An apparatus

Abstract

An arm apparatus comprising a gimbal comprising a first wrist, a second wrist, and a first elbow, wherein: each wrist comprises a first portion, a second portion, and a slip ring comprising a rotor coupled to the first portion and a stator coupled to the second portion, the rotor coaxially engaged with the stator and infinitely rotatable relative to the stator such that the first portion of the first wrist is infinitely rotatable relative to the second portion of the first wrist about a first axis and the first portion of the second wrist is infinitely rotatable relative to the second portion of the second wrist about a second axis; the first elbow comprises a first segment and a second segment, the first segment rotatably engaged with the second segment about a third axis; the first wrist is coupled to the first elbow; and the first elbow is coupled to the second wrist.

Description

Technical Field

[0001] The present application generally relates to an arm assembly for controlling a robot, which arm assembly may, but is not exclusive, form part of a robotic surgical device. The present application also relates to a joint forming part of such an arm assembly. Background Art

[0002] In order to enable an operator to intuitively control a robot with multiple degrees of freedom, a master controller can be used that captures the operator's hand gestures and then converts them into commands to the slave robots.

[0003] An example application of a robot with multiple degrees of freedom controlled by an operator using such a master controller is medical surgery. Due to their maneuverability and dexterity, surgical robots are being used in an increasing number of minimally invasive surgical procedures, allowing them to perform procedures with minimal incisions, resulting in reduced scarring and recovery time.

[0004] Ideally, the master controller should provide the operator with full and unrestricted control of their hands, which in turn translates into precise control of the slave robot.

[0005] Known master controllers include joints with multiple axes of rotation in order to measure the orientation and position of the operator's hand.

[0006] In particular, known master controllers include joints or combinations of joints with three axes of rotation that are orthogonal to one another in order to measure the pitch, yaw, and roll angles of the operator's hand. However, when any two of the axes of rotation become aligned and become parallel, coaxial, or overlapping, the operator may experience a feeling of kinematic lock, more commonly known as gimbal lock, as one degree of freedom is lost in this situation.

[0007] For surgeons operating a master controller for a slave robot, gimbal lock can be a problem because it restricts freedom of movement and forces them to move in a less-than-ideal manner during surgery. This issue is particularly prevalent in systems that employ passive joints, which cannot be actively biased against gimbal lock. Therefore, known master controllers include active joints that can be actively biased against gimbal lock.

[0008] A disadvantage of active joints is that biasing against gimbal lock can force surgeons to move their hands in a suboptimal manner during surgery. In extreme cases, this can cause harm to the patient. Another disadvantage is that adding a motor to provide bias against gimbal lock makes the main controller bulky and more expensive. Summary of the Invention

[0009] Therefore, it would be beneficial to provide a master controller with passive joints such that the risk of gimbal lock is minimized.

[0010] According to a first aspect of the present invention, an arm device is provided, which includes a universal joint, which includes a first wrist joint, a second wrist joint and a first elbow joint, wherein: each wrist joint includes a first part, a second part and a slip ring, the slip ring includes a rotor connected to the first part and a stator connected to the second part, the rotor is coaxially engaged with the stator and can rotate infinitely relative to the stator, so that the first part of the first wrist joint can rotate infinitely around a first axis relative to the second part of the first wrist joint, and the first part of the second wrist joint can rotate infinitely around a second axis relative to the second part of the second wrist joint; the first elbow joint includes a first segment and a second segment, the first segment is rotatably engaged with the second segment around a third axis; the first wrist joint is connected to the first elbow joint; and the first elbow joint is connected to the second wrist joint.

[0011] Here, the wrist joint is defined as a revolute joint that includes a slip ring and allows infinite rotation. In addition, the elbow joint is defined as a revolute joint that does not include a slip ring and does not necessarily allow infinite rotation.

[0012] By virtue of the first aspect of the present invention, a universal joint is provided that facilitates rotation about three axes and thus has three rotational degrees of freedom. Each of the first wrist joint, the second wrist joint, and the first elbow joint can be configured as a driven joint, and the three joints can be combined to exhibit a very low risk of universal joint lock. Thus, an arm device is provided that has the benefits of the universal joint.

[0013] The first elbow joint may be configured between the two wrist joints as a hinge joint capable of a rotation range of up to 270°, and may also be configured such that the third axis is orthogonal to both the first axis and the second axis.

[0014] The combination of the first wrist joint, the second wrist joint, and the elbow joint therebetween provides a gimbal with three rotational degrees of freedom (i.e., pitch, yaw, and roll). Furthermore, this combination has a very low risk of gimbal lock because the third axis is orthogonal to both the first and second axes, making it impossible for the third axis to align with either the first or second axis and cause gimbal lock.

[0015] When the slip rings of the first and second wrist joints are coaxial with each other, the first and second axes can be aligned. However, rotation of the first elbow joint inherently changes the alignment of the two wrist joints and their respective axes, thereby allowing universal joint lock to be avoided.

[0016] The arm arrangement may form part of a master controller configured to control the slave robot. The master controller may include a computer for interpreting data from the arm arrangement and generating commands that are transmitted to the robot.

[0017] Each of the wrist and elbow joints can be adapted to provide continuous sensing of the rotational position of that joint, and this information can be transmitted through the arm assembly to a computer at the main controller. The computer can then interpret changes in the rotational position data for each joint and generate corresponding commands to control the robot's position accordingly.

[0018] The arm assembly will be described herein with respect to its use as part of a surgical robotic instrument, where, as described above, it forms part of a master controller for controlling a slave robot. However, the arm assembly may be used in any suitable application requiring one or more of the following features: at least three rotational degrees of freedom, electrical conductivity through the assembly, and continuous rotational position sensing.

[0019] In an embodiment of the present invention, the second axis intersects the first axis at an intersection point and the third axis intersects the first axis and the second axis at the intersection point.

[0020] In this embodiment of the invention, the intersection of the three axes of rotation can mirror the type of rotation achievable by a human wrist, which also allows rotation about three intersecting axes. This means that a user of the arm arrangement can manipulate the arm arrangement in a manner that feels more natural and intuitive, particularly if the gimbal of this embodiment of the invention is positioned close to the user's wrist when in use.

[0021] In an embodiment of the present invention, the arm arrangement further comprises at least one additional elbow joint, wherein: each additional elbow joint comprises a first segment and a second segment, the first segment being rotatably engaged with the second segment around an additional axis; and each additional elbow joint is connected to the universal joint.

[0022] In such embodiments of the application, each additional elbow joint provides the arm device with an additional degree of freedom. This in turn provides the operator with greater freedom of movement and further reduces the risk of gimbal lock occurring within the arm device.

[0023] In embodiments of the application, the arm device further comprises at least one additional wrist joint; wherein: each additional wrist joint comprises a first part, a second part, and a slip ring comprising a rotor coupled to the first part and a stator coupled to the second part, the rotor coaxially engaging the stator and being infinitely rotatable relative to the stator such that the first part is infinitely rotatable relative to the second part about an additional axis; and each additional wrist joint is coupled to the gimbal.

