Reduced profile robotic surgical devices and related systems and methods

Abstract

The present invention relates to a robotic surgical device having: an elongate device body having a distal section and a proximal section, the distal section having a distal section diameter, the proximal section having a proximal section diameter greater than the distal section diameter; and a first arm and a second arm, the first arm and the second arm being operably coupled to a distal end of the device body. In some embodiments, the elongate device body has a first driveline assembly and a second driveline assembly, with two such assemblies having a pitch driveline and a roller driveline. In other embodiments, the first arm and the second arm each have a forearm with a rotary drive system and a roller drive system.

Description

[0001] Cross - Reference to Related Applications

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 384,496, filed on Nov. 21, 2022, and titled “Reduced Profile Robotic Surgical Device and Related Systems and Methods,” under 35 U.S.C. § 119(e), which is hereby incorporated by reference in its entirety. Technical Field

[0003] The embodiments disclosed herein relate to various medical devices and related components that can form a surgical system, including robotic and / or in vivo medical devices and related components. Some embodiments include various robotic medical devices, including robotic devices that are positioned within a body cavity and use a body or support assembly that is placed through an orifice or opening in the body cavity. Other embodiments relate to various systems having a robotic surgical device and a controller. Background Art

[0004] Minimally invasive surgery is essential for treating various medical conditions. When possible, minimally invasive surgery, such as laparoscopy, is preferred.

[0005] However, known minimally invasive techniques, such as laparoscopy, are limited in scope and complexity, in part due to 1) mobility limitations caused by the use of rigid tools inserted through access ports and 2) limited visual feedback. Known robotic systems, such as the da Vinci Surgical System (available from Intuitive Surgical, Inc., located in Sunnyvale, CA), are also limited by access ports and have the additional disadvantages of being very large, very expensive, not available in most hospitals, and having limited haptic and movement capabilities.

[0006] There is a need in the art for improved surgical methods, systems, and devices. Summary of the Invention

[0007] Discussed herein are various robotic surgical systems having various robotic devices, including a reduced profile robotic surgical device for minimally invasive surgery.

[0008] In Example 1, a robotic surgical device includes: an elongated device body; a first arm operably coupled to a distal end of the elongated device body by a first shoulder assembly; and a second arm operably coupled to the distal end of the elongated device body by a second shoulder assembly. The elongated device body includes: a distal section having a distal section width in the range of about 28 mm to about 30 mm and a distal section depth in the range of about 22 mm to about 24 mm; and a proximal section having a proximal section diameter greater than the distal section diameter.

[0009] Example 2 relates to the robotic surgical device according to Example 1, wherein the arm width of each of the first arm and the second arm is in the range of about 13 mm to about 15 mm, and the arm depth of each of the first arm and the second arm is about 20 mm to about 26 mm.

[0010] Example 3 relates to the robotic surgical device according to Example 2, wherein the arm width is about 14 mm and the arm depth is about 23 mm.

[0011] Example 4 relates to the robotic surgical device according to Example 1, wherein the distal section width is about 29 mm and the distal section depth is about 23 mm.

[0012] Example 5 relates to the robotic surgical device according to Example 1, wherein the proximal section includes a camera port.

[0013] Example 6 relates to the robotic surgical device according to Example 1, wherein the elongated device body further comprises a first drive system assembly and a second drive system assembly. The first drive system assembly includes a first pitch drive system and a first roller drive system. The first pitch drive system includes: a first pitch actuator; a first pitch motor gear rotatably coupled to the first pitch actuator by a first pitch motor drive shaft; and a first pitch driven gear rotatably coupled to the first pitch motor gear, wherein the first pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the first pitch actuator. The first roller drive system includes: a first roller actuator disposed proximal to the first pitch actuator; a first roller motor gear rotatably coupled to the first roller actuator; a first roller drive shaft rotatably coupled to the first roller motor gear, wherein the first roller drive shaft is disposed radially adjacent to the first pitch actuator; and a first shoulder drive shaft rotatably coupled to the first roller drive shaft, wherein the first shoulder drive shaft is rotationally constrained to the first shoulder assembly, the first shoulder drive shaft includes a first lumen defined therethrough, wherein the first pitch motor drive shaft is rotatably disposed through the first lumen, and wherein the first pitch driven gear is rotatably disposed within the first shoulder assembly. The second drive system assembly includes a second pitch drive system and a second roller drive system. The second pitch drive system includes: a second pitch actuator; a second pitch motor gear rotatably coupled to the second pitch actuator by a second pitch motor drive shaft; and a second pitch driven gear rotatably coupled to the second pitch motor gear, wherein the second pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the second pitch actuator. The second roller drive system includes: a second roller actuator disposed proximal to the second pitch actuator; a second roller motor gear rotatably coupled to the second roller actuator; a second roller drive shaft rotatably coupled to the second roller motor gear, wherein the second roller drive shaft is disposed radially adjacent to the second pitch actuator; and a second shoulder drive shaft rotatably coupled to the second roller drive shaft, wherein the second shoulder drive shaft is rotationally constrained to the second shoulder assembly, the second shoulder drive shaft includes a second lumen defined therethrough, wherein the second pitch motor drive shaft is rotatably disposed through the second lumen, and wherein the second pitch driven gear is rotatably disposed within the second shoulder assembly.

[0014] Example 7 relates to the robotic surgical device according to Example 1, wherein each of the first arm and the second arm includes an upper arm, and the upper arm includes a rotational drive system and a roller drive system. The rotational drive system includes: a rotational actuator; a rotational motor gear rotatably coupled to the rotational actuator by a rotational motor drive shaft; and a rotational driven gear rotatably coupled to the rotational motor gear, wherein the rotational driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the rotational actuator. The roller drive system includes: a roller actuator disposed adjacent to the rotational actuator; at least one roller gear rotatably coupled to the roller actuator; and an elbow drive shaft rotatably coupled to the at least one roller gear, wherein the elbow drive shaft is rotationally constrained to an elbow assembly, the elbow drive shaft includes a lumen defined therethrough, wherein the rotational motor drive shaft is rotatably disposed through the lumen, and wherein the rotational driven gear is rotatably disposed within the elbow assembly.

[0015] Example 8 relates to the robotic surgical device according to Example 7, wherein the upper arm further includes an upper arm housing and a proximal attachment structure disposed at the proximal end of the upper arm housing, wherein the proximal attachment structure is configured to be coupled to one of the first shoulder assembly and the second shoulder assembly, and wherein the rotational drive system and the roller drive system are disposed within the upper arm housing.

[0016] Example 9 relates to the robotic surgical device according to Example 7, wherein each of the first arm and the second arm includes a forearm and an end effector, the forearm is rotatably coupled to the upper arm, and the end effector is operably coupled to the forearm.

[0017] In Example 10, the robotic surgical device includes an elongated device body, a first arm, and a second arm. The elongated device body includes a first drive system assembly and a second drive system assembly. The first drive system assembly includes a first pitch drive system and a first roller drive system. The first pitch drive system includes: a first pitch actuator; a first pitch motor gear rotatably coupled to the first pitch actuator by a first pitch motor drive shaft; and a first pitch driven gear rotatably coupled to the first pitch motor gear, wherein the first pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the first pitch actuator. The first roller drive system includes: a first roller actuator disposed proximal to the first pitch actuator; a first roller motor gear rotatably coupled to the first roller actuator; a first roller drive shaft rotatably coupled to the first roller motor gear, wherein the first roller drive shaft is disposed radially adjacent to the first pitch actuator; and a first shoulder drive shaft rotatably coupled to the first roller drive shaft, wherein the first shoulder drive shaft is rotationally constrained to a first shoulder assembly, the first shoulder drive shaft includes a first lumen defined therethrough, wherein the first pitch motor drive shaft is rotatably disposed through the first lumen, and wherein the first pitch driven gear is rotatably disposed within the first shoulder assembly. The second drive system assembly includes a second pitch drive system and a second roller drive system. The second pitch drive system includes: a second pitch actuator; a second pitch motor gear rotatably coupled to the second pitch actuator by a second pitch motor drive shaft; and a second pitch driven gear rotatably coupled to the second pitch motor gear, wherein the second pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the second pitch actuator. The second roller drive system includes: a second roller actuator disposed proximal to the second pitch actuator; a second roller motor gear rotatably coupled to the second roller actuator; a second roller drive shaft rotatably coupled to the second roller motor gear, wherein the second roller drive shaft is disposed radially adjacent to the second pitch actuator; a second shoulder drive shaft rotatably coupled to the second roller drive shaft, wherein the second shoulder drive shaft is rotationally constrained to a second shoulder assembly, the second shoulder drive shaft includes a second lumen defined therethrough, wherein the second pitch motor drive shaft is rotatably disposed through the second lumen, and wherein the second pitch driven gear is rotatably disposed within the second shoulder assembly.The first arm is operatively coupled to the first shoulder assembly, and the second arm is operatively coupled to the second shoulder assembly.

