUM> (as does the left shoulder <NUM>). As best shown in <FIG>, the yoke <NUM> has a body 104A and a yoke shaft 104B, wherein the body 104A defines a yoke opening 104C. The yoke <NUM> as shown is configured to be positioned over the inner driveshaft 40C such that the driveshaft 40C is positioned through the yoke opening 104C. The driveshaft 40C is rotatably supported within the yoke opening 104C by the third <NUM> and fourth <NUM> shoulder bearings, which are disposed within the opening 104C. As mentioned above, the inner driveshaft 40C is coupled to the lower drive bevel gear 44C. The bevel gears 44A, 44B, 44C, the driveshafts 40A, 40B, 40C, and the bearings <NUM>, <NUM>, <NUM>, <NUM> are coupled together and "preloaded" by the screw <NUM> that is coupled to the inner driveshaft 40C. Alternatively, any known attachment component can be used to couple together and preload these components.

Continuing with <FIG> and <FIG>, the yoke shaft 104B is rotatably coupled to a bevel gear body (also referred to as a "rotatable arm," "rotatable body," "rotation arm," "rotation body," "pitch arm," or "pitch body") <NUM>. The bevel gear body <NUM> has two openings 120A, 120B defined therein, with a body bevel gear 120C disposed around one side of the opening 120A such that rotation of the bevel gear 120C causes rotation of the bevel gear body <NUM>. The opening 120A is configured to receive the yoke shaft 104B such that the yoke shaft 104B is positioned through the opening 120A. When the bevel gear body <NUM> is coupled to the yoke shaft 104B, an first inner bevel gear <NUM> is also positioned over the yoke shaft 104B and is supported by a fifth shoulder bearing <NUM> and a sixth shoulder bearing <NUM>, wherein the fifth shoulder bearing <NUM> is disposed within the distal end of the bevel gear <NUM> and the sixth shoulder bearing <NUM> is disposed within the body bevel gear 120C.

It is understood that the rotation body <NUM> can be any component that has two openings as described herein and can be coupled to the various components as described.

The first inner bevel gear <NUM> is operably coupled to a first spur gear <NUM> such that rotation of the first inner bevel gear <NUM> causes rotation of the spur gear <NUM>. The first spur gear <NUM> is also positioned over the yoke shaft 104B, and the two gears <NUM>, <NUM> are coupled together through the opening 120A in the bevel gear body <NUM>. In one disclosure, the first inner bevel gear <NUM> has two projections 128A, 128B that mate with the spur gear <NUM> to couple the two gears <NUM>, <NUM> together. Alternatively, any coupling component or mechanism can be used to couple the two gears <NUM>, <NUM> together. The first spur gear <NUM> is supported in part by the sixth bearing <NUM> discussed above and further in part by a seventh shoulder bearing <NUM>, which is disposed within the distal end of the spur gear <NUM>. The bearings <NUM>, <NUM>, <NUM> all help to support the first inner bevel gear <NUM>, the bevel gear body <NUM>, and the first spur gear <NUM> such that all three (the bevel gear <NUM>, body <NUM>, and spur gear <NUM>) are rotatable around the yoke shaft 104B. The bearings <NUM>, <NUM>, <NUM> are preloaded by the countersunk screw <NUM>, which is threaded into a threaded lumen <NUM> at the end of the yoke shaft 104B.

The first spur gear <NUM> is rotatably coupled to a second spur gear <NUM> such that rotation of the first spur gear <NUM> causes rotation of the second spur gear <NUM>. The second spur gear <NUM> is positioned over a horizontal shaft 138A of a gear linkage <NUM> (also referred to herein as an "L-shaft" <NUM>) and is supported in part by an eighth shoulder bearing <NUM> and a ninth shoulder bearing <NUM>. The eighth shoulder bearing <NUM> is positioned within the distal end of the second spur gear <NUM>. The second spur gear <NUM> is operably coupled to a second inner bevel gear <NUM> such that rotation of the spur gear <NUM> causes rotation of the bevel gear <NUM>. The second inner bevel gear <NUM> is also positioned over the horizontal shaft 138A, and the two gears <NUM>, <NUM> are coupled together through the opening 120B in the bevel gear body <NUM>. As such, the horizontal shaft 138A is also positioned through the opening 120B in the gear body <NUM>.

In one disclosure, the second inner bevel gear <NUM> has two projections 146A, 146B that mate with the spur gear <NUM> to couple the two gears <NUM>, <NUM> together. Alternatively, any coupling component or mechanism can be used to couple the two gears <NUM>, <NUM> together. The second inner bevel gear <NUM> is supported in part by the ninth shoulder bearing <NUM> discussed above and further in part by a tenth shoulder bearing <NUM>, which is disposed within the distal end of the bevel gear <NUM>. The bearings <NUM>, <NUM>, <NUM> all help to support the second inner bevel gear <NUM>, the bevel gear body <NUM>, and the second spur gear <NUM> such that all three (the bevel gear <NUM>, body <NUM>, and spur gear <NUM>) are rotatable around the horizontal shaft 138A. The bearings <NUM>, <NUM>, <NUM> are preloaded by the countersunk screw <NUM>, which is threaded into a threaded lumen <NUM> at the end of the horizontal shaft 138A.

According to one disclosure, the L-shaft <NUM> has both the horizontal shaft 138A, as discussed above, and a vertical shaft 138B. As also discussed above, the horizontal shaft 138A receives the second inner bevel gear <NUM>, the bevel gear body <NUM>, and the second spur gear <NUM>, along with the bearings <NUM>, <NUM>, <NUM>, such that all three of the bevel gear <NUM>, gear body <NUM>, and spur gear <NUM> are disposed on the shaft 183A, with the bevel gear <NUM> and the spur gear <NUM> being rotatably disposed on the shaft 138A and the gear body <NUM> being non-rotatably disposed on the shaft 138A as discussed in further detail below. The vertical shaft 138B receives an output bevel gear <NUM> that is supported by the eleventh bearing <NUM> and the twelfth bearing <NUM> such that the bevel gear <NUM> is rotatably disposed around the shaft 138B. The bearings <NUM>, <NUM> are preloaded by the countersunk screw <NUM>, which is threaded into a threaded lumen (not shown) at the end of the shaft 138B.

The L-shaft <NUM> is coupled to the gear body <NUM> via two wings 138C, 138D that couple to slots 120D defined in the gear body <NUM> such that the L-shaft moves when the gear body <NUM> moves. Alternatively, the L-shaft <NUM> can be coupled to the body <NUM> by any known component or mechanism.

In use, the upper drive bevel gear 44A is rotatably coupled to the bevel gear 120C (on the bevel gear body <NUM>) such that rotation of the upper drive bevel gear 44A causes rotation of the bevel gear 120C. Further, the lower drive bevel gear 44C is also rotatably coupled to the bevel gear 120C on bevel gear body <NUM> such that rotation of the lower drive bevel gear 44C also causes rotation of the bevel gear 120C. As such, the two bevel gears 44A, 44C work together to drive the rotation of the yoke <NUM> about the driveshaft 40C and the rotation of the bevel gear body <NUM> about the yoke shaft 104B. In other words, if the two bevel gears 44A, 44C are actuated to rotate in opposite directions, that causes the bevel gear body <NUM> to rotate about the yoke shaft 104B, and if the two bevel gears 44A, 44C are actuated to rotate in the same direction, that causes the yoke <NUM> to rotate about the driveshaft 40C. Further, the two gears 44A, 44C can be actuated to do both at the same time.

In addition, the middle drive bevel gear 44B is rotatably coupled to the first inner bevel gear <NUM> such that rotation of the middle drive bevel gear 44B causes rotation of the first inner bevel gear <NUM>, which causes rotation of the first spur gear <NUM>. Rotation of the first spur gear <NUM> causes rotation of the second spur gear <NUM>, which causes rotation of the second inner bevel gear <NUM>. The second inner bevel gear <NUM> is rotatably coupled to the output bevel gear <NUM> such that rotation of the second inner bevel gear <NUM> causes rotation of the output bevel gear <NUM>. According to certain implementations, the output bevel gear <NUM> can be coupled to a robotic arm (not shown) or other component of a robotic device, such that rotation of the output bevel gear <NUM> causes rotation of the component.

As such, according to certain disclosures, the right shoulder <NUM> as best shown in <FIG>, <FIG>, and <FIG> (and the left shoulder <NUM> as shown in <FIG>) has a compact joint design with three degrees of freedom based on three concentric driveshafts (made up of driveshafts 40A, 40B, 40C, as best shown in <FIG>) and three nested bevel gear sets (made up of bevel gears 44A, 44B, 44C, as best shown in <FIG> and <FIG>) coupled to those driveshafts. As discussed above and as best shown in <FIG>, the three degrees of freedom are intersecting degrees of freedom in certain disclosures. The nested driveshafts 40A, 40B, 40C allow for the motors coupled thereto (motors 80A, 80B, 80C) to be positioned axially at a proximal position along the length of the device body <NUM> at a distance from the shoulders <NUM>, <NUM> (and thus the gear sets associated with gears 44A, 44B, 44C), thereby resulting in smaller overall circumferential or radial size (width and thickness) of the device body <NUM>. More specifically, the configuration according to these disclosures results in the motors and driveshafts not having to be positioned axially alongside the bevel gear sets, thereby allowing for a device body <NUM> having a smaller overall circumferential or radial size (smaller circumference or radius) in relation to any device in which the motors and driveshafts are positioned alongside (at the same length as) the shoulders along the length of the device.