[0024] In such embodiments of the application, each additional wrist joint provides the arm device with an additional degree of freedom. This in turn provides the operator with greater freedom of movement and further reduces the risk of gimbal lock occurring within the arm device.

[0025] In embodiments of the application, the first part of each wrist joint is rotatably engaged with the second part of the corresponding wrist joint.

[0026] In such embodiments of the application, the first part and the second part of each wrist joint can be engaged with each other independently of the stator and the rotor. However, in use, rotation of the first part relative to the second part will correspond to rotation of the rotor relative to the stator.

[0027] The rotor and the stator can in particular, but not exclusively, be adapted to provide electrical conductivity through the corresponding wrist joint, while the first part and the second part can in particular, but not exclusively, be adapted to provide an engagement with structural integrity. Thus, the engagement between the first component and the second component provides a wrist joint with structural integrity, which means that the slip ring can in particular be adapted to perform its primary function of conducting electrical power through the joint. Thus, each element of the wrist joint can in particular be adapted to perform a specific function, such that the entire wrist joint has greater strength, durability, and functionality.

[0028] In embodiments of the application, each wrist joint further comprises a bearing comprising an inner surface and an outer surface, wherein: the inner surface is rotatable relative to the outer surface and engageable with the first part of the wrist joint; and the outer surface is engageable with the second part of the wrist joint such that the first part is rotatably engaged with the second part via the bearing.

[0029] In such embodiments of the application, the bearing can be adapted such that the outer surface rotates around the inner surface with low friction. Thus, rotation of the first part relative to the second part can be performed with little wear associated therewith. Thus, the bearing provides the wrist joint with greater durability.

[0030] In an embodiment of the invention, the first part of each wrist joint is electrically coupled to the second part of the wrist joint via a slip ring.

[0031] In this embodiment of the invention, the electrical conductivity of the slip rings (from rotor to stator and vice versa) allows control information to be transferred from the first portion to the second portion and vice versa, even though the wrist joint facilitates infinite rotation.

[0032] Each elbow joint may facilitate only limited rotation, and therefore the first portion may be electrically coupled to the second portion by any suitable means, such as via electrical conductors or wires.

[0033] In an embodiment of the present invention, each wrist joint further comprises a first electrical conductor coupled to the rotor and a second electrical conductor coupled to the stator, such that the first electrical conductor is electrically coupled to the second electrical conductor via a slip ring.

[0034] In this embodiment of the present invention, the electrical conductor can be coupled to the electrical conductor of the adjacent joint so that electrical conductivity can be provided from the first end to the second end via the joint. Accordingly, control information can be transmitted from the first end to the second end via a physical and reliable electrical connection, thereby ensuring that the operator's commands are reliably transmitted to the computer of the master controller, so that they can then be transmitted to the slave robot to be executed.

[0035] In an embodiment of the present invention, each wrist joint further includes a wrist joint sensor configured to measure a rotation angle of the corresponding wrist joint.

[0036] In this embodiment of the present invention, for example, each wrist joint sensor can be any suitable non-contact angle measurement sensor, such as an optical sensor or a magnetic sensor. As a non-contact sensor, each wrist joint sensor can measure the rotation angle of the corresponding wrist joint, although it may rotate infinitely.

[0037] In an embodiment of the present invention, each wrist joint sensor includes a magnet coupled to a rotor of a corresponding wrist joint and a magnetic sensor fixed relative to a stator of a corresponding wrist joint and adapted to detect the magnet.

[0038] In such an embodiment of the invention, the magnetic sensor can sense the angular position of the associated magnet. This information can be correlated to the corresponding angular position of the rotor relative to the stator, which in turn defines the angular position of the first portion of the wrist joint relative to the second portion.

[0039] Thus, information sensed by the magnetic sensor can be transmitted, for example via electrical conductors, through the arm arrangement to a computer of the master controller, which interprets the sensed information and provides corresponding position commands to the slave robot, which the slave robot executes by actuation.

[0040] In an embodiment of the invention, each magnet is coupled to a distal end of a corresponding rotor, and the first electrical conductor is coupled to a proximal end of said rotor.

[0041] In this embodiment of the present invention, the proximal end of the rotor can be positioned toward the first portion, and the distal end of the rotor can be positioned toward the second portion. The magnetic sensor is fixed relative to the stator and can be coupled to the second portion. Thus, the magnet coupled to the distal end of the rotor can be in close proximity to the magnetic sensor, allowing for accurate and reliable detection of the magnet by the magnetic sensor.

[0042] In an embodiment of the present invention, the or each elbow joint further comprises an elbow joint sensor, which is configured to measure the rotation angle of the corresponding elbow joint.

[0043] In such an embodiment of the invention, the or each elbow joint sensor may be any suitable non-contact angle measurement sensor, for example an optical sensor or a magnetic sensor.

[0044] In an embodiment of the invention, the or each elbow joint sensor comprises a magnet fixed relative to the first section of the respective elbow joint, and a magnetic sensor fixed relative to the second section of the respective elbow joint and adapted to detect the magnet.

[0045] In such an embodiment of the invention, the magnetic sensor may sense the angular position of the associated magnet. This information may be correlated to a corresponding angular position of the first segment relative to the second segment of the elbow joint.

[0046] Therefore, similar to the magnetic sensors located in the wrist joint, the information sensed by each elbow joint magnetic sensor can be transmitted, for example via electrical conductors, through the arm device to the computer of the master controller, which interprets the sensed information and provides corresponding position commands to the slave robot, which is executed by actuation.

[0047] In an embodiment of the invention, at least one magnet is radially magnetized.

[0048] A radially magnetized magnet is a circular magnet with a north and south pole positioned diametrically opposite each other. Therefore, as the magnet rotates about its axis, the vector between the north and south poles, and the associated magnetic field, also changes. Consequently, a magnetic sensor can detect the change in magnetic flux caused by the magnet's rotation and correlate this change with a change in angular position.

[0049] In a wrist joint, a radially magnetized magnet may be coaxially coupled to the rotor such that when the rotor rotates about its axis relative to the stator, the magnet rotates about its axis relative to the magnetic sensor.

[0050] In some embodiments of the present invention, the elbow joint can be configured as a hinge joint, for example, wherein the second segment includes a socket and the first segment includes a shaft rotatably engaged with the socket. In such an elbow joint, a radially magnetized magnet can be coaxially coupled to the shaft of the first segment such that when the shaft rotates about its axis relative to the socket, the magnet rotates about its axis relative to a magnetic sensor coupled to the second segment.

[0051] In other embodiments of the present invention, the elbow joint may be configured as any suitable form of joint that facilitates a limited range of rotation between the first section and the second section.