[0018] Example 11 relates to the robotic surgical device according to Example 10, wherein the elongated device body further comprises: a distal section, the distal section width of which ranges from about 28 mm to about 30 mm, and the distal section depth of which ranges from about 22 mm to about 24 mm; and a proximal section, the proximal section diameter of which is greater than the distal section diameter.

[0019] Example 12 relates to the robotic surgical device according to Example 11, wherein the distal section width is about 29 mm, and the distal section depth is about 23 mm.

[0020] Example 13 relates to the robotic surgical device according to Example 11, wherein the proximal section comprises a camera port.

[0021] Example 14 relates to the robotic surgical device according to Example 10, wherein the arm width of each of the first arm and the second arm ranges from about 13 mm to about 15 mm, and the arm depth of each of the first arm and the second arm is about 20 mm to about 26 mm.

[0022] Example 15 relates to the robotic surgical device according to Example 14, wherein the arm width is about 14 mm, and the arm depth is about 23 mm.

[0023] Example 16 relates to the robotic surgical device according to Example 10, wherein each arm of the first arm and the second arm comprises an upper arm, and the upper arm comprises a rotational drive system and a roller drive system. The rotational drive system comprises: a rotational actuator; a rotational motor gear rotatably coupled to the rotational actuator by a rotational motor drive shaft; and a rotational driven gear rotatably coupled to the rotational motor gear, wherein the rotational driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the rotational actuator. The roller drive system comprises: a roller actuator disposed adjacent to the rotational actuator; at least one roller gear rotatably coupled to the roller actuator; and an elbow drive shaft rotatably coupled to the at least one roller gear, wherein the elbow drive shaft is rotationally constrained to an elbow assembly, the elbow drive shaft comprises a lumen defined therethrough, wherein the rotational motor drive shaft is rotatably disposed through the lumen, and wherein the rotational driven gear is rotatably disposed within the elbow assembly.

[0024] Example 17 relates to the robotic surgical device according to Example 16, wherein the upper arm further includes an upper arm housing and a proximal attachment structure disposed at the proximal end of the upper arm housing, wherein the proximal attachment structure is configured to be capable of coupling to one of the first shoulder assembly and the second shoulder assembly, and wherein the rotational drive system and the roller drive system are disposed within the upper arm housing.

[0025] Example 18 relates to the robotic surgical device according to Example 16, wherein each of the first arm and the second arm includes a forearm and an end effector, the forearm being rotatably coupled to the upper arm and the end effector being operably coupled to the forearm.

[0026] In Example 19, a robotic surgical device includes: an elongate device body; a first arm operatively coupled to a first shoulder assembly; and a second arm operatively coupled to a second shoulder assembly. The elongate device body includes: a device body housing; a first drive train assembly disposed within the device body housing; and a second drive train assembly disposed within the device body housing. The device body housing includes: a distal section having a distal section diameter; and a proximal section having a proximal section diameter greater than the distal section diameter. The first drive train assembly includes a first pitch drive train and a first roller drive train. The first pitch drive train includes: a first pitch actuator; a first pitch motor gear rotatably coupled to the first pitch actuator by a first pitch motor drive shaft; and a first pitch driven gear rotatably coupled to the first pitch motor gear, wherein the first pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the first pitch actuator. The first roller drive train includes: a first roller actuator disposed proximal to the first pitch actuator; a first roller motor gear rotatably coupled to the first roller actuator; a first roller drive shaft rotatably coupled to the first roller motor gear, wherein the first roller drive shaft is disposed radially adjacent the first pitch actuator; and a first shoulder drive shaft rotatably coupled to the first roller drive shaft, wherein the first shoulder drive shaft is rotationally constrained to the first shoulder assembly, the first shoulder drive shaft includes a first lumen defined therethrough, wherein the first pitch motor drive shaft is rotatably disposed through the first lumen, and wherein the first pitch driven gear is rotatably disposed within the first shoulder assembly. The second drive train assembly is disposed within the device body housing and includes a second pitch drive train and a second roller drive train. The second pitch drive train includes: a second pitch actuator; a second pitch motor gear rotatably coupled to the second pitch actuator by a second pitch motor drive shaft; and a second pitch driven gear rotatably coupled to the second pitch motor gear, wherein the second pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the second pitch actuator.The second roller drive system includes: a second roller actuator disposed proximal to the second pitch actuator; a second roller motor gear rotatably coupled to the second roller actuator; a second roller drive shaft rotatably coupled to the second roller motor gear, wherein the second roller drive shaft is disposed radially adjacent to the second pitch actuator; and a second shoulder drive shaft rotatably coupled to the second roller drive shaft, wherein the second shoulder drive shaft is rotationally constrained to a second shoulder assembly, the second shoulder drive shaft including a second lumen defined therethrough, wherein the second pitch motor drive shaft is rotatably disposed through the second lumen, and wherein the second pitch driven gear is rotatably disposed within the second shoulder assembly.

[0027] While multiple embodiments are disclosed, other embodiments will become apparent to those skilled in the art from the following detailed description of illustrative embodiments shown and described. As will be recognized, each embodiment can be modified in various distinct aspects, all of which do not depart from the spirit and scope of the present disclosure. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a perspective view of a robotic surgical system.

[0029] Figure 2 is a perspective view of a robotic surgical device.

[0030] Figure 3A is a front view of a robotic surgical device according to one embodiment.

[0031] Figure 3B is according to one embodiment Figure 3A of a robotic surgical device in a side view.

[0032] Figure 4 is a front view of an arm of a robotic surgical device according to one embodiment.

[0033] Figure 5 is a side view of a workspace of a robotic surgical device according to one embodiment.

[0034] Figure 6A is a perspective view of a workspace of a robotic surgical device according to one embodiment, wherein the arm is disposed at a forward sweep angle.

[0035] Figure 6B is according to one embodiment Figure 6APerspective view of the workspace of a robotic surgical device, where the arm is positioned in the neutral position.

[0036] Figure 6C is according to one embodiment Figure 6A Perspective view of the workspace of a robotic surgical device, where the arm is positioned at the backward sweep angle.

[0037] Figure 7 Perspective view of the housing of the elongated body of a robotic surgical device according to one embodiment.

[0038] Figure 8A Perspective view of some of the internal components in the housing internal components of the elongated body of a robotic surgical device according to one embodiment.

[0039] Figure 8B is according to one embodiment Figure 8A Perspective view of the right and left drive systems of the elongated body.

[0040] Figure 8C is according to one embodiment Figure 8A Perspective view of the right shoulder roller drive system of the elongated body.

[0041] Figure 8D is according to one embodiment Figure 8A Perspective view of the right shoulder pitch drive system of the elongated body.

[0042] Figure 9A Perspective view of the right upper arm according to one embodiment.

[0043] Figure 9B is according to one embodiment Figure 9A Perspective view of the roller and rotational drive systems of the right upper arm.

[0044] Figure 9C is according to one embodiment Figure 9A Perspective view of the roller drive system of the right upper arm.

[0045] Figure 9D is according to one embodiment Figure 9A Perspective view of the rotational drive system of the right upper arm.

[0046] Figure 10A Perspective view of the right forearm according to one embodiment.

[0047] Figure 10B is according to one embodiment Figure 10A Perspective view of some of the internal components in the internal components of the right forearm.

[0048] Figure 10Cof a right forearm having an end effector attached thereto Figure 10A Perspective view of the right forearm.