As discussed above in the context of <FIG>, each shoulder joint <NUM>, <NUM> provides three degrees of freedom. In this implementation as best shown in <FIG> and <FIG>, two of the degrees of freedom - the pitch and yaw of the arms coupled to the shoulders <NUM>, <NUM> - are accomplished via the bevel gears 44A and 44C being coupled to the output bevel gear 120C as described above. Further, the third degree of freedom is accomplished via the bevel gear 44B driving bevel gear <NUM>, which ultimately drives output bevel gear <NUM> as described above. As discussed in further detail above in relation to <FIG>, the actuation resulting from the rotation of output bevel gear <NUM> depends on the configuration of the arm coupled thereto. In certain disclosures, the rotation of the bevel gear <NUM> causes roll: rotation of the arm on its longitudinal axis. In some alternative disclosures, including the disclosure discussed below in relation to <FIG>, the rotation of the bevel gear <NUM> is passed through the shoulder and causes the elbow of the arm to rotate. In further implementations, the rotation of the output bevel gear <NUM> can actuate the arm in other ways, depending on the arm configuration.

In accordance with one implementation as shown in <FIG>, a robotic arm <NUM> (or, alternatively, two such arms) is provided that can be coupled to a shoulder of the device <NUM> disclosure discussed above. Alternatively, this arm <NUM> can be coupled to any known robotic surgical device. In this specific implementation, the arm <NUM> is a right arm <NUM>. Note that <FIG> depicts both the right arm <NUM> and a left arm <NUM>. In the remainder of this discussion, the description will focus on the right arm <NUM>. It is understood that the components of the left arm <NUM>, the relationship of those components to each other, and their functionality is substantially similar to those components of the right arm <NUM>.

Continuing with reference to <FIG>, the right arm <NUM> has a shoulder joint (also referred to herein as a "shoulder" or "first joint") <NUM>, an upper arm (also referred to as a "first arm link" or "first arm component") <NUM>, an elbow joint (also referred to herein as an "elbow" or "second joint") <NUM>, a forearm (also referred to herein as a "second arm link" or "second arm component") <NUM>, a wrist joint (also referred to herein as a "wrist" or "third joint") <NUM>, and an end effector <NUM>.

In one implementation, the arm <NUM> (and arm <NUM>) is configured to couple to a shoulder having <NUM> degrees of freedom ("DOF"), such as the device <NUM> described herein above. Alternatively, the arm <NUM> can be coupled with any known robotic device with a shoulder having <NUM> DOF. In a further alternative, the arm <NUM> can couple with any known robotic device.

The upper arm <NUM>, according to one disclosure, is shown in further detail in <FIG>. The upper arm <NUM> has a body (also referred to as a "casing," "outer structure," or "shell") <NUM>. In this particular implementation, the body <NUM> is made up of a first body component 220A and a second body component 220B that are coupled together via the countersunk screw <NUM> that is coupled to a distal end of a coupling shaft (also referred to as a "cylindrical shaft" or "coupling shaft") <NUM> (as best shown in <FIG>). More specifically, the two body components 220A, 220B are constrained together via the coupling of the screw <NUM> and the distal end of the shaft <NUM> such that tightening the screw <NUM> into the shaft <NUM> produces clamping forces between the two body components 220A, 220B. The tightening of the coupling between the screw <NUM> and shaft <NUM> also causes the shaft <NUM> to be pulled into a corresponding cylindrical lumen <NUM> defined in the body component 220B as best shown in <FIG>. More specifically, the shaft <NUM> is positioned within the cylindrical lumen <NUM> and is urged distally as the screw <NUM> is tightened into the shaft <NUM>. Alternatively, the body <NUM> is a single, unitary component. In further alternatives, the body <NUM> can be made up of three or more different components.

In this particular disclosure as depicted in which the upper arm <NUM> is coupled to the shoulder <NUM> described above, the upper arm <NUM> is coupled to the shoulder <NUM> by removing/replacing some of the components of shoulder <NUM> described above. More specifically, in this particular example, the following components as best shown in <FIG> are removed and replaced with components of the upper arm <NUM>: the second inner bevel gear <NUM>, the tenth shoulder bearing <NUM>, the L-shaft gear linkage <NUM>, the eleventh bearing <NUM>, the output bevel gear <NUM>, the twelfth bearing <NUM>, and the countersunk screw <NUM>. Thus, the proximal end <NUM> of the upper arm <NUM> is configured to couple with the bevel gear body <NUM> (as best shown in <FIG>) such that the distal end of the coupling shaft <NUM> extends through the opening 120B in the gear body <NUM>. More specifically, the proximal end <NUM> has projections 226A as best shown in <FIG> that geometrically match with the slots 120D defined in the gear body <NUM> (as best shown in <FIG>) such that the proximal end <NUM> is coupled to the gear body <NUM>. Alternatively, the proximal end <NUM> and the gear body <NUM> can have any feature or configuration that results in geometric matching and thus coupling of the two components. In one disclosure, the coupling shaft <NUM> and thus the entire upper arm <NUM> are attached to the gear body <NUM> via the countersunk screw <NUM> (as best shown in <FIG>), which threadably couples to the distal end of the shaft <NUM>. Further, the upper arm <NUM> has a first upper arm bevel gear <NUM> disposed in the proximal end <NUM> that is rotationally coupled at its proximal end to the second spur gear <NUM> (as best shown in <FIG>) such that rotation of the spur gear <NUM> causes the bevel gear <NUM> to rotate. In one disclosure, as best shown in <FIG>, the first gear <NUM> has projections 228A at its proximal end that geometrically match with a feature or component on the spur gear <NUM>, thereby allowing the two gears <NUM>, <NUM> to couple. Alternatively, the gears <NUM>, <NUM> can have any configurations that allow them to couple together. While this specific exemplary disclosure relates to the upper arm <NUM> being coupled to the device <NUM> described above, it is understood that, according to various alternative disclosures, the first bevel gear <NUM> can be rotationally coupled to a gear or shaft or other rotational component of any robotic device to which the upper arm <NUM> is coupled.

Continuing with <FIG>, the first upper arm bevel gear <NUM> is constrained and supported by the coupling shaft <NUM> (which is positioned through the gear <NUM> such that the gear <NUM> rotates around the shaft <NUM>) and is mateably coupled to (and further constrained and supported by) a second upper arm bevel gear <NUM> such that rotation of the first bevel gear <NUM> causes rotation of the second bevel gear <NUM>. The second bevel gear <NUM> is rotationally coupled to a driveshaft <NUM> such that rotation of the bevel gear <NUM> causes rotation of the driveshaft <NUM>. In one implementation, the gear <NUM> and driveshaft <NUM> have geometrical features that allow for the two components to mateably couple in a similar fashion to the gear <NUM> and spur gear <NUM>, as described above. Alternatively, the gear <NUM> and driveshaft <NUM> can be coupled in any known fashion such that rotation of one causes rotation of the other. The driveshaft <NUM> is supported by first upper arm bearing <NUM> and second upper arm bearing <NUM>. These bearings <NUM>, <NUM>, according to one disclosure, also function as alignment features to help with alignment and constraint of the first and second body components 220A, 220B. That is, each of the first and second body components 220A, 220B have bearing receiving openings <NUM>, <NUM> defined within the components 220A, 220B such that the bearings <NUM>, <NUM> can be positioned therein when the components 220A, 220B are coupled to each other as shown. Thus, assembly and coupling of the two components 220A, 220B are facilitated and aligned by the positioning of the bearings <NUM>, <NUM> in the bearing receiving openings <NUM>, <NUM>. At its distal end, the driveshaft <NUM> is rotationally coupled to a third upper arm bevel gear <NUM> such that rotation of the driveshaft <NUM> causes rotation of the gear <NUM>. The driveshaft <NUM> and gear <NUM> have geometrical features that allow for the two components to mateably couple in a similar fashion to the gear <NUM> and driveshaft <NUM> or are coupled in any known fashion such that rotation of one causes rotation of the other, as described above.

The upper arm <NUM> has a distal opening <NUM> defined at or near the distal end of the arm <NUM>. As described in further detail below, the distal opening <NUM> is configured to receive a component of any forearm (such as forearm <NUM>, for example) or other component that is coupled to the upper arm <NUM> such that the forearm or other component can rotate in relation to upper arm <NUM>. As best shown in <FIG>, the opening <NUM> has two bearings 246A, 246B disposed therein that provide support to the component disposed therethrough, as described below.

According to some implementations, the upper arm <NUM> has at least one retaining ring that functions to help hold together the distal end of the upper arm <NUM>. That is, the retaining ring can help to maintain the coupling of the first and second body components 220A, 220B. In this specific implementation, the upper arm <NUM> has two retaining rings 240A, 240B as best shown in <FIG>. Alternatively, any upper arm disclosure disclosed or contemplated herein can have one, three, or any number of retaining rings to help hold the distal end of the upper arm together. Further, it is understood that any known mechanism or component for helping to maintain the coupling of the two body components 220A, 220B can be used. In a further disclosure, the upper arm <NUM> can also have an end-mounted retaining ring <NUM>, as best shown in <FIG>. As with the retaining rings 240A, 240B, the end-mounted retaining ring <NUM> helps to hold the distal end of the upper arm <NUM> together.