[0052] In an embodiment of the invention, the at least one magnetic sensor comprises one of a magnetometer and a Hall effect sensor.

[0053] A magnetometer is a device that measures magnetism and is capable of measuring at least one of the direction, strength, or relative change in a magnetic field at a specific location. Thus, a magnetometer allows a magnetic sensor to measure the direction and / or relative change in a magnetic field emitted from the sensor and, as described above, calculate the angular position of the magnet accordingly.

[0054] A Hall Effect sensor is a type of magnetometer that measures the voltage induced by the changing magnetic flux that may be caused by a magnet and its associated polarity rotating relative to the Hall Effect sensor. Thus, the Hall Effect sensor allows the magnetic sensor to measure the relative angular position of the magnet as an induced voltage, which can be interpreted by the magnetic sensor so that corresponding commands can be sent to the robot via the main controller's computer.

[0055] In an embodiment of the invention, the arm arrangement comprises a stationary end segment at a proximal end of the arm arrangement and a movable end segment at a distal end of the arm arrangement, wherein the movable end segment is electrically coupled to the stationary end segment via one or more of the joints.

[0056] In such an embodiment, the stationary end segment may be mounted to the body of the master controller.The movable end segment may include a handle held by an operator of the master controller, and may thus be moved by the operator in order to control the robot.

[0057] The movable end segment may also include control input features such as buttons, triggers, or switches that can be operated by an operator to command specific actions of the robot. Such commands may be transmitted from the movable end segment to the stationary end segment and an associated master controller via electrical conductors.

[0058] In an embodiment of the invention, the movable end segment comprises a motion sensor.

[0059] In such an embodiment, the motion sensor can detect when movement of the movable end segment occurs, and this information can be transmitted, for example, via electrical conductors, to the stationary end segment and an associated main controller. The motion sensor data can be used for a wide range of purposes, such as switching the system between a "standby" mode and an "awake" mode. When the motion sensor fails to detect movement of the movable end segment for a period of time, the main controller can interpret this data as inactivity and switch the system to an energy-saving "standby" mode. When the motion sensor detects movement of the movable end segment while the system is in "standby" mode, the main controller can receive this information and switch the system to a fully functional "awake" mode.

[0060] In an embodiment of the invention, the motion sensor comprises an accelerometer.

[0061] In such an embodiment, the accelerometer is capable of detecting the acceleration experienced by the movable end segment, and this information can be transmitted to the stationary end segment and an associated master controller, for example, via electrical conductors. This is particularly useful in detecting whether the movable end segment has been dropped by the operator of the arm arrangement. The master controller can be adapted to detect when the acceleration sensed by the accelerometer is consistent with the acceleration due to gravity, which means that the movable end segment is likely to have been dropped. In such a case, the master controller can, for example, override or cancel any positional commands registered by the magnetic sensors in the joint and instead instruct the robot to maintain the position it had before the "drop" measurement was recorded.

[0062] This may be particularly useful if the arm assembly and master controller are being used to control a surgical robot, where unexpected movement of the robot could cause harm to a patient undergoing surgery using the robot. Rather than the robot mimicking the commands associated with the dropped movable end segment, the robot maintains its position until the movable hand segment is reacquired by an operator who, for example, presses a button to confirm that the operator is ready to provide further commands to the robot.

[0063] The accelerometer is also used to periodically check (e.g., every 0.05 seconds) the accuracy of the joint sensing provided by the magnets and magnetic sensors. This accuracy check ensures that the movements performed by the user of the master controller are mirrored by the controlled robot. This additional layer of safety redundancy is particularly advantageous in surgical applications, where inaccuracies in robot movements can have serious consequences.

[0064] Accelerometers also have a tendency to drift over time (typically in the range of 10 to 30 seconds.) To prevent the accelerometer from drifting and affecting the accuracy checks described above, position information from the magnet-based joint sensors is relayed to the accelerometer at intervals that are significantly shorter than the time it takes for drift to occur (such as every 2 seconds).

[0065] According to a second aspect of the present invention, a surgical device is provided, comprising a robot and a main controller configured to control the robot, the main controller comprising a base and an arm device according to the first aspect of the present invention, wherein the arm device extends from the base.

[0066] With the present invention, an operator of a surgical device (such as a surgeon) can control a robot using a main controller. The main controller can be equipped with an arm assembly including a universal joint, thereby allowing the operator to perform complex spatial movements requiring at least three degrees of freedom while using the arm assembly to feed instructions to the main controller.

[0067] Each wrist and elbow joint may be adapted to provide continuous sensing of the rotational position of the joint, and this information may be communicated to the main controller via the arm assembly.

[0068] The main controller may include a computer for interpreting changes in the rotational position data of each joint and generating corresponding commands to control the position of the robot accordingly.

[0069] In an embodiment of the present invention, the main controller further includes a viewport.

[0070] In such an embodiment, the master controller can be mounted on a platform, such as a countertop or table, at a height suitable to allow an operator of the master controller to manipulate the arm assembly and, for example, simultaneously observe the viewport to control the robot during a surgical procedure. The viewport can be configured to display video footage to assist the operator in controlling the robot. The video footage can be recorded by the slave robot itself during the surgical procedure, or it can be recorded by an auxiliary instrument, such as an endoscope. The video footage can be transmitted to the master controller so that it can be displayed in the viewport to provide a real-time view of the robot or from the robot's perspective.

[0071] According to a third aspect of the present invention, there is provided a wrist joint, comprising a first part, a second part, a magnet, a magnetic sensor and a slip ring, the slip ring comprising a rotor coupled to the first part, and a stator coupled to the second part, the rotor being coaxially engaged with the stator and infinitely rotatable relative to the stator, wherein: the magnet is coupled to the rotor; and the magnetic sensor is fixed relative to the stator and is adapted to detect the magnet.

[0072] The wrist joint may constitute part of an arm arrangement according to the first aspect of the invention, and more particularly, it may constitute part of a universal joint according to the first aspect of the invention.

[0073] The first and second parts of each wrist joint can engage with each other independently of the rotor and stator. However, in use, rotation of the first part relative to the second part will correspond to rotation of the rotor relative to the stator.

[0074] The rotor and stator can be particularly, but not exclusively, adapted to provide electrical conductivity through the corresponding wrist joint, while the first and second parts can be particularly, but not exclusively, adapted to provide a joint with structural integrity. Thus, the joint between the first and second parts provides a wrist joint with structural integrity, meaning that the slip ring can be specifically adapted to perform its primary function, conducting electricity through the joint. Thus, each element of the wrist joint can be specifically adapted to perform a specific function, resulting in greater strength, durability, and functionality for the entire wrist joint.