[0049] Figure 10D is according to one embodiment Figure 10A Side view of the internal components of the right forearm.

[0050] Figure 10E is according to one embodiment Figure 10A Opposite side view of the internal components of the right forearm.

[0051] Figure 10F is according to one embodiment Figure 10A End view of the internal components of the right forearm.

[0052] Figure 10G is a perspective view of a cross-sectional view of the distal end of a right forearm into which an end effector is arranged to be inserted Figure 10A

[0053] Figure 10H of a right forearm having an end effector attached thereto Figure 10A Perspective view of some of the internal components in the internal components of the right forearm.

[0054] Figure 10I is according to one embodiment Figure 10H Perspective view of the internal components.

[0055] Figure 10J of a right forearm having an end effector attached thereto Figure 10A Perspective view of other internal components of the right forearm.

[0056] Figure 10K is according to one embodiment Figure 10J Perspective view of the internal components.

[0057] Figure 10L of a right forearm having an end effector attached thereto Figure 10A Perspective view of some of the electronic components in the electronic components of the right forearm.

[0058] Figure 11A Cross-sectional schematic view of the upper right arm in which a motor is disposed, depicted according to one embodiment.

[0059] Figure 11B Cross-sectional schematic view of the upper right arm, depicted according to one embodiment.

[0060] Figure 11C Another cross-sectional schematic view of the upper right arm, depicted according to one embodiment.

[0061] Figure 12 is a perspective view of a single-arm robotic device according to an embodiment.

[0062] Figure 13A is a perspective view of a three-arm robotic device with the arms in a bent configuration according to an embodiment.

[0063] Figure 13B is according to an embodiment with the arms in a straight configuration Figure 13A of a three-arm robotic device. DETAILED DESCRIPTION

[0064] The various systems and devices disclosed herein relate to devices for use in medical procedures and systems. More specifically, the various embodiments relate to various medical devices, including robotic devices and related methods and systems.

[0065] It should be understood that the various embodiments of the robotic devices and related methods and systems disclosed herein can be incorporated into or used in conjunction with any other known medical devices, systems, and methods. For example, the various embodiments disclosed herein can be incorporated into any of the medical devices and systems disclosed in the following: U.S. Patent 8,968,332 (issued on March 3, 2015 and titled "Magnetically Coupleable Robotic Devices and Related Methods"), U.S. Patent 8,834,488 (issued on September 16, 2014 and titled "Magnetically Coupleable Surgical Robotic Devices and Related Methods"), U.S. Patent 10,307,199 (issued on June 4, 2019 and titled "Robotic Surgical Devices and Related Methods"), U.S. Patent 9,579,088 (issued on February 28, 2017 and titled "Methods, Systems, and Devices for Surgical Visualization and Device Manipulation"), U.S. Patent Application 61 / 030,588 (filed on February 22, 2008), U.S. Patent 8,343,171 (issued on January 1, 2013 and titled "Methods and Systems of Actuation in Robotic Devices"), U.S. Patent 8,828,024 (issued on September 9, 2014 and titled "Methods and Systems of Actuation in Robotic Devices"), U.S. Patent 9,956,043 (issued on May 1, 2018 and titled "Methods and Systems of Actuation in Robotic Devices"), U.S. Patent Application 15 / 966,606 (filed on April 30, 2018 and titled "Methods, Systems, and Devices for Surgical Access and Procedures"), U.S. Patent Application 12 / 192,663 (filed on August 15, 2008 and titled "Medical Inflation, Attachment,and Delivery Devices and Related Methods)”), U.S. Patent Application 15 / 018,530 (filed on February 8, 2016 and titled “Medical Inflation, Attachment, and Delivery Devices and Related Methods”), U.S. Patent 8,974,440 (issued on March 10, 2015 and titled “Modular and Cooperative Medical Devices and Related Systems and Methods”), U.S. Patent 8,679,096 (issued on March 25, 2014 and titled “Multifunctional Operational Component for Robotic Devices”), U.S. Patent 9,179,981 (issued on November 10, 2015 and titled “Multifunctional Operational Component for Robotic Devices”), U.S. Patent 9,883,911 (issued on February 6, 2018 and titled “Multifunctional Operational Component for Robotic Devices”), U.S. Patent Application 15 / 888,723 (filed on February 5, 2018 and titled “Multifunctional Operational Component for Robotic Devices”), U.S. Patent 8,894,633 (filed on November 25, 2014 and titled “Modular and Cooperative Medical Devices and Related Systems and Methods”), U.S. Patent 8,968,267 (issued on March 3, 2015 and titled “Methods and Systems for Handling or Delivering Materials for Natural Orifice Surgery”), U.S. Patent 9,060,781 (issued on June 23, 2015 and titled “Methods, Systems, and Devices Relating to Surgical End Effectors”), U.S. Patent 9,757,187 (issued on September 12, 2017 and titled “Methods, Systems, and Devices Relating to Surgical End Effectors”), U.S. Patent 10,350,000 (issued on July 16, 2019 and titled “Methods, Systems, and Devices Relating to Surgical End Effectors”), U.S. Patent Application 16 / 512,510 (filed on July 16, 2019 and titled "Methods, Systems, and Devices Related to Surgical End Effectors"), U.S. Patent 9,089,353 (issued on July 28, 2015 and titled "Robotic Surgical Devices, Systems, and Related Methods"), U.S. Patent 10,111,711 (issued on October 30, 2018 and titled "Robotic Surgical Devices, Systems, and Related Methods"), U.S. Patent Application 16 / 123,619 (filed on September 6, 2018 and titled "Robotic Surgical Devices, Systems, and Related Methods"), U.S. Patent 9,770,305 (issued on September 26, 2017 and titled "Robotic Surgical Devices, Systems, and Related Methods"), U.S. Patent Application 15 / 661,147 (filed on July 27, 2017 and titled "Robotic Devices with On Board Control & Related Systems & Devices"), U.S. Patent Application 13 / 833,605 (filed on March 15, 2013 and titled "Robotic Surgical Devices, Systems, and Related Methods"), U.S. Patent Application 13 / 738,706 (filed on January 10, 2013 and titled "Methods, Systems, and Devices for Surgical Access and Insertion"), U.S. Patent Application 14 / 661,465 (filed on March 18, 2015 and titled "Methods, Systems, and Devices for Surgical Access and Insertion"), U.S. Patent Application 15 / 890,860 (filed on February 7, 2018 and titled "Methods, Systems, and Devices for Surgical Access and Insertion"), U.S. Patent 9,498,292 (issued on November 22, 2016 and titled "Single Site Robotic Devices and Related Systems and Methods"), U.S. Patent 10,219,870 (issued on March 5, 2019 and titled "Single Site Robotic Devices and Related Systems and Methods"), U.S. Patent Application 16 / 293,135 (filed on March 3, 2019 and titled "Single-Site Robotic Device and Related Systems and Methods"), U.S. Patent 9,010,214 (filed on April 21, 2015 and titled "Local Control Robotic Surgical Devices and Related Methods"), U.S. Patent 10,470,828 (filed on November 12, 2019 and titled "Local Control Robotic Surgical Devices and Related Methods"), U.S. Patent Application 16 / 596,034 (filed on October 8, 2019 and titled "Local Control Robotic Surgical Devices and Related Methods"), U.S. Patent 9,743,987 (issued on August 29, 2017 and titled "Methods, Systems, and Devices Relating to Robotic Surgical Devices, End Effectors, and Controllers"), U.S. Patent Application 15 / 687,787 (filed on August 28, 2017 and titled "Methods, Systems, and Devices Relating to Robotic Surgical Devices, End Effectors, and Controllers"), U.S. Patent 9,888,966 (issued on February 13, 2018 and titled "Methods, Systems, and Devices Relating to Force Control Surgical Systems"), U.S. Patent Application 15 / 894,489 (filed on February 12, 2018 and titled "Methods, Systems, and Devices Relating to Force Control Surgical Systems"), U.S. Patent Application 14 / 212,686 (filed on March 14, 2014 and titled "Robotic Surgical Devices, Systems, and Related Methods"), U.S. Patent Application 14 / 334,383 (filed on July 17, 2014 and titled "Robotic Surgical Devices, Systems, and Related Methods"), U.S. Patent Application 14 / 853,477 (filed on September 14, 2015 and titled "Quick-Release End Effectors and Related Systems and Methods"), U.S. Patent Application 16 / 504,793 (filed on July 8, 2019 and titled "Quick-Release End Effectors and Related Systems and Methods"), U.S. Patent 10,376,322 (filed on August 13, 2019 and titled "Robotic Device with Compact Joint Design and Related Systems and Methods"), U.S. Patent Application 16 / 538,902 (filed on August 13, 2019 and titled "Robotic Device with Compact Joint Design and Related Systems and Methods"), U.S. Patent Application 15 / 227,813 (filed on August 3, 2016 and titled "Robotic Surgical Device, System, and Related Methods"), U.S. Patent Application 15 / 599,231 (filed on May 18, 2017 and titled "Robotic Surgical Device, System, and Related Methods"), U.S. Patent Application 15 / 687,113 (filed on August 25, 2017 and titled "Quick-Release End Effector Tool Interface"), U.S. Patent Application 15 / 691,087 (filed on August 30, 2017 and titled "Robotic Device with Compact Joint Design and an Additional Degree of Freedom and Related Systems and Methods"), U.S. Patent Application 15 / 821,169 (filed on November 22, 2017 and titled "Gross Positioning Device and Related Systems and Methods"), U.S. Patent Application 15 / 826,166 (filed on November 29, 2017 and titled "User controller with user presence detection and related systems and methods"), U.S. Patent Application 15 / 842,230 (filed on December 14, 2017 and titled "Releasable Attachment Device for Coupling to Medical Devices and Related Systems and Methods"), U.S. Patent Application 16 / 144,807 (filed on September 27, 2018 and titled "Robotic Surgical Devices with Tracking Camera Technology and Related Systems and Methods"), U.S. Patent Application 16 / 241,263 (filed on January 7, 2019 and titled "Single-Manipulator Robotic Device With Compact Joint Design and Related Systems and Methods"), U.S. Patent Application 16 / 736,329 (filed on January 7, 2020 and titled "Robotically Assisted Surgical System and Related Devices and Methods"), U.S. Patent Application 17 / 368,255 (filed on July 6, 2021 and titled "Surgical Robot Positioning System and Related Devices and Methods"), U.S. Patent 18 / 064,784 (filed on December 12, 2022 and titled "Robotic Arm with Hybrid Actuation Assemblies and Related Devices, Systems, and Methods"), U.S. Patent Application 18 / 299,129 (filed on April 12, 2023 and titled "Energy Coupling Mitigation Device and Related Systems and Methods"), U.S. Provisional Application 63 / 384,464 filed on November 21, 2022, U.S. Provisional Application 63 / 384,502 filed on November 21, 2022, U.S. Patent 7,492,116 (filed on October 31, 2007 and titled "Robot for Surgical Applications"), U.S. Patent 7,772,796 (filed on April 3, 2007 and titled "Robot for Surgical Applications") and U.S. Patent 8,179,073 (issued on May 15, 2011 and titled "Robotic Devices with Agent Delivery Components and Related Methods"), all of which are incorporated herein by reference in their entirety.,