In certain disclosures, the upper arm <NUM> can also have an anchor point <NUM> disposed on the second body component 220B as best shown in <FIG>. The anchor point <NUM> is configured to act as an anchor or attachment point for one or more elongate elastic components (also referred to herein as "elastic tendons" or "elastic bands") (not shown) that extend over the elbow joint <NUM> and couple to the forearm attached thereto (such as forearm <NUM>) such that the elastic band (not shown) can apply a restraining force to the upper arm <NUM> and forearm (such as forearm <NUM>) when the forearm is actuated to bend at the elbow joint <NUM>. That is, the elastic band is intended to reduce any loose couplings or "sloppiness" of the various components at the joint <NUM>, thereby enhancing the coupling of those components. Thus, as the forearm (such as forearm <NUM>) is actuated to bend at the elbow joint <NUM>, the elastic band is stretched, thereby resulting in force being applied at the elbow joint <NUM> that urges the forearm to return to the "straight" position as best shown in <FIG>. In the disclosure as shown, the anchor point <NUM> is a countersunk bolt <NUM> threadably coupled to the second body component 220B. Alternatively, instead of the bolt <NUM>, any component or mechanism that can serve as an anchor point <NUM> can be incorporated into the arm <NUM>.

In one disclosure, the third upper arm bevel gear <NUM> is configured to be coupleable to a matching bevel gear fixed to a forearm (such as forearm <NUM>, for example) that is coupled to the upper arm <NUM>. Hence, in one disclosure, the drivetrain in the upper arm <NUM> can be used to cause rotation of the forearm (such as forearm <NUM>) in relation to the upper arm <NUM>. The drivetrain is made up of the first upper arm bevel gear <NUM>, the second upper arm bevel gear <NUM>, the driveshaft <NUM>, and the third upper arm bevel gear <NUM>. In use, the first upper arm bevel gear <NUM> can be actuated to rotate (by rotation of the spur gear <NUM>, according to some implementations), thereby causing the second upper arm bevel gear <NUM> to rotate, thereby causing the driveshaft <NUM> to rotate. Rotation of the driveshaft <NUM> causes the third upper arm bevel gear <NUM> to rotate, thereby causing any forearm component coupled thereto to rotate in relation to the upper <NUM>. As a result, rotation of the bevel gear <NUM> causes the forearm (such as forearm <NUM>) to move in relation to the upper arm <NUM> at the elbow joint (such as elbow joint <NUM>).

According to one disclosure, the coupling of the upper arm <NUM> to the device <NUM> described above results in an arm with five degrees of freedom. That is, as discussed above with respect to <FIG> and <FIG>, each shoulder (such as shoulders <NUM>, <NUM> discussed above in relation to <FIG>) provides three degrees of freedom in the form of pitch, yaw, and rotation of the elbow. In this disclosure, the fourth degree of freedom is the rotation of the end effector around an axis parallel to the longitudinal axis of the forearm, and the fifth degree of freedom is the rotation of each of the graspers that cause the graspers to open and close. In this implementation, the third degree of freedom - the rotation of the output bevel gear <NUM> as discussed above - is utilized to actuate the elbow joint <NUM> instead of causing roll of the upper arm <NUM>. Thus, in this particular disclosure, the upper arm <NUM> does not rotate around its own longitudinal axis.

<FIG> depict the forearm <NUM> that is coupled with the upper arm <NUM>, according to one disclosure. The forearm <NUM> has a forearm body <NUM> (also referred to as a "casing" or "shell") that contains and constrains the one or more motors (discussed below). The body <NUM> can have, in certain disclosures, a cautery connection (not shown) disposed in the body <NUM> and a cautery wire opening <NUM> defined therein. In one implementation as shown, the body <NUM> is made up of three components: a main body 300A, a electronics cover 300B, and a distal cover 300C. The electronics cover 300B contains a controller (not shown) - which can include a printed circuit board ("PCB") - that is coupled to the motors (discussed below) such that the controller can operate to control the motors. Further, the electronics cover 300B can sealably and fluidically protect the controller and any other electronics (not shown) contained within the body <NUM> from the external environment. The distal cover 300C is positioned at or on a distal end of the body <NUM> and has a lip <NUM> defined therein that is configured to receive and help to retain any elastic constraint that is used to couple and fluidically seal a sterile cover (not shown) to the forearm <NUM> such that the cover can be retained in its appropriate position during use. Alternatively, the distal cover 300C can have any known component or mechanism for receiving, retaining, or coupling to a sterile cover. Further, the distal cover 300C defines an opening <NUM> at its distal end that is configured to receive an interchangeable end effector, as discussed in further detail below.

The forearm <NUM> also has two protrusions 264A, 264B as best shown in <FIG> that form a portion of the joint <NUM> at which the upper arm <NUM> is coupled to the forearm <NUM>. In this implementation, the two protrusions 264A, 264B (and thus the elbow joint <NUM>) are positioned at a point along the length of the forearm <NUM> between the distal end <NUM> and the proximal end <NUM> of the forearm <NUM>. That is, the protrusions 264A, 264B are spaced from both the distal end <NUM> and proximal end <NUM> of the forearm <NUM>. In this particular disclosure, the protrusions 264A, 264B (and thus the joint <NUM>) are positioned at or substantially adjacent to a midpoint along the length of the forearm <NUM> as shown. Alternatively, the protrusions 264A, 264B (and thus the joint <NUM>) are positioned anywhere along the length of the forearm <NUM> such that the protrusions 264A, 264B are spaced from both the proximal <NUM> and distal <NUM> ends. As such, rotation of the forearm <NUM> does not occur at the proximal end <NUM> of the forearm <NUM> but instead occurs at some other point along the length of the forearm <NUM> as determined by the position of the protrusions 264A, 264B.

Each protrusion 264A, 264B has an opening 266A, 266B, respectively, defined therein as shown. As best shown in <FIG>, a joint gear <NUM> is disposed within the joint <NUM> between the two protrusions 264A, 264B such that the shaft 268A of the gear <NUM> is rotatably disposed within the opening 264A. Further, a joint shaft <NUM> is also disposed within the joint <NUM> between the two protrusions 264A, 264B such that the shaft <NUM> is rotatably disposed within the opening 264B at one end and disposed within the gear <NUM> at the other end.

When the upper arm <NUM> is coupled to the forearm <NUM> as shown in <FIG>, the distal end of the upper arm <NUM> is disposed between the two protrusions 264A, 264B such that the opening <NUM> (as best shown above in <FIG>) is disposed between and axially aligned with the two openings 266A, 266B. The distal end of the upper arm <NUM> is coupled to the forearm <NUM> by the joint shaft <NUM>, which is disposed through opening 264B, opening <NUM> (and supported by bearings 246A, 246B in opening <NUM> as discussed above), and into the gear <NUM> such that the distal end of the upper arm <NUM> is rotatably retained in the joint <NUM> between the two protrusions 264A, 266B as shown.

The joint gear <NUM> is rotationally coupled to the third upper arm bevel gear <NUM> of the upper arm <NUM> as shown in <FIG> such that rotation of the third upper arm bevel gear <NUM> causes rotation of the joint gear <NUM>.

While the joint <NUM> in this specific implementation is made up of the two protrusions 264A, 264B, the joint shaft <NUM>, and the joint bevel gear <NUM>, it is understood that any known joint or rotational coupling configuration or mechanism can be incorporated into these various arm disclosures.

In certain disclosures, the forearm <NUM> can also have an anchor point <NUM> as best shown in <FIG>. Like the anchor point <NUM> discussed above, the anchor point <NUM> is configured to act as the other anchor or attachment point (in combination with the anchor point <NUM>) for any elastic tendons (not shown) as discussed above that extend over the elbow joint <NUM>. In the disclosure as shown, the anchor point <NUM> is a countersunk bolt <NUM> threadably coupled to the forearm <NUM>. Alternatively, instead of the bolt <NUM>, any component or mechanism that can serve as an anchor point <NUM> can be incorporated into the forearm <NUM>.

One exemplary interchangeable end effector <NUM> that can be coupled to the forearm <NUM> discussed above is depicted in <FIG>. Alternatively, it is understood that the end effector <NUM> can be coupled with any known robotic arm or robotic surgical device. It is further understood that any interchangeable end effector can be coupled to the forearm <NUM> or removed and replaced with any other known interchangeable end effector.

The end effector <NUM> in this exemplary disclosure is a graspers end effector <NUM> with a graspers component <NUM> having first and second grasper arms 322A, 322B. The end effector <NUM> has a twistable knob <NUM> that can be grasped by a user to couple the end effector <NUM> to and uncouple the end effector <NUM> from an arm (such as the forearm <NUM>). The knob <NUM> is coupled to the locking collar <NUM> having locking protrusions 326A that mateably couple to the four notches <NUM> defined in the cover 300C as described in further detail below. Rotation of the knob <NUM> causes rotation of the locking collar <NUM>, thereby allowing for positioning the protrusions 326A into the notches <NUM> and thereby coupling the end effector <NUM> to the forearm <NUM>. In certain disclosures, a sealing ring (also referred to herein as an "o-ring") <NUM> is disposed around the end effector <NUM> at a proximal end or portion of the knob <NUM> such that the ring <NUM> can provide for a fluidically sealed coupling of the end effector <NUM> to the forearm <NUM> when the end effector <NUM> is coupled thereto as described above. Further, according to some implementations, the ring <NUM> can also provide outward pressure or force against both the end effector <NUM> and the forearm <NUM> such that counter-rotation of the knob <NUM> that might cause the end effector <NUM> to uncouple during use is reduced or eliminated.