[0075] The wrist joint may further include a bearing comprising an inner surface and an outer surface, wherein: the inner surface is rotatable relative to the outer surface and engageable with a first portion of the wrist joint; and the outer surface is engageable with a second portion of the wrist joint such that the first portion is rotatably engaged with the second portion via the bearing. The bearing may be adapted to allow the outer surface to rotate about the inner surface with low friction. Thus, rotation of the first portion relative to the second portion can be performed with minimal wear associated with the motion. Thus, the bearing provides greater durability for the wrist joint.

[0076] The first part of the wrist can be electrically coupled to the second part of the wrist via a slip ring. The electrical conductivity of the slip ring (from rotor to stator and vice versa) allows control information to be transferred from the first part to the second part and vice versa, even if the wrist facilitates infinite rotation.

[0077] The wrist joint may further include a first electrical conductor coupled to the rotor and a second electrical conductor coupled to the stator, such that the first electrical conductor is electrically coupled to the second electrical conductor via a slip ring. The electrical conductor may be coupled to the electrical conductor of an adjacent joint, such that the arm assembly can have electrical conductivity from the first end to the second end via each joint it includes. Thus, control information can be transmitted from the first end to the second end via a physical and reliable electrical connection, thereby ensuring that the operator's commands are reliably transmitted to the computer of the master controller, so that they can then be transmitted to the slave robot for execution.

[0078] The magnetic sensor can sense the angular position of the associated magnet. This information can be correlated to a corresponding angular position of the rotor relative to the stator, which in turn defines the angular position of the first portion of the wrist joint relative to the second portion.

[0079] The above discussion is not intended to present every example embodiment or every implementation within the scope of the current or future claim sets. The following figures and detailed description further illustrate various example embodiments. The various example embodiments may be more fully understood by considering the following detailed description in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] One or more embodiments will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0081] Figure 1 is a schematic diagram of a universal joint according to an embodiment of the first aspect of the present invention.

[0082] Figure 2 Has a transparent shell Figure 1 Schematic diagram of the universal joint shown.

[0083] Figure 3 Some parts are removed to reveal other parts Figure 1 Schematic diagram of the universal joint shown.

[0084] Figure 4 Different parts are removed to reveal other parts Figure 1 Schematic diagram of the universal joint shown.

[0085] Figure 5 is a close-up cross-sectional schematic diagram of a wrist joint according to an embodiment of the first and third aspects of the present invention.

[0086] Figure 6a and 6b is a close-up cross-sectional schematic diagram of an elbow joint according to an embodiment of the first aspect of the present invention.

[0087] Figure 7 is a simplified schematic diagram of an arm arrangement according to an embodiment of the first aspect of the present invention.

[0088] Figure 8 yes Figure 7 Another illustration of the arm arrangement is shown, additionally showing certain internal components.

[0089] Figure 9 1 is a schematic diagram of a handheld movable end, referred to as movable end, according to an embodiment of the first aspect of the present invention, and shows certain internal components.

[0090] Figure 10 Has a transparent shell Figure 9 Schematic diagram of the movable end shown in .

[0091] Figure 11a 、 11b and 11c is composed of Figure 9A schematic diagram of the internal components of a portion of the movable hand is shown.

[0092] Figure 12 is a schematic diagram of a main controller according to an embodiment of the second aspect of the present invention.

[0093] Figure 13 is a schematic diagram of another main controller according to an embodiment of the second aspect of the present invention.

[0094] Figure 14 yes Figure 13 Schematic diagram of the main controller shown in , where each arm device is in a different configuration.

[0095] Figure 15 is a schematic diagram of another main controller according to an embodiment of the second aspect of the present invention, wherein each arm device is configured with a vertically movable end.

[0096] Figure 16 is a schematic diagram of an operating room including a master controller according to an embodiment of the second aspect of the present invention in use. DETAILED DESCRIPTION

[0097] First reference Figure 1 A universal joint (universal joint) according to the first aspect of the present invention is generally indicated by reference numeral 4. The universal joint 4 includes two wrist joints 6a, 6b and an elbow joint 7 positioned between the two wrist joints 6. The elbow joint 7 includes a first section 31 and a second section 32. In this embodiment, each wrist joint includes a first portion (not shown), a second portion 12, and a pair of bearings 18. However, the wrist joint 6 may include any suitable number of bearings.

[0098] Figure 2 Shown with a transparent housing to reveal internal components Figure 1 Each wrist joint 6 includes a slip ring 14, and the elbow joint 7 includes bearings 18 similar to those included in the wrist joint 6. Similar to the wrist joint 6, the elbow joint 7 may also include any suitable number of bearings 18.

[0099] Figure 2 Additionally shown are a first axis 51, a second axis 52, and a third axis 53. The first portion of the first wrist joint 6a is infinitely rotatable relative to the second portion of the first wrist joint 6a about the first axis 51, the first portion of the second wrist joint 6b is infinitely rotatable relative to the second portion of the second wrist joint 6b about the second axis 52, and the first section 31 of the elbow joint 7 is rotatable relative to the second portion 32 about the third axis 53.

[0100] In this embodiment of the application, the first axis 51, the second axis 52 and the third axis 53 intersect each other at the intersection point 54. Thus, the gimbal 4 can be manipulated by rotation of each of its joints relative to a common point to mimic the rotations that can be achieved by a human wrist. This can allow a user of an arm device (such as that shown in Figure 7 , Figure 8 and Figures 12 to 15 ) to manipulate the arm device in a natural and intuitive manner, and can avoid the user feeling that he or she needs to hold his or her wrist in an unusual or uncomfortable position to achieve a desired manipulation of the arm device.

[0101] Reference is now made to Figure 3 to show a gimbal with the bearing 18 and the element of the second part 12 of the wrist joint 6a removed to reveal the internal components of the wrist joint 6. The wrist joint 6 comprises a magnet 24 coupled to the slip ring 14 and a magnetic sensor 26 coupled to the second part 12 and adapted to detect the magnet 24. The wrist joint further comprises a first electrical conductor 21 and a second electrical conductor 22 coupled to the slip ring 14.

[0102] Reference is now made to Figure 4 to show a gimbal 4 with the housing and the bearing 18 of the elbow joint 7 removed to reveal the internal components of the elbow joint 7. The elbow joint 7 comprises a shaft 34 coupled to the first section (not shown) and a magnet 24 coupled to the shaft 34. The elbow joint 7 further comprises a magnetic sensor 26 coupled to the second section 32 (partially shown), the magnetic sensor 26 being adapted to detect the magnet.

[0103] Reference is now made to Figure 5 to show a cross-sectional view of a wrist joint 6 according to embodiments of the first and / or third aspects of the application, which is equivalent to the wrist joints 6a, 6b shown in Figures 1 to 4 . The slip ring 14 comprises a rotor 15 coupled to the first part 11 of the wrist joint 6 and a stator 16 coupled to the second part 12. The rotor 15 is coaxially engageable with the stator 16 and is infinitely rotatable relative to the stator 16.