[0066] Certain device and system embodiments disclosed in the applications listed above may be positioned within a patient's body cavity, or a portion of the device may be placed within the body cavity in combination with a support assembly similar to those disclosed herein. As used herein, "intrabody device" means any device that can be at least partially positioned, manipulated, or controlled by a user when positioned within a patient's body cavity, including any device coupled to a support assembly such as a rod or other such assembly disposed through an opening or orifice of the body cavity, further including any device positioned substantially against or adjacent to the wall of a patient's body cavity, still further including any such device that is internally actuated (without an external power source), and additionally including any device that can be used laparoscopically or endoscopically during surgery. As used herein, the terms "robot" and "robotic device" shall mean any device that can perform tasks automatically or in response to commands.

[0067] Certain embodiments provide for inserting the present invention into a cavity while maintaining adequate insufflation of the cavity. Additional embodiments minimize physical contact between the surgeon or surgical user and the present invention during the insertion process. Other embodiments enhance the safety of the patient and the insertion process of the present invention. For example, some embodiments provide visualization of the present invention while the present invention is being inserted into a patient's cavity to ensure that no damaging contact occurs between the system / device and the patient. Additionally, certain embodiments allow for minimization of the incision size / length. Other embodiments include devices that can be inserted into the body through an incision or natural orifice. Additional embodiments reduce the complexity of the access / insertion procedure and / or the steps required for said procedure. Other embodiments relate to devices having a minimal profile, minimal size, or overall minimized in function and appearance to enhance handling and use convenience.

[0068] As in manual laparoscopic surgery, a known insufflation system can be used to pump sterile carbon dioxide (or other gas) into the patient's abdominal cavity. This lifts the abdominal wall away from the organs and creates space for the robot. In certain embodiments, the system does not have a direct interface with the insufflation system. Alternatively, the system can have a direct interface with the insufflation system.

[0069] In some embodiments where the device is inserted through an insertion port, the insertion port is a commercially available flexible membrane that is placed transabdominally to seal and protect the abdominal incision. This off-the-shelf component is used in the same or substantially the same device in hand-assisted laparoscopic surgery (HALS) in substantially the same manner. The only difference is that the arms of the robotic device according to the various embodiments herein are inserted into the abdominal cavity through the insertion port rather than the surgeon's hand. When the robotic device body is positioned through the insertion port, the robotic device body seals against the insertion port, thereby maintaining insufflation pressure. The port is single-use and disposable. Alternatively, any known port can be used. In additional alternatives, the device can be inserted through an incision without a port or through a natural orifice.

[0070] Certain embodiments disclosed herein relate to "combinatorial" or "modular" medical devices that can be assembled in various configurations. For the purposes of this application, both "combinatorial devices" and "modular devices" shall mean any medical device having modular or interchangeable components that can be arranged in a variety of different configurations.

[0071] Certain embodiments disclosed or contemplated herein can be used for colectomy, i.e., a surgical procedure performed on patients suffering from lower gastrointestinal diseases such as diverticulitis, Crohn's Disease, inflammatory bowel disease, and colon cancer. Roughly two-thirds of known colectomy surgeries are performed through fully open surgeries involving 8-inch to 12-inch incisions and up to six weeks of recovery time. Due to the complex nature of the surgery, existing robotic-assisted surgical devices are rarely used in colectomy surgeries, and manual laparoscopic methods are used in only one-third of cases. In contrast, the various embodiments disclosed herein can be used for minimally invasive methods of various surgeries that are typically performed "open" by known techniques, which have the potential to improve clinical outcomes and healthcare costs. Additionally, the various embodiments disclosed herein can be used in any laparoscopic surgery to replace known host-like laparoscopic surgical robots that extend into the body from outside the patient. That is, the less invasive robotic systems, methods, and devices disclosed herein are characterized by their small, self-contained surgical devices that are inserted as a unit through a single incision in the patient's abdomen. The devices disclosed herein are designed to utilize existing tools and techniques familiar to surgeons and will not require a dedicated operating room or specialized infrastructure, and because of their much smaller size, are expected to be much less expensive than existing robotic alternatives for laparoscopic surgery. Due to these technological advancements, the various embodiments herein enable minimally invasive methods for surgeries currently performed open.

[0072] Figure 1Depicts an embodiment of a robotic surgical system 10 having a number of components, which will be described in further detail below. The components of the various system embodiments disclosed or contemplated herein may include an external console 16 and a robotic device 12 having a removable camera 14, which will also be described in further detail below. According to Figure 1 the embodiment, the robotic device 12 is shown mounted to the operating table 18 by a known, commercially available support arm 20 and positioned such that a portion of the device 12 is placed within the cavity of the patient 26 through an incision. In some embodiments, the system 10 may be operated by a surgeon 22 at the console 16 and a surgical assistant 24 positioned at the operating table 18. Alternatively, a single surgeon 22 may operate the entire system 10. In additional alternatives, three or more individuals may be involved in the operation of the system 10. It should be further understood that the surgeon (or user) 22 may be located at a remote location relative to the operating table 18 such that the surgeon 22 may be in a different city or country or on a different continent from the patient on the operating table 18.