The end effector <NUM> has both a rotational drive system and a grasper arm actuation drive system. The rotational drive system is made up of a rotatable yoke <NUM> that is coupled to the graspers <NUM> such that rotation of the yoke <NUM> causes rotation of the graspers <NUM>. That is, the yoke <NUM> has two flanges 330A, 330B as best shown in <FIG> such that the graspers <NUM> are disposed between the two flanges 330A, 330B and coupled thereto via the pin <NUM>. At its proximal end, the yoke <NUM> has mateable coupling components <NUM> that are configured to couple to the rotational drive component <NUM> in the distal end of the forearm <NUM>, as described in further detail below. More specifically, in this exemplary disclosure, the mateable coupling components <NUM> are two protrusions <NUM> as best shown in <FIG>. The rotatable yoke <NUM> is axially restrained (such that the yoke <NUM> does not move distally or proximally in relation to the length of the end effector <NUM>) by a groove <NUM> defined around an outer surface of the yoke <NUM> such that a pin (not shown) can be inserted through an opening <NUM> in the knob <NUM> (as best shown in <FIG>) and positioned in the groove <NUM>, thereby allowing the yoke <NUM> to rotate but preventing it from moving in an axial direction. Thus, rotation of the rotational drive component <NUM> in the forearm causes rotation of the rotatable yoke <NUM>, which causes rotation of the graspers <NUM>.

The grasper arm actuation drive system is made up of an internally-threaded rotatable cylinder <NUM>, an externally threaded drive pin <NUM> threadably coupled to the cylinder <NUM>, and two linkages (including linkage <NUM>) coupled to the pin <NUM>. The rotatable cylinder <NUM> has mateable coupling components <NUM> at its proximal end that are configured to couple to the actuation drive component <NUM> in the distal end of the forearm <NUM>, as described in further detail below. More specifically, in this exemplary disclosure, the mateable coupling components <NUM> are two protrusions <NUM> as best shown in <FIG>. The rotatable cylinder <NUM> is axially restrained by a groove <NUM> defined around an outer surface of the cylinder <NUM> such that a pin (not shown) can be inserted through an opening (not shown) in the knob <NUM> (similar to opening <NUM> discussed above) and positioned in the groove <NUM>, thereby allowing the cylinder <NUM> to rotate but preventing it from moving in an axial direction.

The rotatable cylinder <NUM> has a lumen <NUM> with a lumen inner surface <NUM> that is threaded. The drive pin <NUM> has a distal head (also referred to as a "coupling component") <NUM> and an externally-threaded proximal body <NUM> that is sized to be disposed within the lumen <NUM> of the cylinder <NUM> such that the proximal body <NUM> is threadably coupled to the lumen inner surface <NUM>. The distal head <NUM> has two openings 354A, 354B defined therein that are coupleable to the two linkages. More specifically, the linkage <NUM> is coupled to the distal head <NUM> at opening 354A with a pin or similar coupling component (not shown). Further, a second linkage (not shown) is coupled to the distal head <NUM> at opening 354B in the same fashion. The linkages (<NUM> and the linkage that is not shown) are coupled to the proximal ends of the grasper arms 322A, 322B. As such, rotation of the actuation drive component <NUM> in the forearm <NUM> causes rotation of the rotatable cylinder <NUM>, which causes axial movement of the drive pin <NUM> (through the threadable coupling of the cylinder <NUM> and the pin <NUM>), which causes movement of the linkages (<NUM> and the linkage that is not shown), which causes the grasper arms 322A, 322B to rotate around the axis at pin <NUM> in the yoke <NUM> such that the arms 322A, 322B move between an open position and a closed position.

<FIG> depict the distal cover 300C of the body <NUM>, along with the end effector interface <NUM>, according to onedisclosure.

As best shown in <FIG>, according to one implementation, the distal cover 300C discussed above can be coupled to the main body 300A and electronics cover 300B by a fastener <NUM> positioned through the distal cover 300C and the electronics cover 300B, thereby coupling both the distal cover 300C and electronics cover 300B to the main body 300A. In one disclosure, the fastener <NUM> is a bolt <NUM>. Alternatively, any known fastener or attachment mechanism can be used.

According to another disclosure, a further fastener <NUM> is provided to further couple the distal cover 300C to the main body 300A. The fastener <NUM> is a pin <NUM>. Alternatively, the fastener <NUM> can be any known fastener or attachment mechanism.

As best shown in <FIG>, the distal cover 300C, in accordance with certain implementations, houses the end effector interface <NUM>. The end effector interface <NUM> is configured to couple to the actuation components of an end effector (such as end effector <NUM> discussed above). More specifically, in those exemplary disclosures in which the end effector interface <NUM> is coupling to the end effector <NUM>, the interface <NUM> is configured to couple to both the rotational drive system and the graspers drive system as discussed above. The interface <NUM> has first and second sealing rings <NUM>, <NUM>, a rotatable rotational drive component <NUM>, a rotatable graspers actuation drive component <NUM>, and an electrical contact spring <NUM>.

It is understood that this interface <NUM> can be coupled with various end effectors. While the description below will specifically reference the end effector <NUM> and how the components of the interface <NUM> relate to and couple with that end effector <NUM>, that is not intended to limit the use of this end effector interface <NUM> to solely the end effector <NUM>. Instead, the interface <NUM> can be coupled to any end effector having the appropriate components to couple thereto.

The rotatable rotational drive component <NUM>, in this specific implementation, is a rotatable drive cylinder <NUM> with mateable coupling components 370A, 370B (as best shown in <FIG>) that are configured to mate with the mateable coupling components <NUM> of the rotatable yoke <NUM> in the end effector <NUM>, as discussed above. More specifically, the mateable coupling components 370A, 370B in this disclosure are projections 370A, 370B that are mateable or coupleable with the mateable coupling components <NUM> of the rotatable yoke <NUM> in the end effector <NUM>.

The rotatable graspers actuation drive component <NUM>, in this specific implementation, is a rotatable drive cylinder <NUM> with mateable coupling components 372A, 372B (as best shown in <FIG>) that are configured to mate with the mateable coupling components <NUM> of the rotatable cylinder <NUM> in the end effector <NUM>, as discussed above. More specifically, the mateable coupling components 372A, 372B in this disclosure are projections 372A, 372B that are mateable or coupleable with the mateable coupling components <NUM> of the rotatable cylinder <NUM> in the end effector <NUM>.

In one implementation, the rotatable graspers actuation drive component <NUM> can transfer electrical energy to the graspers of an end effector (such as the graspers <NUM> of end effector <NUM>) for cauterization. That is, the rotatable cylinder <NUM> has a proximal lumen <NUM> defined in a proximal end of the cylinder <NUM> that is configured to receive the electrical contact spring <NUM>. The spring <NUM> extends proximally into a lumen <NUM> defined in the body <NUM> such that the spring <NUM> is positioned adjacent to the cautery wire opening <NUM> discussed above such that a cautery wire (or cautery cable) positioned through the opening <NUM> can be coupled to the spring <NUM>. Alternatively, the spring <NUM> can be any electrical contact component. It is understood that, according to certain disclosures, the cautery wire opening <NUM> is defined on both sides of the body <NUM> so that the same body <NUM> configuration can be used in both the left and right arms of the device.

The rotatable drive cylinder <NUM> is positioned or nested within the rotatable drive cylinder <NUM> as shown. The first sealing ring <NUM> is an o-ring <NUM> that is disposed between the distal cover 300C and the rotatable drive cylinder <NUM>. The second sealing ring <NUM> is an o-ring <NUM> that is disposed between the rotatable drive cylinder <NUM> and the rotatable drive cylinder <NUM>. The two rotatable drive cylinders <NUM>, <NUM> are supported and rotatably retained in place by a first bearing <NUM>, along with the first sealing ring <NUM>.

As best shown in <FIG>, the distal cover 300C, according to a further disclosure, has at least two notches defined in the distal cover opening <NUM> that can be mateable or coupleable with the locking protrusions 326A on the end effector <NUM> as discussed above. In this specific implementation, the cover 300C has four notches <NUM> that are mateable with the four protrusions 326A discussed above such that the end effector <NUM> can be coupled to the distal cover 300C with a single rotation or "twist" of the know <NUM> of the end effector <NUM>. Alternatively, any known locking mechanism or feature can be used.

According to one disclosure, <FIG> depict the motors within the body <NUM> that power the rotatable rotational drive component <NUM> and the rotatable graspers actuation drive component <NUM> discussed above. More specifically, in accordance with one implementation, the forearm <NUM> has two motors <NUM>, <NUM> disposed therein, as best shown in <FIG>. In one disclosure, the motors <NUM>, <NUM> are <NUM> brushless motors. Alternatively, the motors <NUM>, <NUM> can be any known type of motors for use in robotic arms.