[0104] The magnet 24 is coupled to the rotor 15. The magnetic sensor 26 is coupled to the second part 12, which in turn is coupled to the stator 16, such that the magnetic sensor 26 is fixed relative to the stator 16. Thus, when the rotor 15 is rotated relative to the stator 16, the magnet 24 is simultaneously rotated relative to the magnetic sensor 26.

[0105] In this embodiment, the magnet 24 is a diametrically magnetized magnet, and the magnetic sensor 26 comprises a Hall effect sensor. The magnet 24 is coaxially coupled to the rotor 15, such that when the rotor 15 is rotated relative to the stator 16 about its axis, the vector between the north pole and the south pole of the magnet is rotated about the axis of the magnet relative to the magnetic sensor 26.

[0106] Thus, when the magnet 24 rotates about its axis, the associated magnetic field will also do so, such that the magnetic sensor 26 can detect a change in magnetic flux caused by the rotation of the magnet and correlate this change with a change in the angular position of the magnet 24 and associated rotor 15. The magnetic sensor 26 can thus detect the angular position of the first part 11 of the wrist joint 6 relative to the second part 12.

[0107] The Hall effect sensor allows the magnetic sensor 26 to measure the relative angular position of the magnet 24 as an induced voltage, which can then be interpreted by the magnetic sensor 26 as a change in the angular position of the first part 11 relative to the second part 12, which can then be used to send commands to the robot via the computer of the main controller (100, 200) in response to changes in the angular position of the arm device 2 and in particular the wrist joint 6.

[0108] The bearing 18 comprises an inner surface 19 engageable with the first part 11 of the wrist joint 6 and an outer surface 20 engageable with the second part 12 of the wrist joint 6. The inner surface 19 is rotatable relative to the outer surface 20 such that the first part 11 is rotatably engaged with the second part 12 via the bearing 18.

[0109] In this embodiment, the bearing 18 further comprises a ball bearing 48 between the inner surface 19 and the outer surface 20 to allow the outer surface 20 to rotate about the inner surface 19 with a low amount of friction. However, the bearing 18 can be adapted to provide a low amount of friction between the inner surface 19 and the outer surface 20 by any suitable means.

[0110] Thus, rotation of the first part 11 relative to the second part 12 can be performed with a low amount of wear associated therewith. The bearing 18 thus provides greater durability for the wrist joint 6.

[0111] The rotor 15 and the stator 16 are each electrically conductive and adapted such that the rotor 15 remains electrically connected while rotating indefinitely within the stator 16. Thus, the first part 11 is electrically coupled to the second part 12 via the slip ring 14.

[0112] In turn, a first electrical conductor 21 is coupled to the rotor 15 and a second electrical conductor 22 is coupled to the stator 16 such that the first electrical conductor 21 is electrically coupled to the second electrical conductor 22 via the slip ring 14.

[0113] The electrical conductors 21, 22 can be coupled to Figure 8 the electrical conductors of adjacent joints shown.

[0114] Reference is now made to Figure 6a and 6b to show a cross-sectional view of the elbow joint 7, which is similar to Figures 1 to 4However, this embodiment of the elbow joint 7 includes two bearings 18 instead of Figures 1 to 4 In the embodiment shown in FIG. 1 , a bearing is provided.

[0115] The second section 32 includes a socket 36, and the first section 31 includes a shaft 34 that is rotatably engaged with the socket 36. The magnet 24, which is radially magnetized in this embodiment, is coaxially coupled to the shaft 34 of the first section 31, and the magnetic sensor 26, which comprises a Hall effect sensor in this embodiment, is coupled to the second section 36. Therefore, when the shaft 34 rotates about its axis relative to the socket 36, the magnet 24 rotates accordingly relative to the magnetic sensor 26.

[0116] The Hall effect sensor allows the magnetic sensor 26 to measure the relative angular position of the magnet 24 as an induced voltage, which can then be interpreted by the magnetic sensor 26 as a change in the angular position of the first segment 31 relative to the second segment 32, and a command can then be sent to the robot via the computer of the main controller (100200), which corresponds to a change in the angular position of the arm device 2, in particular the elbow joint 7.

[0117] exist Figures 1 to 6b In the illustrated embodiment of the present invention, magnetic sensors each comprising a magnet 24 and a magnetic sensor 26 are used as wrist and elbow joint sensors. However, any suitable non-contact angle measurement sensor may be used as a wrist or elbow joint sensor. For example, an optical sensor may be used instead of a magnetic sensor.

[0118] Similar to Figure 5 The bearing 18 shown, the bearing 18 of the elbow joint 7 includes an inner surface 19 engageable with the shaft 34 and an outer surface 20 engageable with the socket 36. The inner surface 19 is rotatable relative to the outer surface 20, so that the shaft 34 is rotatably engaged with the socket 36 via the bearing 18.

[0119] Bearing 18 also includes ball bearings 48 between inner surface 19 and outer surface 20 to allow outer surface 20 to rotate with low friction about inner surface 19. However, bearing 18 may be adapted to provide low friction between inner surface 19 and outer surface 20 by any suitable means.

[0120] Thus, the rotation of the shaft 34 relative to the socket 36 can be performed with a low amount of wear associated with the motion. Thus, the bearing 18 provides greater durability for the elbow joint 7.

[0121] Now refer to Figure 7 , an arm arrangement according to a first aspect of the present invention is indicated generally by reference numeral 2 .

[0122] The arm assembly 2 includes a universal joint 4, which is equivalent to Figures 1 to 4 The gimbal 4 shown, and comprises a first wrist joint 6a, a second wrist joint 6b and a first elbow joint 7a. The first wrist joint 6a comprises a first part 11a and a second part 12a, the first part 11a being articulable relative to the second part 12a and rotatable indefinitely about a first axis. Similarly, the second wrist joint 6b comprises a first part 11b and a second part 12b, the first part 11b being articulable relative to the second part 12b and rotatable indefinitely about a second axis. The first elbow joint 7a comprises a first section 31a and a second section 32a, the first section 31a being rotatably joined to the second section 32a about a third axis orthogonal to both the first and second axes. The first wrist joint 6a is coupled to the first elbow joint 7a, which in turn is coupled to the second wrist joint 6b, thereby forming the gimbal 4 having three rotational degrees of freedom, one about each of the first, second and third axes.

[0123] The arm apparatus 2 further comprises a plurality of additional elbow joints: a second elbow joint 7b, a third elbow joint 7c and a fourth elbow joint 7d. Each additional elbow joint 7b, 7c, 7d comprises a first section 31b, 31c, 31d and a second section 32b, 32c, 32d respectively. Each first section 31b, 31c, 31d is rotatably joined to its corresponding second section 32b, 32c, 32d about an additional axis.

[0124] The second elbow joint 7b is directly coupled to the gimbal 4, the third elbow joint 7c is directly coupled to the second elbow joint 7b and thereby to the gimbal 4. Similarly, the fourth elbow joint 7d is directly coupled to the third elbow joint 7c and thereby to the gimbal 4.