[0073] In this particular embodiment, the robotic device 12 having the camera 14 is connected to the surgeon's console 16 by cables: a device cable 28A and a camera cable 28B, which will be described in further detail below. Alternatively, any connection configuration may be used. In some embodiments, the system may also interact with other devices such as an electrosurgical generator, an insertion port, and an auxiliary monitor during use.

[0074] Figure 2 depicts a known robotic device 30 that may be used in the system 10 described above. The device 30 has two robotic arms to which end effectors are coupled and may be used to perform various procedures within the target cavity of a patient (such as Figure 1 the patient 26 in

[0075] Compared to the known device 30, the various device embodiments disclosed or contemplated herein have several differences, including the drive system configuration, the robotic arm configuration, and the overall size (e.g., the radial diameter of the device body is smaller, as will be discussed in further detail below).

[0076] Figure 3A and 3BDepicts an exemplary embodiment of an improved robotic device 40 that can be incorporated into the exemplary system 10 discussed above or any other system disclosed or contemplated herein. The device 40 has a body (or “trunk”) 42 having a distal end 42A and a proximal end 42B, with an imaging device (or “camera”) 44 disposed therethrough, as mentioned above and as will be described in further detail below. Briefly, the robotic device 40 has two robotic arms 46, 48 operatively coupled thereto, and the camera 44 is removably positioned through the body 42 and disposed between the two arms 46, 48. That is, the device 40 has a first (or “right”) arm 46 and a second (or “left”) arm 48, both arms being operatively coupled to the device 40, as discussed in more detail below. In this embodiment, the body 42 of the device 40 shown has a housing (also referred to as a “cover” or “enclosure”) 52 such that the internal components and lumens of the body 42 are disposed within the housing 52. The device body 42 has two rotatable bodies (also referred to as “shoulders” or “turntables”) 54A, 54B: a first (or “right”) shoulder 54A and a second (or “left”) shoulder 54B. In this embodiment, each arm 46, 48 also has an upper arm (also referred to herein as an “inner arm”, “inner arm assembly”, “inner link”, “inner link assembly”, “upper arm assembly”, “first link” or “first link assembly”) 46A, 48A and a forearm (also referred to herein as an “outer arm”, “outer arm assembly”, “outer link”, “outer link assembly”, “forearm assembly”, “second link” or “second link assembly”) 46B, 48B. The upper right arm 46A is operatively coupled to the right shoulder 54A of the body 42 at a right shoulder joint 46C, and the upper left arm 48A is operatively coupled to the left shoulder 54B of the body 42 at a left shoulder joint 48C. Additionally, for each arm 46, 48, the forearm 46B, 48B is rotatably coupled to the upper arm 46A, 48A at an elbow joint 46D, 48D. In various embodiments, the forearms 46B, 48B are configured to receive various removable, interchangeable end effectors 56A, 56B.

[0077] The end effectors 56A, 56B on the distal ends of the arms 46, 48 can be various tools 56A, 56B (scissors, grippers, needle drivers, etc.), as will be described in further detail below. In some embodiments, the tools 56A, 56B are designed to be removable, including in some cases by a small twist of the tool knob that couples the end effectors 56A, 56B to the arms 46, 48. In some embodiments, at least two single-use, interchangeable, disposable surgical end effectors can be used with any of the robotic device embodiments in the robotic device embodiments herein (including device 40). Such end effectors can include, but are not limited to, a perforated gripper capable of bipolar cauterization, scissors for delivering monopolar cauterization, a hook for delivering monopolar cauterization, and a left / right needle driver set. The tool can be selected for a particular surgical task. Certain forearm and end effector configurations that allow removability and interchangeability of the end effectors are disclosed in detail in U.S. Application 14 / 853,477, which is incorporated by reference above. Additionally, it should be understood that any known forearm and end effector combination can be used in any of the robotic device embodiments disclosed or contemplated herein.

[0078] In various embodiments, at least one of each of the linkages of the body 42 and the arms 46, 48 can contain various actuators or motors. In some embodiments, no motor is disposed in the body 42, and at least one motor is present in each of the arms 46, 48. Alternatively, in other embodiments, the body 42 has at least one motor associated therewith, and the arms 46 and 48 have no motors. In additional alternative embodiments, each of the body 42 and the arms 46, 48 has at least one motor associated therewith. In one embodiment, any of the motors discussed and contemplated herein can be a brushed or brushless motor. Additionally, the motor can be, for example, a motor with a diameter of 6 mm, 8 mm, or 10 mm. Alternatively, any known size that can be integrated into the medical device can be used. In additional alternatives, the actuator can be any known actuator for actuating the movement or action of components in the medical device. Examples of motors that can be used for the motors described herein include the EC 10BLDC+GP10A planetary gearhead, the EC 8BLDC+GP8A planetary gearhead, or the EC 6BLDC+GP6A planetary gearhead, all of which are commercially available from Maxon Motors, located in Fall River, MA. There are many ways to actuate these movements, such as with a DC motor, an AC motor, a permanent magnet DC motor, a brushless motor, pneumatics, a remote motor cable, a hydraulic device, etc. Thus, the actuation source can be at least one motor, a hydraulic source, a pneumatic pressure source, or any other actuation source located away from or near the device 40, such that a suitable coupling or transmission mechanism (such as at least one cable, at least one hydraulic transmission hose, at least one pneumatic transmission hose, or any other transmission mechanism) is disposed through the body 42.

[0079] In one embodiment, each of the various joints discussed above according to any of the embodiments disclosed or contemplated herein can be driven by an electric motor disposed within the device and, in some embodiments, near each joint. Other embodiments include incorporating pneumatic or hydraulic actuators into any of the device embodiments herein. In additional alternative embodiments, the drive actuator is disposed external to the device and / or the body cavity, and a power transmission mechanism is provided to transmit energy from an external source to the various joints of any of the devices herein. Such transmission mechanisms can, for example, take the form of gears, drive shafts, cables, pulleys, or other known mechanisms or any combination thereof.

[0080] As discussed above and as Figure 4As shown, the upper arms 46A, 48A are coupled to the body 42 via shoulder joints 46C, 48C. In one embodiment, each shoulder joint 46C, 48C is a joint composed of shoulder bodies 54A, 54B having two axes of rotation. For example, the right shoulder joint 46C may be configured such that the upper arm 46A rotates relative to the body 42 about axis AA (substantially parallel to the longitudinal axis of the body 42) as shown by arrow A, and may also rotate about axis BB (substantially perpendicular to axis AA) as shown by arrow B. Since the left shoulder joint 48C and the left upper arm 48A are substantially the same as the right shoulder joint 46C and the right upper arm 46A, the above description also applies to those substantially similar (or identical) components. Alternatively, any known joint may be used to couple the upper arms 46A, 48A to the body 42.

[0081] Continue Figure 4 , according to one embodiment, the upper arms 46A, 48A are respectively coupled to the forearms 46B, 48B at elbow joints 46D, 48D such that each of the forearms 46B, 48B can rotate. For example, the right forearm 46B can rotate relative to the upper arm 46A about axis CC (substantially parallel to the longitudinal axis of the upper arm 46A) as shown by arrow C, and can also rotate relative to the upper arm 46A about axis DD (substantially perpendicular to axis CC) as shown by arrow D. Since the left elbow joint 48D and the left forearm 48B are substantially the same as the right elbow joint 46D and the right forearm 46B, the above description also applies to those substantially similar (or identical) components. Alternatively, any known joint may also be used to couple the forearms 46B, 48B to the upper arms 46A, 48A.

[0082] In addition, the right end effector 56A can also rotate relative to the forearm 46B about axis EE (substantially parallel to the longitudinal axis of the forearm 46B) as shown by arrow E, such that the end effector 56A can "roll" relative to the forearm 46B. Additionally, in those embodiments where the end effector 56A has a rotating component (e.g., the jaws of a gripper, etc.), the jaws of the end effector 56A can be driven to move between at least two configurations (such as an open configuration and a closed configuration), moving about axis FF (substantially perpendicular to axis EE) as shown by arrow F. Since the left end effector 56B and the left forearm 48B can be substantially the same as the right end effector 56A and the right forearm 46B, the above description also applies to those substantially similar (or identical) components. Alternatively, the end effectors 56A, 56B can be respectively coupled to the forearms 46B, 48B such that the end effectors 56A, 56B can be moved or driven in any known manner.