As best shown in <FIG>, the motor <NUM> is coupled to a shaft <NUM>, which is coupled to a bushing <NUM>, which in turn is coupled to the drive gear (also referred to as a "spur gear") <NUM>. Alternatively, the shaft <NUM> can be coupled directly to the drive gear <NUM>. The drive gear <NUM> is rotatably coupled to gear teeth <NUM> that are attached to or otherwise coupled to the rotatable graspers actuation drive component <NUM>. Thus, actuation of the motor <NUM> causes rotation of shaft <NUM>, which causes rotation of drive gear <NUM>, which causes rotation of the rotatable graspers actuation drive component <NUM>, which ultimately causes the grasper arms 322A, 322B to move between an open position and a closed position, as described above.

As also shown in <FIG>, the motor <NUM> is coupled to a shaft <NUM>, which is coupled to a bushing <NUM>, which in turn is coupled to the drive gear (also referred to as a "spur gear") <NUM>. Alternatively, the shaft <NUM> can be coupled directly to the drive gear <NUM>. The drive gear <NUM> is rotatably coupled to gear teeth <NUM> that are attached to or otherwise coupled to the rotatable rotational drive component <NUM>. Thus, actuation of the motor <NUM> causes rotation of shaft <NUM>, which causes rotation of drive gear <NUM>, which causes rotation of the rotatable rotational drive component <NUM>, which ultimately causes the graspers end effector to rotate, as described above.

According to one implementation, the motors <NUM>, <NUM> are retained or held in place in the forearm <NUM> by a locking wedge <NUM>. In use according to one disclosure, the locking wedge <NUM> can be urged toward the distal end of the forearm <NUM> along the two motors <NUM>, <NUM> such that the angled or wedge portion <NUM> is positioned in the wedge-shaped opening <NUM> defined in the body <NUM> to help to retain or "lock" the two motors <NUM>, <NUM> in place. This positioning of the wedge portion <NUM> in the wedge-shaped opening <NUM> urges the wedge portion <NUM> against the motors <NUM>, <NUM>, thereby creating a friction-based contact between the wedge portion <NUM> and motors <NUM>, <NUM>, thereby helping to retain the motors <NUM>, <NUM> in place via the frictional force. According to one disclosure, the locking wedge <NUM> can be positioned manually to lock the motors <NUM>, <NUM> in position.

<FIG> depict another disclosure of the right shoulder joint <NUM> and its various components. More specifically, <FIG> depicts an exploded view of the internal components of the right shoulder joint <NUM>, while <FIG> depicts a cross-sectional front view of the internal components of the right shoulder joint <NUM>. As shown in both <FIG>, and as will be explained in further detail below, the outer driveshaft 40A (discussed above in relation to <FIG>) is coupled (or rotationally constrained) to the shoulder roll housing (also referred to herein as the "shoulder housing" or "conversion body") <NUM>, while the middle driveshaft 40B (discussed above in relation to <FIG>) is coupled to the upper drive bevel gear <NUM>, and the inner driveshaft 40C (discussed above in relation to <FIG>) extends through the spacer <NUM> and is coupled to the lower drive bevel gear <NUM>.

While the remainder of this description will focus on the right shoulder joint <NUM> and its components, it is understood that the components of the left shoulder joint <NUM>, the components coupled thereto, the relationship of those components to each other, and their functionality can be substantially similar to the right shoulder joint <NUM>.

As best shown in <FIG>, the outer driveshaft 40A and shoulder housing <NUM> are supported by the first bearing <NUM>, which is disposed on an outer portion of the housing <NUM>. In addition, as best shown in both <FIG>, the outer driveshaft 40A and shoulder housing <NUM> are further supported by the second bearing <NUM>, which is disposed within the housing <NUM>. The middle driveshaft 40B and the upper drive bevel gear <NUM> are supported by the second bearing <NUM> and the third bearing <NUM>, which is positioned within the distal end of the upper drive bevel gear <NUM> as best shown in <FIG>. The bearings <NUM>, <NUM>, <NUM> are preloaded using a single countersunk screw <NUM> threaded into the distal end of the inner driveshaft 40C. Alternatively, any attachment components can be used to preload the bearings <NUM>, <NUM>, <NUM>.

According to one disclosure, as best shown in <FIG>, the shoulder housing <NUM> is made up of two housing components: the first housing component (or "first housing shell") 500A and the second housing component (or "second housing shell") 500B. In this implementation, the two shells 500A, 500B are coupled together with a screw <NUM> and a retaining ring <NUM>. Alternatively, any known attachment components or mechanisms can be used to couple the two shells 500A, 500B together. In a further alternative, the housing <NUM> is single unitary housing.

As mentioned above, the outer driveshaft 40A is coupled (or rotationally constrained) to the shoulder roll housing <NUM>. More specifically, projections 501A, 501B extending from a top portion of the housing <NUM> (more specifically, from each of the two housing shells 500A, 500B, according to this disclosure) are mateable with two notches 503A, 503B in the outer driveshaft 40A. Alternatively, any mechanism(s) or feature(s) for coupling the driveshaft 40A and the housing <NUM> can be used. Thus, rotation of the outer driveshaft 40A causes the shoulder housing <NUM> to rotate around the longitudinal axis of the driveshaft 40A, thereby causing any arm coupled to the shoulder (at output bevel gear <NUM> discussed below) to rotate around the same axis, resulting in the arm moving from left to right ("yaw") in relation to the device body (such as body <NUM> discussed above).

The upper drive bevel gear <NUM> is mateably coupled to the first driven bevel gear <NUM> such that rotation of the upper drive bevel gear <NUM> causes rotation of the first driven bevel gear <NUM> around the longitudinal axis of the shaft 528A of the second driven bevel gear <NUM> discussed below. The first driven bevel gear <NUM> drives the pitch of the shoulder <NUM> by causing rotation of the bevel gear body <NUM> around the same longitudinal axis of the shaft 528A, thereby causing the arm to move "up and down" in relation to the device body. That is, at its distal end, the first driven bevel gear <NUM> is coupled to the bevel gear body (also referred to as "rotatable arm," "rotatable body," "rotation arm," "rotation body," "pitch arm," or "pitch body") <NUM> such that rotation of the first driven bevel gear <NUM> causes rotation of the bevel gear body <NUM>. More specifically, the bevel gear body <NUM> has two openings 522A, 522B defined therein (as best shown in <FIG>), with a mateable coupling 522C disposed around one side of the opening 522A that is coupled to the first driven bevel gear <NUM> such that rotation of the bevel gear <NUM> causes rotation of the bevel gear body <NUM>. In this exemplary disclosure, the first driven bevel gear <NUM> has an opening 520A defined therethrough such that the bevel gear <NUM> is rotatably disposed over the second driven bevel gear <NUM>, which is discussed in further detail below. The first driven bevel gear <NUM> is constrained by fourth bearing <NUM> and fifth bearing <NUM>.

The lower drive bevel gear <NUM> is mateably coupled to the second driven bevel gear <NUM> such that rotation of the lower drive bevel gear <NUM> causes rotation of the second driven bevel gear <NUM>. As mentioned above, the second driven bevel gear <NUM> is rotatably disposed through the opening 520A in the first driven bevel gear <NUM> such that the second driven bevel gear <NUM> is at least partially disposed within the first driven bevel gear <NUM>. The second driven bevel gear <NUM> is coupled to the first spur gear <NUM> such that rotation of the second driven bevel gear <NUM> causes rotation of the first spur gear <NUM>. That is, the shaft 528A of the second driven bevel gear <NUM> extends through the opening 522A in the bevel gear body <NUM> and is coupled to the first spur gear <NUM>. In one specific disclosure, the second driven bevel gear <NUM> is mateably coupled to the first spur gear <NUM> via a geometric coupling. The second driven bevel gear <NUM> is constrained by the fourth bearing <NUM> and a sixth bearing <NUM>. It is understood that the bearings <NUM>, <NUM>, <NUM> are preloaded using a spring <NUM> and translationally constrained by a retaining ring <NUM>. In one disclosure, the spring <NUM> is a Belleville spring <NUM>.

The first spur gear <NUM> discussed above is mateably coupled to the second spur gear <NUM> such that rotation of the first spur gear <NUM> causes rotation of the second spur gear <NUM>. The second spur gear <NUM> is coupled to the third driven bevel gear <NUM> such that rotation of the second spur gear <NUM> causes rotation of the third driven bevel gear <NUM>. That is, the shaft 540A of the third driven bevel gear <NUM> extends through the opening 522B in the bevel gear body <NUM> and is coupled to the second spur gear <NUM>. In one specificdisclosure, the second spur gear <NUM> is mateably coupled to the shaft 540A of the third driven bevel gear <NUM> via a geometric coupling. The third driven bevel gear <NUM> is constrained by a seventh bearing <NUM> and an eighth bearing <NUM>. According to one implementation, both bearings <NUM>, <NUM> are disposed within or press fit within the bevel gear body <NUM>. It is understood that the bearings <NUM>, <NUM> are preloaded using a spring <NUM> and translationally constrained by a retaining ring <NUM>. In one disclosure, the spring <NUM> is a Belleville spring <NUM>.

The third driven bevel gear <NUM> is mateably coupled to a fourth driven bevel gear (also referred to herein as a "yaw output gear" or "output gear") <NUM> such that rotation of the third driven bevel gear <NUM> causes rotation of the output gear <NUM>. The output gear <NUM> is constrained by a ninth bearing <NUM> and a tenth bearing <NUM>. In accordance with one disclosure, the bearings <NUM>, <NUM> are retained in place by the bevel gear body <NUM>. Further, the gear <NUM> is translationally constrained by a retaining ring <NUM>.