[0125] The arm apparatus 2 further comprises a stationary end 9 at a proximal end of the arm apparatus and a movable end 8 at a distal end of the arm apparatus, wherein the movable end 8 is coupled to the stationary end 9 via the gimbal 4 and the additional elbow joints 7b, 7c, 7d.

[0126] Reference is now made to Figure 8 , shown with further details relating to the internal features of the arm apparatus 2 Figure 7 The arm apparatus 2 shown.

[0127] According to Figure 8 , the arm apparatus 2 comprises: a movable end 8, a first wrist joint 6a, a first elbow joint 7a, a second wrist joint 6b, a second elbow joint 7b, a third elbow joint 7c, a fourth elbow joint 7d and a stationary end 9, each coupled to one another in that order. However, an arm apparatus according to the first aspect of the application can comprise any suitable combination of joints in any suitable order.

[0128] The movable end 8 includes a printed circuit board (PCB) 38, a motion sensor 42, and a magnetic sensor 26. The motion sensor 42 and the magnetic sensor 26 are both electrically mounted to the PCB 38. The motion sensor 42 and the magnetic sensor 26 can be electrically mounted to the PCB 38 by any suitable means, such as soldering.

[0129] The magnetic sensor 26 is capable of sensing the position of a magnet (not shown) coupled to a rod (not shown) that can be actuated relative to the movable end 8. The function of the magnetic sensor 26 will be combined with Figure 9 and Figure 10 Describe in more detail.

[0130] The motion sensor 42 is capable of detecting when movement of the movable end 8 occurs, and this information can be transmitted via the PCB 26 and other electrical conductors included in the arm assembly 2 to the stationary end 9 and an associated main controller (such as those shown in Figures 11 to 12). Figure 14 Controller shown in ).

[0131] In this embodiment, the motion sensor 42 comprises an accelerometer. The accelerometer is capable of detecting the acceleration experienced by the movable end 8. This is particularly useful in detecting whether the movable end 8 has been dropped by the operator of the arm arrangement 2. The main controller can be adapted to detect when the acceleration sensed by the accelerometer is consistent with the acceleration due to gravity, which means that the movable end 8 may have been dropped. In this case, the main controller can override or cancel any position commands registered by the magnetic sensors 26 in the joints 6a, 7a, 6b, 7b, 7c, 7d, and instead instruct the robot to maintain the position it was in before the "drop" detection was recorded.

[0132] This is particularly useful if the main controller (particularly the arm assembly 2) is being used to control a surgical robot where unexpected movement of the robot could cause harm to a patient undergoing surgery using the robot. Rather than the robot mimicking the commands associated with the movable end being dropped, the robot will maintain its position until the movable hand 8 is reacquired by the operator, e.g., by pressing a button to confirm that the operator is ready to provide further commands to the robot.

[0133] The first wrist joint includes a slip ring 14, a bearing 14, a magnet 24, a magnetic sensor 26, and a first electrical conductor 21 and a second electrical conductor 22. These components are schematically shown in a simplified form. However, in practice, these components are constructed similarly to Figure 5 The wrist joint 6 is shown in FIG.

[0134] An electrical conductor 21, coupled at a first end to the rotor 15 of the first wrist joint 6a, extends generally toward the stationary end 9. A second end of the first electrical conductor is coupled to a micro plug 39. The first end of the first electrical conductor 21 is also coupled to the micro plug 39 and incorporated as part of the first elbow joint 7a. The micro plug 39 is adapted to electrically couple the electrical conductors to one another, thereby facilitating electrical coupling of the first wrist joint 6a with the first elbow joint 7a.

[0135] The first elbow joint 7a further comprises a bearing 18, a magnet 24, a magnetic sensor 26 and a second electrical conductor 22. These components are schematically shown in a simplified form. However, in practice these components are constructed similarly to Figure 6a and 6b The elbow joint 7 shown in FIG.

[0136] The second wrist joint 6b is similar to the first wrist joint 6a and is based on Figure 5 The second, third and fourth elbow joints 7b, 7c, 7d are similar to the first elbow joint 7a and are constructed according to Figure 6a and 6b The elbow joint 7 shown is constructed in the figure. In addition, each joint is electrically connected to its adjacent joint or joints via a combination of electrical conductors 21, 22 and micro plugs 39, similar to the configuration between the first wrist joint 6a and the first elbow joint 7a described above. However, in some cases, such as between the second wrist joint 6b and the second elbow joint 7b, the electrical conductors 21, 22 and micro plugs 39 can be replaced by a PCB 38 that serves the same function.

[0137] An advantage of using a PCB 38 is that each joint can be electrically coupled to an adjacent joint with a single electrical conductor (eg cable). This simplifies the internal structure of the arm assembly 2 and allows for easier assembly and maintenance.

[0138] Finally, the movable end 8 is electrically coupled to the stationary end 9 via various PCBs 38, electrical conductors 21, 22, and slip rings 14 included in the arm arrangement. This allows electrical information to be transmitted from the movable end 8 to the stationary end 9. For example, information relating to movement detected by the motion sensor 42 can be transmitted to the stationary end 9 and an associated main controller.

[0139] Furthermore, electrical information can be transmitted from each joint 6a, 7a, 6b, 7b, 7c, 7d of the arm assembly 2 to the stationary end 9. For example, information relating to synchronized rotation at each joint 6a, 7a, 6b, 7b, 7c, 7d can be detected by the corresponding magnetic sensor 26 and transmitted to the stationary end 9 and the associated master controller 100, 200. This allows complex motion commands executed by an operator, requiring several degrees of freedom, to be continuously sensed by the arm assembly 2, transmitted to the master controller, and executed by a slave robot.

[0140] Now refer to Figure 9 8 shows a close-up view of the movable end 8. The movable end 8 includes a handle 40 that is ergonomically designed to fit comfortably in the operator's hand and a lever 46 that is configured to be easily manipulated by the operator using their index finger and thumb in a clamping motion.

[0141] Now refer to Figure 10 To reveal the internal components of the movable end 8. The movable end 8 also includes a motion sensor 42 and a Figure 8 The movable end further comprises a magnetic sensor 26, the movable end also comprising a magnet (not shown) positioned in one of the levers 46. The magnetic sensor 26 is adapted to detect the magnet, and in particular to detect the distance between the magnetic sensor 26 and the magnet. The data measured by the magnetic sensor can be transmitted to a computer so that the position of the lever can be calculated. This position information can be used to issue corresponding instructions, which are sent to surgical instruments such as forceps.

[0142] The levers 46 are engaged with each other via a gear mechanism 47. Figure 11a 、 11b The gear mechanism 47 ensures that the two levers 46 move symmetrically to each other. This means that the movement of the levers simulates the symmetrical movement that can be achieved with the corresponding surgical instrument, allowing the operator to control the surgical instrument more intuitively and with greater accuracy.