[0083] In one embodiment, the lengths of the upper arms 46A, 48A are from about 80 mm to 100 mm. Alternatively, the lengths of the upper arms 46A, 48A are about 90 mm. In certain embodiments, the lengths of the forearms 46B, 48B are from about 60 mm to about 80 mm. Alternatively, the lengths of the forearms 46B, 48B are about 70 mm. According to some embodiments, the end effectors 56A, 56B can add from about 15 mm to about 25 mm in length, or alternatively about 20 mm in length, to the ends of the forearms 46B, 48B. Additionally, the width of each of the arms 46, 48 ranges from about 13 mm to about 15 mm, or alternatively the width is about 14 mm. Additionally, the depth of each of the arms 46, 48 is from about 20 mm to about 26 mm, or alternatively the depth is about 23 mm.

[0084] Figures 5 - 6C Schematically depicts the entire workspace 60 of the arms 46, 48 of the robotic device 40 according to certain embodiments. In these embodiments, the "workspace" 60 means the space 60 around the robotic device 40 within which either of the arms 46, 48 and / or the end effectors 56A, 56B can move, enter, and perform their functions.

[0085] More specifically, Figure 5 A side view of the device 40 and the entire workspace 60 is depicted, including the entire range of motion of the arms 46, 48 from their +90° forward point 62 to their -90° backward point 64 in the workspace 60. Additionally, Figure 5 A forward sweep angle of +75° (66), a neutral angle of 0° (68), and a backward sweep angle of -75° (70) are also shown. Similarly, Figure 6A The arms 46, 48 are depicted at the forward sweep angle, Figure 6B The arms 46, 48 are depicted in the neutral position, and Figure 6C The arms are depicted at the backward sweep angle. Thus, each arm 46, 48 has a range of motion and corresponding workspace 60 extending from the front of the device 40 to the rear of the device 40. Thus, the two arms 46, 48 move equally forward and backward, traversing a space of about 180° with respect to the axis of the device body 42. This workspace 60 allows the robotic device 40 to work equally well forward and backward without repositioning the body 42.

[0086] Figure 7An embodiment of the device body 42 with an outer housing or casing 52 is depicted. The body 42 has a proximal camera port or socket 80 at its proximal end 42B, a right shoulder housing 54A and a left shoulder housing 54B rotatably coupled at its distal end 42A, and a groove 82 in the outer circumference of the casing 52 defined distally of the camera port 80, as shown. Additionally, the body 42 has a diameter-reducing section or length 84 extending distally from a position distal to the groove 82 to the distal end 42A of the body 42. The width of the diameter-reducing section 84 ranges from about 28 mm to about 30 mm. Alternatively, the width of the diameter-reducing section 84 is about 29 mm. Additionally, the depth of the diameter-reducing section 84 ranges from about 22 mm to about 24 mm. Alternatively, the depth of the diameter-reducing section 84 is about 23 mm. In other words, the cross-sectional perimeter of the diameter-reducing section can range from about 100 mm to about 108 mm. In contrast, the diameter of the proximal end 42B of the body 42 ranges from about 50 mm to about 70 mm, or alternatively the diameter is about 60 mm. Additionally, the length of the diameter-reducing length 84 ranges from about 150 mm to about 250 mm. Alternatively, the length of the diameter-reducing section 84 is about 200 mm. As mentioned above, in this specific embodiment, the drive system configuration within the casing 52 (as will be described in detail below) causes the radial diameter of the diameter-reducing length 84 to be less than the radial diameter of the proximal end 42B, and in some embodiments at least 20 mm less than the diameter of the proximal end 42B, and in some cases at least 30 mm less or even 37 mm less.

[0087] Figures 8A - 8D An internal component of the body 42 is depicted according to one embodiment, with its outer casing 52 not shown in these figures. More specifically, Figure 8A an internal support structure 90 is depicted such that Figure 8B the internal drive systems 92, 94 and the camera lumen 140, as best shown, are disposed within or associated with the internal structure 90. In contrast, Figures 8B - 8D the internal actuation and control components of the body 42 are depicted, with the casing or support components (such as the outer casing 52 and the internal support structure 90) not shown to better display the drive systems 92, 94. Each of these drive systems 92, 94 is configured to provide two degrees of freedom at the shoulders 54A, 54B.

[0088] Figure 8B The left drive system 92 and the right drive system 94, which are respectively coupled to the left shoulder housing 54A and the right shoulder housing 54B, are depicted. Additionally, Figure 8C and 8DIllustrates the individual pitch drive system 102 and roller drive system 100 of the right drive system 92. It should be understood that the components of the left drive system 94 that operate / control / actuate the left shoulder housing 54B are substantially the same as those depicted and described herein with respect to the right drive system 92 and the right shoulder housing 54A, and the description provided below applies equally to those components.

[0089] In one embodiment, as Figure 8C and 8D best shown, the right shoulder drive system 92 consists of two separate drive systems: a shoulder roller drive system 100 and a shoulder pitch drive system 102. As Figure 8C shown, the shoulder roller drive system 100 consists of a first or roller actuator 110, a first or roller motor gear 112 operably coupled to the actuator 110, a first driven gear 114 rotatably coupled to the roller motor gear 112, a drive shaft 116 fixedly coupled at its proximal end to the first driven gear, and a second driven gear 118 fixedly coupled to the drive shaft 116 at the distal end of the drive shaft 116, and a shoulder gear 120 rotatably coupled to the second driven gear 118, wherein the shoulder gear 120 is fixedly coupled (rotationally constrained) to the right shoulder 54A by a shoulder drive shaft 122.

[0090] In operation, actuation of the actuator 110 causes rotation of the drive shaft 116 (through the motor gear 112 and the first driven gear 114), thereby causing rotation of the roller of the right shoulder 54A (through the second driven gear 118, the shoulder gear 120, and the shoulder drive shaft 122). Thus, the roller actuator 110 causes the shoulder 54A to rotate about an axis substantially parallel to the longitudinal axis of the device body 42.

[0091] Additionally, as Figure 8D shown, the shoulder pitch drive system 102 of the right shoulder drive system 92 consists of a second or pitch actuator 130, an elongated motor shaft 132 operably coupled to the actuator 130 and disposed through a lumen (not shown) in the shoulder gear 120 and the shoulder drive shaft 122, a drive gear 134 coupled (rotationally constrained) to the motor shaft 132, and a driven gear 136 rotatably coupled to the drive gear 134. In one embodiment, the drive gear 134 is a worm gear 134 and the driven gear 136 is a worm gear 136. Alternatively, any combination of known gears may be used.

[0092] In operation, actuation of the actuator 130 causes rotation of the motor shaft 132, thereby causing pitch rotation of the shoulder 54A through the drive gear 134 and the driven gear 136. Thus, the pitch actuator 130 causes the shoulder 54A to rotate about an axis substantially perpendicular to the axis of roller rotation.

[0093] Since the left drive system 94 is substantially the same as the right drive system 92, the above description also applies to those components that are substantially similar (or identical). Alternatively, any known drive system can be used to actuate the two axes of rotation of shoulders 54A, 54B.

[0094] Figures 9A - 9D The upper right arm 46A is depicted in more detail according to one embodiment. More specifically, Figure 9A the upper right arm 46A is depicted with its outer housing 140 and proximal attachment structure 142, while Figures 9B - 9D the upper arm 46A is depicted without its housing so that the internal actuator and drive system are visible. It should be understood that the components of the upper left arm 48A are substantially the same as those depicted and described herein with respect to the upper right arm 46A, and the description provided below applies equally to those components.

[0095] As Figure 9A shown, the proximal attachment structure 142 consists of two attachment arms 142A, 142B extending from the proximal end of the housing 140. Each of the two arms 142A, 142B has a shoulder attachment opening 144 defined therein such that the opening 144 receives the rotatable shaft of the driven gear 136 discussed above. Alternatively, the attachment structure 142 can be any known attachment mechanism or device for coupling the upper arm 46A to the shoulder 54A.