In this disclosure as shown in <FIG>, the pitch, yaw, and roll rotations are coupled. That is, the actuation of one of the rotations will cause actuation of at least one of the other rotations as a result of their coupled nature such that some counteraction must occur if the secondary actuation is undesirable. For example, when it is desirable to cause the device arm coupled to the shoulder to move "up and down" (pitch), the bevel gear <NUM> is actuated to rotate, thereby causing gear <NUM> to rotate as described above. However, that is not the only motion that is caused by the actuation of bevel gear <NUM>. That is, the coupled nature of these drive components results in the output gear <NUM> rotating as well. If that secondary rotation is undesirable, it must be nullified by a counteracting actuation of bevel gear <NUM> to prevent the rotation of output gear <NUM>. Similarly, actuation of the drive components to cause yaw (rotation of the shoulder housing <NUM> around the longitudinal axis of the driveshaft 40A) can also cause some pitch and roll. Thus, the coupled nature of these three rotations requires a counteracting actuation if the secondary actuations are undesirable.

In accordance with one implementation, the bevel gear body <NUM> is made up of two components 522C, 522D coupled together as best shown in <FIG>. Alternatively, the bevel gear body <NUM> can be a single, unitary component <NUM>.

Further disclosures as best shown in <FIG> relate to joint implementations that can be incorporated into shoulder joints, elbow joints, wrist joints, or other joints of a robotic arm. These joint disclosures have four degrees of freedom while - in some instances - requiring only three motors. In certain implementations, the joint disclosures below can be incorporated into a wrist joint, thereby resulting in a wrist joint with four degrees of freedom, which is two more degrees of freedom than known robotic grasper drivetrains. Hence, the wrist joint disclosures are nimble wrist joints providing more dexterity to the surgeon in comparison to known wrist joints. In other implementations, the joint disclosures below can be incorporated into a shoulder joint, thereby allowing for four degrees of freedom to pass through the shoulder joint and into the robotic arm coupled thereto. As a result of this disclosure, larger motors can be used to actuate the joints of the robotic arm coupled thereto and also allow for the lengths of the arm components to be determined based on factors other than solely motor size.

As mentioned above, these disclosures can utilize only three motors to control four degrees of freedom. As will be described in detail below, these configurations that have only three motors are possible because all three motors are coupled together in a shared state in which a fourth degree of freedom is realized. As detailed below, the coupling of the three motors can be accomplished in several ways, including by providing a braking force condition on one of the outputs such that only deliberate commands will cause a robotic joint to actuate.

It is understood that there are at least two disclosures described below having four degrees of freedom. The first disclosure, as depicted in <FIG>, utilizes four motors, while the second disclosure, as depicted in <FIG>, requires only three motors.

<FIG> depicts a cross-sectional front view of a joint <NUM> having a set of nested driveshafts <NUM>, <NUM>, <NUM>, <NUM>. More specifically, the set of four nested driveshafts <NUM>, <NUM>, <NUM>, <NUM> includes a first (also referred to herein as "inner") driveshaft <NUM>, a second (also referred to as "first middle") driveshaft <NUM>, a third (also referred to as "second middle") driveshaft <NUM>, and a fourth (also referred to as "outer") driveshaft <NUM>. It is understood that the specific length of these driveshafts <NUM>, <NUM>, <NUM>, <NUM> as shown in <FIG> is merely exemplary, and that the length can vary depending on various circumstances, including whether the joint <NUM> is a shoulder joint, elbow joint, wrist joint, or some other kind of joint.

The first driveshaft <NUM> is rotatably disposed within the second driveshaft <NUM> as shown, and has a first driven gear <NUM> fixedly or integrally attached at its proximal end as shown. The first driveshaft <NUM> is supported at its proximal end by first proximal bearing <NUM> and second proximal bearing <NUM>, with the first bearing <NUM> being supported by the enclosure (not shown) of the joint <NUM> and the second bearing <NUM> being supported by the second driven gear <NUM>. At its distal end, the first driveshaft <NUM> is rotationally coupled to a first bevel gear <NUM>, as best shown in <FIG>, <FIG>. According to one disclosure, the driveshaft <NUM> is coupled to the gear <NUM> via a geometric coupling, and the gear <NUM> is retained axially in relation to the driveshaft <NUM> by bolt <NUM>. The driveshaft <NUM> and gear <NUM> are radially constrained in a first distal bearing <NUM>.

The first bevel gear <NUM> is rotatably coupled to a first intermediate bevel gear <NUM>, as best shown in <FIG>, <FIG>. The bevel gear <NUM> is fixedly coupled or integral with a rotatable cylinder <NUM>, which is fixedly coupled to a drive post <NUM>, which extends distally toward a distal end of the joint <NUM> from the rotatable cylinder <NUM>. The drive post <NUM> is retained in position by a first post bolt <NUM> and a second post bolt <NUM> and constrained by first post bearing <NUM> and second post bearing <NUM>. Rotation of the first intermediate bevel gear <NUM> causes rotation of the cylinder <NUM> around the axis of the bevel gear <NUM>, which causes the drive post <NUM> to rotate around the axis of the bevel gear <NUM>, which is perpendicular to the rotational axis of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>. As a result, the portion of the joint <NUM> distal to the rotatable cylinder <NUM> rotates with the drive post <NUM>. Thus, actuation of the motor (not shown) coupled to the first driven gear <NUM> causes rotation of the first driven gear <NUM>, which causes rotation of the first driveshaft <NUM>. Rotation of the first driveshaft <NUM> causes rotation of the first bevel gear <NUM>, which causes rotation of the first intermediate bevel gear <NUM> around an axis perpendicular to the axis of rotation of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>. And rotation of the first intermediate bevel gear <NUM> causes rotation of the rotatable cylinder <NUM>, which causes rotation of the drive post <NUM>, which causes rotation of the portion of the joint <NUM> distal to the first intermediate bevel gear <NUM> around the same axis of rotation as the first intermediate bevel gear <NUM>.

The second driveshaft <NUM> is rotatably disposed within the third driveshaft <NUM> as shown, and has a second driven gear <NUM> fixedly or integrally attached at its proximal end. The second driveshaft <NUM> is supported at its proximal end by second proximal bearing <NUM> and third proximal bearing <NUM>, with the second bearing <NUM> being supported by the second driven gear <NUM> and the third bearing <NUM> being supported by the third driven gear <NUM>. At its distal end, the second driveshaft <NUM> is rotationally coupled to a second bevel gear <NUM>, as best shown in <FIG>, <FIG>. According to one disclosure, the driveshaft <NUM> is coupled to the gear <NUM> via a geometric coupling, and the driveshaft <NUM> and gear <NUM> are constrained by a second distal bearing <NUM>.

The second bevel gear <NUM> is rotatably coupled to a second intermediate bevel gear <NUM>, as best shown in <FIG>, <FIG>. Further, the bevel gear <NUM> is rotatably coupled to a first output bevel gear <NUM>, which is rotationally coupled with or integral with the first (or "inner") rotatable output member <NUM>. The second intermediate bevel gear <NUM> is supported by a third distal bearing <NUM>, which is supported by a portion of the first intermediate bevel gear <NUM>. Thus, actuation of the motor (not shown) coupled to the second driven gear <NUM> causes rotation of the second driven gear <NUM>, which causes rotation of the second driveshaft <NUM>. Rotation of the second driveshaft <NUM> causes rotation of the second bevel gear <NUM>, which causes rotation of the second intermediate bevel gear <NUM> around an axis perpendicular to the axis of rotation of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>. And rotation of the second intermediate bevel gear <NUM> causes rotation of the first output bevel gear <NUM> around an axis parallel to the axis of rotation of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>, which causes rotation of the first rotatable output member <NUM> around the same axis of rotation. It is understood that the first rotatable output member <NUM> is configured to be coupled to an actuatable component, such as a portion of a robotic arm wrist, an end effector, or a robotic upper arm, depending on the location of the joint <NUM> on the robotic device.

The third driveshaft <NUM> is rotatably disposed within the fourth driveshaft <NUM> as shown and has a third driven gear <NUM> fixedly or integrally attached at its proximal end. The third driveshaft <NUM> is supported at its proximal end by third proximal bearing <NUM> and fourth proximal bearing <NUM>, with the third bearing <NUM> being supported by the third driven gear <NUM> and the fourth bearing <NUM> being supported by the fourth driven gear <NUM>. At its distal end, the third driveshaft <NUM> is rotationally coupled to a third bevel gear <NUM>, as best shown in <FIG>, <FIG>. According to one disclosure, the driveshaft <NUM> is coupled to the gear <NUM> via a geometric coupling, and the driveshaft <NUM> and gear <NUM> are constrained by a fourth distal bearing <NUM>.