[0143] Now refer to Figure 12 The main controller according to the second aspect of the present invention is generally indicated by reference numeral 100. The main controller 100 includes a pair of arm devices 2 according to an embodiment of the first aspect of the present invention. Each arm device 2 includes Figure 7 and Figure 8, such as the universal joint 4. The master controller also includes a base 106 and a viewport 104. The base 106 can be mounted on a platform, such as a countertop or table, at a height suitable for allowing an operator of the master controller 100 to operate the arm assembly 2 and comfortably observe the viewport 104, so as to control the robot (not shown), for example, during a surgical operation. The viewport 104 can be configured to display a video clip to assist the operator in controlling the robot. The video clip can be recorded by the slave robot itself, or it can be recorded by an auxiliary instrument, such as an endoscope during a surgical operation. The video clip can be transmitted to the master controller 100 so that it can be displayed in the viewport 104 to provide a real-time view of the robot or from the perspective of the robot.

[0144] The viewport 104 may include a display for each eye. Each display may be high resolution and, for example, may include 1920 x 1080 pixels, thus providing a combined resolution of 3840 x 2160 pixels.

[0145] Now refer to Figure 13 The main controller 200 is shown including a base 206 but not a viewport. However, the arm assembly 2 and Figure 12 Each arm assembly 2 thus comprises a universal joint 4 comprising two wrist joints 6 and one elbow joint 7 , and each arm assembly further comprises three additional elbow joints 7 , a movable end 8 and a static end 9 .

[0146] Figure 14 The main controller 200 is shown with each arm assembly 2 in different position configurations. The arm assembly 2a is positioned in a retracted configuration, which requires the operator to keep the movable end 8 close to their body. The arm assembly 2b is positioned in an extended configuration, which requires the operator to extend their hand to keep the movable end 8 away from their body. Each movable end 8 includes a handle 40 that the operator can grasp, allowing them to comfortably grasp the movable end 8. Each movable end also includes a lever 46 that the operator can control using their index finger and thumb through a clamping motion. The lever 46 can provide the operator with control of additional aspects of the robot, such as controlling the forceps located at the distal end of the surgical robot.

[0147] Now refer to Figure 15 , shows a main controller 300 according to an embodiment of the second aspect of the present invention comprising a base 306 and a pair of arm devices 302. Most features of the arm device 302 (such as the first wrist joint 6a) are identical to the corresponding features of the arm device 2. However, the movable end 308 is arranged vertically so that the handle 340 extends substantially coaxially with the first axis of the first wrist joint 6a, rather than as Figures 9 to 14As is the case with the handle 40 in the movable end 8 shown, it extends substantially orthogonally to the first axis.

[0148] The advantage of this configuration is that the first and second elbow joints 7a and 7b have different neutral positions during use, which reduces the possibility of the first and second wrist joints 6a and 6b becoming aligned with each other and potentially causing gimbal lock. The disadvantage of this configuration is that the operator's arm is more likely to interfere with the movement of the arm assembly 302, thereby reducing the available work space.

[0149] The main controller 100, 200, 300 according to the embodiment of the second aspect of the present invention constitutes a part of a surgical device and can be used to perform minimally invasive surgery. Figure 16 An operating room is shown in use including a surgical apparatus 528 , which in turn includes a master controller 100 , an operating station 510 , a control station 520 , a robot 530 , and an operating table 540 .

[0150] Patient 502 can be placed on an operating table 540. Robot 530, configured to perform the desired endoscopy-type procedure, can be appropriately positioned relative to patient 502. In this embodiment, robot 530 includes a mounting unit 538 that can be mounted directly to operating table 540 and allows robot 530 to be appropriately positioned relative to patient 502. Alternatively, robot 530 can be configured to perform surgical procedures through a keyhole incision.

[0151] The robot 530 may also include an endoscope 532, a pair of actuator packages 534, and a pair of serpentine surgical instruments 536 driven by the actuator packages 534. Each surgical instrument 536 may include a narrow body portion capable of serpentine motion with several degrees of freedom and a head portion adapted to provide a surgical tool, such as a forceps that can be opened and closed. The endoscope 532 may be positioned through the natural orifice of a port-type incision to record a view of the surgical instrument 563 within the patient 502.

[0152] In this embodiment, the main controller 100 includes a Figure 12, a pair of arm assemblies 2, a viewport 104, and a base 106 of the embodiment shown in . The base 106 can be mounted to an operating station 510, and in particular to a platform 512 that forms part of the operating station 510. The platform 512 can be configured at a height suitable for allowing the surgeon 504 to freely and comfortably operate the arm assembly 2. The surgeon 504 can position himself / herself in front of the main controller 100 so that he / she can extend his / her arm above the controller base 106 and grasp the handle of each arm assembly 2 with the corresponding hand. The surgeon 504 can grasp each handle so that the index finger and thumb of each hand are positioned in line with the lever at the movable end to allow him to control the lever by a clamping motion. The remaining fingers of each hand can be wrapped around the relevant handle. The surgeon 504 can use each arm assembly 2 to control one of the corresponding surgical instruments 536.

[0153] exist Figure 16 In the embodiment shown, the surgeon 504 is in a seated position behind the main controller 100, but a standing position is also possible if the platform 512 is appropriately elevated. However, when the main controller 100 further includes a foot pedal 514 that allows the surgeon to provide additional instructions to the robot 530, a seated position may be preferred for the surgeon 504 in this case.

[0154] Surgeon 504 and master controller 100 can be positioned inside or outside the surgical operating room occupied by the patient. In this embodiment, master controller 100 is non-sterile and therefore must be positioned appropriately away from patient 502.

[0155] The viewport 104 can be configured to display in real time the images recorded by the endoscope 532. The surgeon 504 can thus further position himself relative to the main controller 100 so that he can view the viewport 104 while also maintaining control of the arm assembly 2. This allows the surgeon 504 to observe how his manipulation of the arm assembly 2 corresponds to the movement of the surgical instrument 536, thereby accurately performing the desired surgical procedure.

[0156] exist Figure 16 In the illustrated embodiment, the main controller 100 is coupled to an auxiliary screen 526 that forms part of the control station 520. The auxiliary screen 526 allows other medical practitioners at the surgical site, such as a surgical nurse 506, to follow the stage of the surgical procedure. The surgical nurse 506 may be asked to perform certain actions that cannot be performed remotely and / or to assist the surgeon in situations where physical intervention is required.

[0157] In other embodiments of the present invention, the primary controller may not include a viewport, and the auxiliary screen may be the only means for providing the surgeon with a view of the surgical procedure. In such embodiments, the auxiliary screen may be positioned in front of the surgeon so that the surgeon can easily view the screen while maintaining control of the arm assembly. In some embodiments of the present invention, there may be multiple auxiliary screens, including one screen for the lead surgeon and one screen for other medical practitioners participating in the procedure.