[0096] Figure 9B A separate roller drive system 150 and a rotational drive system 152 coupled to the right elbow housing 154 are depicted. Additionally, Figure 9C the roller drive system 150 is depicted, and Figure 9D the elbow rotational drive system 152 is depicted. It should be understood that the components and drive systems of the upper left arm 48A are substantially the same as those depicted and described herein, and the description provided below applies equally to those components.

[0097] In one embodiment, as Figure 9B and 9CAs best shown, the roller drive system 150 consists of a first or roller actuator 160, a first or roller motor gear 162 operatively coupled to the actuator 160, a first driven gear 164 rotatably coupled to the roller motor gear 162, an elbow gear 166 rotatably coupled to the first driven gear 164, and an elbow drive shaft 168 fixedly attached to the elbow gear 166, wherein the elbow gear 166 is fixedly attached (rotationally constrained) to the elbow housing (or "elbow assembly") 154 via the elbow drive shaft 168. In one embodiment, the first drive gear 164 is a single gear 164, as shown. Alternatively, the first drive gear 164 can consist of two gears that are rotationally constrained to each other (not shown).

[0098] In operation, actuation of the actuator 160 causes rotation of the drive shaft 168 (via the motor gear 162, the first driven gear 164, and the elbow gear 166), which in turn causes roller rotation of the right elbow housing 154 (and the forearm 46B attached thereto). Thus, the roller actuator 160 causes roller rotation of the elbow housing 154 (and the forearm 46B) about an axis that is substantially parallel to the longitudinal axis of the upper arm 46A.

[0099] Additionally, in one embodiment, as Figure 9B and 9D As best shown, the elbow rotation drive system 152 consists of a second or rotation actuator 180, an elongate motor shaft 182 operatively coupled to the actuator 180 and disposed through a lumen (not shown) in the elbow gear 166 and the elbow drive shaft 168, a drive gear 184 coupled (rotationally constrained) to the motor shaft 182, and a driven gear 186 rotatably coupled to the drive gear 184. In one embodiment, the drive gear 184 is a worm gear 184 and the driven gear 186 is a worm gear 186. Alternatively, any combination of known gears can be used.

[0100] In operation, actuation of the actuator 180 causes rotation of the motor shaft 182, which in turn causes rotation of the forearm 46B via the drive gear 184 and the driven gear 186. Thus, the elbow rotation actuator 180 causes rotation of the elbow shaft 188 about an axis that is substantially perpendicular to the axis of roller rotation.

[0101] Figures 10A - 10L Various embodiments of the right forearm 46B and the right end effector 56A are depicted. Figures 10A - 10C The right forearm 46B with most / all of its outer housing 200 is depicted, while Figures 10D - 10F10H - 10K show the internal parts and / or components of the forearm 46B without its housing 200. Each of the various embodiments disclosed and depicted herein includes an actuator, a drive assembly, and an electronic device, which can be used to perform tool rolling and tool driving (opening / closing actions), as will be described in further detail below. As described below, the right forearm 46B also has at least one electrically isolated cautery circuit, enabling a cautery end effector. Certain embodiments are configured to allow for easy removal and replacement of the end effector ("quick change" configuration), such as the end effector 56A. Additional embodiments contain sealing elements that help prevent fluid from entering the mechanism. It should be understood that the components of the left forearm 48B and the left end effector 56B are substantially the same as those depicted and described herein with respect to the right forearm 46B and the right end effector 56A, and the description provided below applies equally to those components.

[0102] As Figure 10A shown, according to one embodiment, the forearm 46B has a proximal attachment structure 202 for attachment to the elbow housing 154, an end effector coupling structure 206, and an end effector lumen 208 defined within a rotatable end effector tube ("roll tube") 212. In this particular embodiment, the end effector coupling structure 206 is a coupling collar 206 that has a concave coupling feature for receiving the convex features of the end effector 56A, as discussed in detail below. The proximal attachment structure 202 consists of two attachment arms 202A, 202B that extend from the proximal end of the housing 200. Each of the two arms 202A, 202B has an elbow attachment opening 210 defined therein such that the opening 210 receives the rotatable shaft 188 of the elbow housing 154 discussed above. Alternatively, the attachment structure 202 can be any known attachment mechanism or device for coupling the forearm 46B to the elbow 154.

[0103] In one embodiment, as Figure 10B shown, a processor or controller 204 is disposed within the forearm housing 200 and is coupled to the motors and other components therein (as discussed in detail below) to control such motors and components. In one embodiment, the processor 204 is a printed circuit board. Alternatively, any known processor or controller 204 can be used.

[0104] Figure 10C The forearm 46B with the end effector 56A attached thereto is depicted.

[0105] Figure 10D And 10E The opposite sides of the internal components of the forearm 46B are depicted, where Figure 10D the internal components on the right side are depicted, and Figure 10E the internal components on the left side are depicted.Figure 10F Depicts an end view of those internal components. Figure 10G Depicts a cross-sectional view of the distal end of the forearm 46B, where the end effector 56A is positioned to be inserted into or removed from the end effector lumen 208.

[0106] According to one embodiment, certain of the internal components depicted in 10D-10F and 10H-10I are configured to drive the end effector tube 210 (and the end effector 56A disposed therein) to actuate about axis EE (as Figure 4 and 10I best shown), the axis being parallel to the longitudinal axis of the right forearm 46B. This rotation about axis EE is also referred to as "tool roll".

[0107] On the one hand, the rotation is formed as follows. As Figures 10G - 10I best shown, a roller actuator 220 is provided, which in this embodiment is a motor assembly 220. The actuator 220 is operatively coupled to a motor gear 222, which in this embodiment is a spur gear 222. The motor gear 222 is coupled to a driven gear 224 such that rotation of the motor gear 222 causes rotation of the driven gear 224. The driven gear 224 is rotatably coupled to a tube gear 226, which is fixedly coupled to a roller tube (or hub) 212. The lumen 208 of the roller tube 212 has end effector coupling features 230 defined in the inner wall of the lumen 208 (as Figure 10G best shown) such that when the end effector 56A is positioned within the lumen 208, the tube 212 is rotationally constrained to the end effector 56A.

[0108] In operation, actuation of the roller actuator 220 causes rotation of the roller tube 212 via the motor gear 222, the driven gear 224, and the tube gear 226, thereby causing rotation of the end effector 56A about axis EE (as Figure 10I best shown).

[0109] According to one embodiment, certain of the internal components depicted in 10D-10F and 10J-10K are configured to drive the end effector 56A to open and close about axis FF (as Figure 4 and 10J best shown), the axis being transverse to the longitudinal axis of the right forearm 46B. This rotation about axis FF is also referred to as "tool drive".

[0110] On the one hand, the rotation is formed as follows. As Figure 10J and 10KAs best shown, a tool actuator 240 is provided, which in this embodiment is a motor assembly 240. The actuator 240 is operably coupled to a motor gear 242, which in this embodiment is a spur gear 242. The motor gear 242 is coupled to a driven gear 244 such that rotation of the motor gear 242 causes rotation of the driven gear 244. The driven gear 244 is rotatably coupled to an interface gear 246 such that rotation of the driven gear 244 causes rotation of the interface gear 246. The interface gear 246 is fixedly coupled to a concave drive interface 248, which in one embodiment is a Torx interface 248. The concave drive interface 248 is adapted to mate with a convex drive interface 250 disposed at the proximal end of the end effector 56A (as Figure 10G best shown), such that when the end effector 56A is positioned within the lumen 208, the convex drive interface 248 is rotationally constrained to the convex drive interface 250.

[0111] In operation, actuation of the tool actuator 240 causes rotation of the concave drive interface 246 through the motor gear 242, the driven gear 244, and the interface gear 246, thereby causing rotation of the convex drive interface 248, which is operably coupled to the gripper of the end effector 56A. Thus, depending on the particular end effector 56A and its configuration, rotation of the concave drive interface 248 can cause rotation of the convex drive interface 250, which can cause rotation of the gripper about axis FF.