The third bevel gear <NUM> is rotatably coupled to a third intermediate bevel gear <NUM>, as best shown in <FIG>, <FIG>. Further, the bevel gear <NUM> is rotatably coupled to a second output bevel gear <NUM>, which is rotatationally coupled with or integral with the second (or "outer") rotatable output member <NUM>. The third intermediate bevel gear <NUM> is supported by a fifth distal bearing <NUM>. The second output bevel gear <NUM> is supported by a first output bearing <NUM> and a second output bearing <NUM> in relation to the first output bevel gear <NUM>. Thus, actuation of the motor (not shown) coupled to the third driven gear <NUM> causes rotation of the third driven gear <NUM>, which causes rotation of the third driveshaft <NUM>. Rotation of the third driveshaft <NUM> causes rotation of the third bevel gear <NUM>, which causes rotation of the third intermediate bevel gear <NUM> around an axis perpendicular to the axis of rotation of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>. And rotation of the third intermediate bevel gear <NUM> causes rotation of the second output bevel gear <NUM> around an axis parallel to the axis of rotation of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>, which causes rotation of the second rotatable output member <NUM> around the same axis of rotation. It is understood that the second rotatable output member <NUM> is configured to be coupled to an actuatable component, such as a portion of a robotic arm wrist, an end effector, or a robotic upper arm, depending on the location of the joint <NUM> on the robotic device.

The fourth driveshaft <NUM> is rotatably disposed around the third driveshaft <NUM> (and thus around the first and second driveshafts <NUM>, <NUM> as well) and has a fourth driven gear <NUM> fixedly or integrally attached at its proximal end. The fourth driveshaft <NUM> is supported at its proximal end by the fourth proximal bearing <NUM> and a fifth proximal bearing <NUM> and, with the fourth bearing <NUM> being supported by the fourth driven gear <NUM> and the fifth bearing <NUM> being supported by an enclosure (not shown) of the joint <NUM>. In addition, the fifth bearing <NUM> is retained in place by a retaining ring <NUM>. At its distal end, the fourth driveshaft <NUM> is rotationally coupled to or integral with a first retaining member <NUM>, as best shown in <FIG>, <FIG>. The first retaining member <NUM> has two arms 700A, 700B, as best shown in <FIG> and <FIG>, wherein the rotatable cylinder <NUM> and attached first intermediate bevel gear <NUM> are disposed between the two arms 700A, 700B. Further, two bolts <NUM>, <NUM> are positioned through the arms 700A, 700B, respectively, and threaded into the rotatable cylinder <NUM>. The two bolts <NUM>, <NUM> are radially supported by first and second bolt bearings <NUM>, <NUM>, as best shown in <FIG>. More specifically, the two bolts have heads 702A, 704A (as best shown in <FIG>) sized to fit within the bearings <NUM>, <NUM>. The heads 702A, 704A are positioned in contact with (or "rest on") washers <NUM>, <NUM>, respectively.

Thus, actuation of the motor (not shown) coupled to the fourth driven gear <NUM> causes rotation of the fourth driven gear <NUM>, which causes rotation of the fourth driveshaft <NUM>. Rotation of the fourth driveshaft <NUM> causes rotation of the first retaining member <NUM> around an axis that is parallel to the axis of rotation of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>. The rotation of the retaining member <NUM> causes rotation of the two arms 700A, 700B, which causes rotation of the two bolts <NUM>, <NUM>, which causes rotation of the rotatable cylinder <NUM> and the entire distal end of the joint <NUM> (distal to the bearing <NUM>).

It is understood that the driven gears <NUM>, <NUM>, <NUM>, <NUM> at the proximal end of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>, respectively, are configured to be coupled to gears (not shown) that are driven by motors (not shown). In this specific exemplary figure, the motors and associated gears have been omitted. According to one disclosure, the motors and associated gears could be configured in a fashion similar to those depicted in <FIG>. Alternatively, any configuration of motors can be used.

In this implementation, it is understood that the joint <NUM> provides four degrees of freedom. For example, one degree of freedom is accomplished via the coupling of the first driveshaft <NUM> to the rotatable cylinder <NUM> and drive post <NUM> that results in rotation of the portion of the joint <NUM> distal to the first intermediate bevel gear <NUM> around an axis of rotation perpendicular to that of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>. Another degree of freedom is accomplished via the coupling of the second driveshaft <NUM> to the first (or "inner") rotatable output member <NUM> that results in rotation of the output member <NUM> around an axis parallel to the axis of rotation of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>. A further degree of freedom is achieved by the coupling of the third driveshaft <NUM> to the second (or "outer") rotatable output member <NUM> that results in rotation of the output member <NUM> around an axis parallel to the axis of rotation of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>. Finally, another degree of freedom is accomplished via the coupling or integration of the fourth driveshaft <NUM> to the first retaining member <NUM> that results in rotation of the entire distal end of the joint <NUM> (distal to the bearing <NUM>) around an axis that is parallel to the axis of rotation of the driveshafts <NUM>, <NUM>, <NUM>, <NUM>.

In certain alternative disclosures, the joint <NUM> can also have an optional passive retaining member (also referred to as a "second retaining member") <NUM>. The passive retaining member <NUM> is typically incorporated in those disclosures in which the joint <NUM> is a wrist joint <NUM>, but it can be incorporated into other types of joints as well. In one specific example, the passive retaining member <NUM> could be used to couple the joint <NUM> to the end effector <NUM> depicted in <FIG>. In accordance with one implementation, the passive retaining member <NUM> provides a stationary foundation for the first and second rotatable output members <NUM>, <NUM>. The retaining member <NUM> has a channel <NUM> defined on an outer surface of the member <NUM> that can be used to help with securing any flexible outer protection sleeves (not shown) thereto. The retaining member <NUM> is positioned over the bolt heads 702A, 704A such that the bolt heads 702A, 704A help to retain the member <NUM> in its coupling with the joint <NUM>, with first retaining member bearing <NUM> and second retaining member bearing <NUM> serving as the interface between the member <NUM> and the heads 702A, 704A.

In other disclosures, the joint <NUM> has no passive retaining member, as best shown in <FIG>. In certain implementations, this is the configuration that is utilized when the joint <NUM> is a shoulder joint <NUM>, rather than a wrist joint.

Alternative joint implementations are best shown in <FIG>, in which the joints have four degrees of freedom while requiring only three motors, as mentioned above. In certain implementations, the joint disclosures below can be incorporated into a wrist joint, while in other implementations, the joint disclosures below can be incorporated into a shoulder joint. As mentioned above, these three motor configurations are possible because all three motors are coupled together in a shared state in which a fourth degree of freedom is realized. More specifically, the coupling of the three motors can be accomplished in several ways, including by providing a braking force condition on one of the outputs such that only deliberate commands will cause a robotic joint to actuate.

<FIG> and <FIG> depict a cross-sectional front view of a joint <NUM> according to one disclosure having a set of nested driveshafts (not shown) that are coupled to separate bevel gears as discussed below in a configuration similar to that described above with respect to <FIG>. While the actual nested driveshafts are not depicted in this particular implementation, it is understood that the driveshafts (not shown) are substantially similar to those described above with respect to <FIG>. More specifically, in this disclosure, the joint <NUM> has a set of three nested driveshafts, including a first (also referred to herein as "inner") driveshaft (not shown), a second (also referred to as "middle") driveshaft (not shown), and a third (also referred to as "outer") driveshaft (not shown).

The first driveshaft (not shown) is rotationally coupled to a first bevel gear <NUM>, as best shown in <FIG>, <FIG>, <FIG>, and <FIG>, such that rotation of the driveshaft (not shown) causes rotation of the first bevel gear <NUM>. According to one disclosure, the driveshaft (not shown) is coupled to the gear <NUM> via a geometric coupling, and the gear <NUM> is retained axially in relation to the driveshaft (not shown) by bolt <NUM> which is threaded into the driveshaft (not shown). The driveshaft (not shown) and gear <NUM> are constrained in a first bearing <NUM>, which is inset in second bevel gear <NUM>, which is discussed below.

The first bevel gear <NUM> is rotatably coupled to a first intermediate bevel gear <NUM>, as best shown in <FIG>, <FIG>, <FIG>, and <FIG>, such that rotation of the first bevel gear <NUM> causes rotation of the first intermediate bevel gear <NUM>. The intermediate bevel gear <NUM> is rotatably coupled to first output bevel gear <NUM> such that rotation of the first intermediate bevel gear <NUM> causes rotation of the first output bevel gear <NUM>. The first intermediate bevel gear <NUM> is axially constrained by second bearing <NUM>, which is inset in third intermediate bevel gear <NUM>. The first output bevel gear <NUM> is constrained by third and fourth bearings <NUM>, <NUM>, which are inset in the second output bevel gear <NUM>. In addition, the first output bevel gear <NUM> is further constrained where the gear <NUM> interfaces with the crossbar <NUM>, which is discussed in detail below, along with the fifth bearing <NUM> and the axial bolt <NUM>. The fifth bearing <NUM> rotationally separates (provides a rotational interface between) first output bevel gear <NUM> from the crossbar <NUM>. The output bevel gear <NUM> is rotationally coupled to or integral with a first generic output interface <NUM>, which can couple to any component intended to be actuated. Alternatively, any type of known coupling component or interface can be coupled to or integral with the bevel gear <NUM>.

Thus, actuation of the motor (not shown) coupled to the first driveshaft (not shown) causes rotation of the first driveshaft (not shown). Rotation of the first driveshaft (not shown) causes rotation of the first bevel gear <NUM>, which causes rotation of the first intermediate bevel gear <NUM> around an axis perpendicular to the axis of rotation of the first bevel gear <NUM>. And rotation of the first intermediate bevel gear <NUM> causes rotation of the first output bevel gear <NUM>, which causes rotation of the first generic output interface <NUM> around the same axis of rotation as the first bevel gear <NUM>.