[0158] The control station 520 may also include an endoscope control unit 522 and a robot control unit 524. With the aid of a view of the surgical instrument 536, the surgeon 504 can move the movable end of each arm assembly 2 in order to control a corresponding one of the robotic surgical instruments. Figure 8 In the illustrated embodiment of the present invention, magnetic sensors 26 located in each joint of the arm assembly 2 can detect the angular movement of the associated magnet 24 in response to the movable end 8 being moved by the surgeon 504. The information recorded by the magnetic sensors 26 can be transmitted to the robot control unit, for example, in the form of an induced voltage transmitted along the electrical conductors 21, 22 passing through each arm assembly 2. The robot control unit 524 can interpret the data recorded by the various magnetic sensors 26 and generate command signals that are sent to the robot 530 to instruct the surgical instrument 536 to move so that the movement of each head portion corresponds to the movement of the corresponding movable end portion controlled by the surgeon 504. The surgeon 504 can then view the surgical instrument 536 in real time, mirroring the movements of his hand, through the viewport 104 or the auxiliary screen 526.

[0159] Similarly, the surgeon can clamp or release the lever 46 of each movable end 8, 308. Information about the position of the lever 46 can be transmitted to the robotic control unit 524 so that corresponding instructions can be sent to the forceps of the surgical instrument 536.

[0160] Furthermore, if the surgeon 504 accidentally drops the movable end 8, this motion will be detected by the motion sensor 42 located in each movable end 8. The robotic control unit 524 can be configured to associate movement corresponding to the acceleration caused by gravity with the dropped movable end 8. If such movement is detected, the robotic control unit can override the instructions for the surgical instrument 536, which are normally associated with the movement of the movable end 8, and instead instruct the surgical instrument 536 to remain in the position last instructed before the "drop" was recorded.

[0161] This reduces the risk of the robot 530 performing a movement not intended by the surgeon 504 , which could be harmful to the patient 502 .

[0162] As an additional safety precaution, a technical engineer 508 may also be on-site during the surgical procedure. The technical engineer is able to respond to any technical issues associated with the main controller 100, the control station 520, or the robot 530.

Claims

1. An arm device comprising a universal joint, the universal joint comprising a first wrist joint, a second wrist joint and a first elbow joint, wherein: Each wrist joint includes a first part, a second part, and a slip ring, the slip ring including a rotor coupled to the first part, and a stator coupled to the second part, the rotor being coaxially engaged with the stator and infinitely rotatable relative to the stator, so that the first part of the first wrist joint is infinitely rotatable relative to the second part of the first wrist joint about a first axis, and the first part of the second wrist joint is infinitely rotatable relative to the second part of the second wrist joint about a second axis; The first elbow joint includes a first segment and a second segment, the first segment being rotatably engaged with the second segment about a third axis; The first wrist joint is coupled to the first elbow joint; as well as The first elbow joint is coupled to the second wrist joint; The second axis intersects the first axis at an intersection point, and the third axis intersects the first axis and the second axis at the intersection point.

2. The arm device according to claim 1, wherein: The arm assembly further comprises at least one additional elbow joint; wherein: Each additional elbow joint includes a first segment and a second segment, the first segment being rotatably engaged with the second segment about an additional axis; and Each additional elbow joint is coupled to the universal joint.

3. The arm device according to claim 1, wherein: The arm assembly further comprises at least one additional wrist joint; wherein: Each additional wrist joint includes a first portion, a second portion, and a slip ring, the slip ring including a rotor coupled to the first portion, and a stator coupled to the second portion, the rotor being coaxially engaged with the stator and infinitely rotatable relative to the stator so that the first portion is infinitely rotatable relative to the second portion about an additional axis; and Each additional wrist joint is coupled to the universal joint.

4. The arm device according to any one of claims 1 to 3, wherein: The first portion of each wrist joint is rotatably engaged with the second portion of the corresponding wrist joint.

5. The arm device according to claim 4, wherein: Each wrist joint also includes a bearing, which includes an inner surface and an outer surface, wherein the inner surface is rotatable relative to the outer surface and is engageable with the first part of the wrist joint; and the outer surface is engageable with the second part of the wrist joint so that the first part is rotatably engaged with the second part via the bearing.

6. The arm arrangement according to any one of claims 1, wherein: The first portion of each wrist joint is electrically coupled to the second portion of the wrist joint via the slip ring.

7. The arm device according to claim 1, wherein: Each wrist joint includes a first electrical conductor coupled to the rotor and a second electrical conductor coupled to the stator such that the first electrical conductor is electrically coupled to the second electrical conductor via the slip ring.

8. The arm device according to claim 7, wherein: Each wrist joint further includes a wrist joint sensor configured to measure a rotation angle of the corresponding elbow joint.

9. The arm device according to claim 8, wherein: Each wrist joint sensor includes a magnet coupled to the rotor of the corresponding elbow joint, and a magnetic sensor fixed relative to the stator of the corresponding elbow joint and adapted to detect the magnet.

10. The arm device according to claim 9, wherein: Each magnet is coupled to a corresponding distal end of the rotor, and the first electrical conductor is coupled to a proximal end of the rotor.

11. The arm device according to claim 1, wherein Each of the elbow joints further includes an elbow joint sensor configured to measure a rotation angle of the corresponding elbow joint.

12. The arm device according to claim 11, wherein Each of the elbow joint sensors includes a magnet fixed relative to the first section of the corresponding elbow joint, and a magnetic sensor fixed relative to the second section of the corresponding elbow joint and adapted to detect the magnet.

13. An arm arrangement according to any one of claims 9, 10 or 12, wherein: At least one magnet is radially magnetized.

14. The arm device according to any one of claims 9, 10, or 12, wherein: The at least one magnetic sensor includes one of a Hall effect sensor or a magnetometer.

15. The arm device according to claim 1, wherein The arm arrangement comprises a stationary end segment at a proximal end of the arm arrangement and a movable end segment at a distal end of the arm arrangement, wherein the movable end segment is electrically coupled to the stationary end segment via one or more of the joints.

16. The arm device according to claim 15, wherein: The movable end segment includes a motion sensor.

17. The arm device according to claim 16, wherein: The motion sensor includes an accelerometer.

18. A surgical device comprising a robot and a main controller, the main controller comprising a base and an arm device according to any one of claims 1 to 17, wherein: The arm assembly extends from the base.

19. The surgical device of claim 18, wherein: The main controller also includes a viewport.

20. A wrist joint, provided on the arm device of the universal joint according to claim 1, the wrist joint comprising a first part, a second part, a magnet, a magnetic sensor, and a slip ring, the slip ring comprising a rotor coupled to the first part and a stator coupled to the second part, the rotor being coaxially engaged with the stator and infinitely rotatable relative to the stator, wherein: The magnet is coupled to the rotor; And the magnetic sensor is fixed relative to the stator and is adapted to detect the magnet.

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