Patent ID: 8343171

Claim:
An arm component for a robotic device configured to be positioned within a cavity of a patient, the arm component comprising: (a) an extendable, rotational arm comprising: (i) an exterior portion comprising a first coupling component; (ii) a first aperture defined within the arm; (b) a first driven component comprising a first lumen comprising a second coupling component on an inner surface of the first lumen, the second coupling component configured to be coupled with the first coupling component, wherein the arm is disposed through the first lumen; (c) a first drive component coupled with the first driven component; (d) a second driven component comprising a second lumen and a second aperture defined within the second driven component, wherein the arm is disposed through the second lumen, wherein the second aperture is perpendicular to a longitudinal axis of the arm; (e) a pin disposed within the first aperture and the second aperture, wherein the pin is perpendicular to the longitudinal axis of the arm; and (f) a second drive component coupled with the second driven component.