The second driveshaft (not shown) is rotationally coupled to a second bevel gear <NUM>, as best shown in <FIG>, <FIG>, <FIG>, and <FIG>, such that rotation of the driveshaft (not shown) causes rotation of the second bevel gear <NUM>. According to one disclosure, the driveshaft (not shown) is coupled to the gear <NUM> via a geometric coupling, and the gear <NUM> is retained axially in relation to the driveshaft (not shown) in part by the bolt <NUM> discussed above, which is threaded into the first driveshaft (not shown). According to one disclosure, the bolt <NUM> compresses the first and second bevel gears <NUM>, <NUM> such that axial movement is minimized or prevented. The second driveshaft (not shown) and gear <NUM> are constrained in a sixth bearing <NUM>, which is inset in third bevel gear <NUM>, which is discussed below.

The second bevel gear <NUM> is rotatably coupled to a second intermediate bevel gear <NUM>, as best shown in <FIG>, <FIG>, <FIG>, and <FIG>, such that rotation of the second bevel gear <NUM> causes rotation of the second intermediate bevel gear <NUM>. The intermediate bevel gear <NUM> is rotatably coupled to second output bevel gear <NUM> such that rotation of the second intermediate bevel gear <NUM> causes rotation of the second output bevel gear <NUM>. The second intermediate bevel gear <NUM> is axially constrained by seventh bearing <NUM>, which is disposed on the crossbar <NUM>, along with the threaded coupling of the bolt <NUM> with the crossbar <NUM>. The second output bevel gear <NUM> is constrained by the third and fourth bearings <NUM>, <NUM>, which are discussed above. The output bevel gear <NUM> is rotationally coupled to or integral with a second generic output interface <NUM>, which can couple to any component intended to be actuated. Alternatively, any type of known coupling component or interface can be coupled to or integral with the bevel gear <NUM>.

Thus, actuation of the motor (not shown) coupled to the second driveshaft (not shown) causes rotation of the second driveshaft (not shown). Rotation of the second driveshaft (not shown) causes rotation of the second bevel gear <NUM>, which causes rotation of the second intermediate bevel gear <NUM> around an axis perpendicular to the axis of rotation of the second bevel gear <NUM>. And rotation of the second intermediate bevel gear <NUM> causes rotation of the second output bevel gear <NUM>, which causes rotation of the second generic output interface <NUM> around the same axis of rotation as the second bevel gear <NUM>.

The third driveshaft (not shown) is rotationally coupled to a third bevel gear <NUM>, as best shown in <FIG>, <FIG>, <FIG>, and <FIG>, such that rotation of the driveshaft (not shown) causes rotation of the third bevel gear <NUM>. According to one disclosure, the driveshaft (not shown) is coupled to the gear <NUM> via a geometric coupling, and the gear <NUM> is retained axially in relation to the driveshaft (not shown) in part by the bolt <NUM> discussed above, which is threaded into the first driveshaft (not shown). The third driveshaft (not shown) and gear <NUM> are constrained in an eighth bearing <NUM>, which is inset in the enclosure (not shown) of the joint <NUM>, which is discussed below. In one implementation, a retaining ring <NUM> is disposed on the shaft of the third bevel gear <NUM> such that the third bevel gear <NUM> cannot be moved axially in relation to the eighth bearing <NUM>.

The third bevel gear <NUM> is rotatably coupled to a third intermediate bevel gear <NUM>, as best shown in <FIG>, <FIG>, <FIG>, and <FIG>, such that rotation of the third bevel gear <NUM> causes rotation of the third intermediate bevel gear <NUM>. The intermediate bevel gear <NUM> is rotationally coupled to or integral with a rotatable cylinder (also referred to herein as a "crossbar") <NUM> such that rotation of the third intermediate bevel gear <NUM> causes rotation of the rotatable cylinder <NUM>. The second intermediate bevel gear <NUM> is axially constrained by the second <NUM> and seventh <NUM> bearings, which are both disposed on the crossbar <NUM>, along with the threaded coupling of the bolt <NUM> with the crossbar <NUM>. The crossbar <NUM> is rotationally coupled to the distal portion of the joint <NUM>, which is the portion distal from the crossbar <NUM>, such that rotatable crossbar <NUM> causes rotation of the distal portion of the joint <NUM> around an axis perpendicular to the axis of the third bevel gear <NUM>. A distal enclosure <NUM>, according to one disclosure, is disposed over the distal portion of the joint <NUM>. In one implementation, the distal enclosure <NUM> provides a sealing surface for any external sealing bag system such as those systems discussed elsewhere herein.

Thus, actuation of the motor (not shown) coupled to the third driveshaft (not shown) causes rotation of the third driveshaft (not shown). Rotation of the third driveshaft (not shown) causes rotation of the third bevel gear <NUM>, which causes rotation of the third intermediate bevel gear <NUM> around an axis perpendicular to the axis of rotation of the third bevel gear <NUM>. And rotation of the third intermediate bevel gear <NUM> causes rotation of the crossbar <NUM>, which causes rotation of the distal portion of the joint <NUM> around an axis of rotation that is perpendicular to the third bevel gear <NUM>.

In addition to the three different degrees of freedom described above with respect to the first and second output bevel gears <NUM>, <NUM> and the rotatable crossbar <NUM>, a fourth degree of freedom can be provided by a support member (also referred to herein as a "spacing member") <NUM> which is positioned over a portion of the joint <NUM>, as best shown in <FIG>, <FIG>, <FIG>, and <FIG>. More specifically, the support member <NUM> has a first arm <NUM> and a second arm <NUM>, with both arms having openings <NUM>, <NUM> configured to receive the heads of the bolts <NUM>, <NUM> such that the retainer <NUM> constrains the heads of the bolts <NUM>, <NUM>, thereby maintaining the coupling and the spacing of the bevel sets (the coupling of the first bevel gear <NUM> and the first intermediate bevel gear <NUM>, the coupling of the second bevel gear <NUM> and the second intermediate bevel gear <NUM>, and the coupling of the third bevel gear <NUM> and the third intermediate bevel gear <NUM>). The arms <NUM>, <NUM> have interfaces <NUM>, <NUM> that contact the third bevel gear <NUM> such that the retainer <NUM> is rotatable in relation to the third bevel gear <NUM>.

In certain implementations, the support member <NUM> makes it possible for the joint <NUM> to use only three complex motors (typically very expensive components) instead of four to allow for movement around four degrees of freedom. That is, the three expensive motors are coupled together in a shared state such that a fourth degree of freedom is realized. For example, the coupling can be accomplished by providing a braking system (in the form of a smaller, less complex, and inexpensive motor) on one of the outputs such that only deliberate commands will cause the joint to actuate. In other words, the use of the simple motor for braking makes it possible to take advantage of the coupled nature of the bevel gear differential system.

In use, the various device embodiments disclosed or contemplated herein are utilized to perform minimally invasive surgery in a target cavity of a patient, such as, for example, the peritoneal cavity. In certain implementations, with reference to <FIG>, the device body <NUM> is positioned through an incision into the target cavity such that the shoulders <NUM>, <NUM> and the arms attached thereto are positioned within the target cavity, with the shaft section 12B disposed through the incision and the motor section 12A positioned outside the patient's body. In those implementations, the device body <NUM> is attached to some type of support component outside the patient's body to provide stability and ensure that the body <NUM> remains stationary when desired.

As will be realized, the invention is capable of modifications in various obvious aspects, all without departing from the spirit and scope of the present invention.

Claim 1:
A robotic device (<NUM>) comprising:
(a) an elongate device body (<NUM>) comprising:
(i) a first driveshaft (40A) rotatably disposed within the device body (<NUM>), the first driveshaft (40A) comprising:
(A) a first lumen defined along a length of the first driveshaft (40A);
(B) a first drive bevel gear (44A) operably coupled to the first driveshaft (40A);
(ii) a second driveshaft (40B) rotatably disposed within the first lumen, the second driveshaft (40B) comprising:
(A) a second lumen defined along a length of the second driveshaft; and
(B) a second drive bevel gear (44B) operably coupled to the second driveshaft (40B); and
(iii) a third driveshaft (40C) rotatably disposed within the second lumen;
(b) a first shoulder joint (<NUM>) comprising:
(i) a conversion body (<NUM>) operably coupled to at least one of the first, second, or third driveshafts (40A, 40B, 40C);
characterised in that the first shoulder joint further comprises:
(ii) a rotation body (<NUM>) rotatable in relation to the conversion body (<NUM>), the rotation body (<NUM>) comprising first and second coplanar openings (120A, 120B);
(iii) a first inner bevel gear (<NUM>) rotatably coupled to the second drive gear (44B);
(iv) a first spur gear (<NUM>) operably coupled to the first inner bevel gear (<NUM>) through the first opening (120A);
(v) a second spur gear (<NUM>) operably coupled to a first spur gear (<NUM>);
(vi) a second inner bevel gear operably coupled to the second spur gear through the second opening (120B); and
(vii) an output gear (<NUM>) rotatably coupled to the second inner bevel gear (120B); and
(c) a first arm (<NUM>) operably coupled to the first shoulder joint (<NUM>).