[0112] As described above, the forearm 46B (and in some embodiments the forearm 48B) also has at least one electrically isolated cautery circuit, thereby enabling a cautery end effector. As Figure 10L best shown, according to one embodiment, electrical contacts 260A, 260B are provided within the forearm 46B, and the electrical contacts are positioned such that outer contact rings 262A, 262B disposed around the roller tube 212 remain in contact with corresponding contacts 260A, 260B during rotation of the tube 212. More specifically, a first electrical contact 260A is disposed within the forearm 46B such that it is adjacent to and in contact with a first outer contact ring 262A, while a second electrical contact 260B is disposed such that it is adjacent to and in contact with a second outer contact ring 262B. Thus, whether the roller tube 212 is rotating or stationary, the rings 262A, 262B are in contact with the contacts 260A, 260B, respectively, and can receive current from the contacts.

[0113] Additionally, as Figure 10GAs best shown, each of the outer contact rings 262A, 262B has an inner contact surface 263A, 263B, and the inner contact surfaces are disposed within the lumen 208 of the roller tube 212. That is, each of the rings 262A, 262B extends radially through the roller tube such that the inner contact surfaces 263A, 263B are disposed along and flush with the inner wall of the roller tube 212. Thus, the inner contact surfaces 263A, 263B are disposed within the lumen 208 such that when the end effector is coupled to the forearm 46B, the surfaces 263A, 263B remain in contact with corresponding tool contacts 264A, 264B disposed on the outer surface of the end effector 56A. More specifically, when the end effector 56A is coupled to the forearm 46B, the first inner contact surface 263A is disposed at a point along the length of the lumen 208 such that it is adjacent to and in contact with the first tool contact 264A, while the second inner contact surface 263B is disposed at a point along the length of the lumen 208 such that it is adjacent to and in contact with the second tool contact 264B.

[0114] In operation, when the cautery end effector (e.g., end effector 56A) requires current, current can be applied to one or both of the electrical contacts 260A, 260B as needed. This current will be transmitted from one or both of the contacts 260A, 260B to one or both of the outer contact rings 262A, 262B that are electrically coupled thereto. Thus, the current will pass through one or both of the inner contact surfaces 263A, 263B, and thus, if an end effector such as end effector 56A is coupled to the forearm 46B, the current will be transmitted to one or both of the tool contacts 264A, 264B on the forearm 46B, and thus the cautery end effector (such as end effector 56A) can be used for cautery as needed.

[0115] One of the unique aspects of the device configuration is the two-degree-of-freedom drive system modules used in both the body 42 and the upper arms 46A, 48A, which allows for a reduction in the overall axial diameter of the device body 42 and the arms 46, 48. For purposes of discussion, the drive system module of the upper right arm 46A will be used, but it should be understood that the same general drive system configuration is also used in the device body 42. That is, the general configuration of the two drive systems (e.g., as shown in FIGS. Figures 8B - 8D 9B - 9D) includes a first drive system (such as drive systems 100 and 150) that drives the roller joint and a second drive system (such as drive systems 102 and 152) that drives the pitch motion. In both the body 42 and the upper arms 46A, 48A, the two drive systems are strategically positioned relative to each other such that the radial diameter of the body / arm is minimized, thereby minimizing the size of the incision or port required to position the device within the patient.

[0116] Since the motors (actuators) in the device embodiments herein are cylindrical and thus have a circular radial cross-section, as Figure 11A shown, the placement of these motors adjacent to each other is the tightest packing of two circles to minimize the radial profile. Using the specific example of the upper right arm 46A, Figure 11A the two circles in [reference] represent the pitch drive motor 180 and the roller drive motor 160 as discussed above, and thus the ellipse 140 that contains the two motors 160, 180 and has the smallest amount of space represents the upper arm housing 140. Similarly, as discussed above, the motors 110, 130 of the drive train 92 in the device body 42 are positioned in a similar manner (however, the roller motor 110 is positioned proximal to the pitch motor 130).

[0117] Additionally, as Figure 11C shown, the arrangement of the gears relative to the motors 160, 180 is such that the gears are disposed within the radial cross-section of the motors 160, 180 (when the device is in the straight insertion configuration). More specifically, the driven gear 164 of the roller drive train and the motor gear 184 and the driven gear 186 of the pitch drive train, and any other gears of the drive train, are disposed within the upper arm housing 140.

[0118] Thus, as discussed in detail above, the configuration of the motors 160, 180 and the associated gears within the upper arm 46A causes the roller motor 160 to cause rotation of the shoulder 54A about a roller axis parallel to the axis of the motor 160 (and the motor 180), and further causes the pitch motor 180 to cause rotation of the rotatable axis 138 of the shoulder about an axis that is substantially perpendicular to the axis of the motor 180 (and the motor 160).

[0119] This basic drive train configuration is used for both the body 42 and the upper arm 46A. Regarding the configuration in the body 42, an additional drive shaft 116 is used for the roller drive train to maintain the same cross-section (or further reduce the cross-section) at the cost of length. This allows for the use of larger motors in the device body 42 while maintaining the same cross-section.

[0120] According to certain embodiments, another advantage of the device configuration herein is that the shoulder housing (such as the right shoulder housing 54A) and the elbow housing (such as the right elbow housing 154) and the joints formed by those housings are radially symmetric or mirror images. Additionally, the left and right sides (arms and drive train) operate independently of each other. Thus, the arms 46 and 48 are substantially modular, which means that the various device embodiments contemplated herein can have one arm, two arms, three arms, four arms, or any additional number of arms.

[0121] For example, Figure 12An embodiment of a single-arm robotic device 280 is depicted. The device 280 can be used alone or in conjunction with other minimally invasive surgical devices. The arm 282 of the device 280 operates in a manner similar to a single arm (such as the right arm 36 as discussed in detail above) as described herein. Thus, the arm 282 can be positioned in a straight configuration (such as for insertion or withdrawal) or in any other configuration possible based on the components described above.

[0122] In another example, according to a further embodiment, a three-arm robotic device 290 is as Figure 13A and 13B shown. The device 290 can be used alone or in conjunction with other minimally invasive surgical devices. According to one embodiment, the device 290 can have three arms 294A, 294B, 294C that are permanently coupled to the device body 292, as shown. Alternatively, the arms 294A, 294B, 294C are modular such that they can be conveniently and quickly coupled to or detached from the body 292 in different numbers and configurations. Additionally, according to certain embodiments, the elongated body 292 has one or more movable segments to which one or more of the arms 294A-C are attached such that one or more of the arms 294A-C can move relative to the other arms such that each arm can be positioned deeper or shallower relative to the other arms.

[0123] Additionally, although gripper end effectors 296A, 296B, 296C are shown, it should be understood that any end effector can be used with the device 290.

[0124] The arms 294A-C of the device 290 operate in a manner similar to a single arm (such as the right arm 36 as discussed in detail above) as described herein. Thus, the arms 294A-C can be positioned in a straight configuration as Figure 13B shown (such as for insertion or withdrawal) or in any other configuration possible based on the components described above.

[0125] Although the various systems described above are separate embodiments, any individual component, mechanism, or device within the individual system embodiments described in detail above, as well as the associated features and functions, can be incorporated into any of the other system embodiments herein.

[0126] As used herein, the term "about" refers to a variation in a numerical quantity that can occur, for example, with respect to any quantifiable variable, including but not limited to mass, volume, time, distance, wavelength, frequency, voltage, current, and electromagnetic fields, by typical measurement techniques and equipment. Additionally, in the real world, there are certain inadvertent errors and variations that can be caused by differences in the manufacturing, source, or precision of the components used to fabricate various components or perform methods, etc. The term "about" also encompasses these variations. The term "about" can include any variation of 5% or 10%, or any amount - including any integer - between 0% and 10%. Additionally, whether or not modified by the term "about", the claims include equivalents of the quantities and amounts.

[0127] The numerical ranges recited within this specification include the numbers defining the ranges and include every integer within the defined ranges. Throughout this disclosure, various aspects of the disclosure are presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as a fixed limitation on the scope of the disclosure. Accordingly, the description of a range should be considered to have expressly disclosed all possible subranges, fractions, and individual numerical values within the range. For example, a description of a range such as from 1 to 6 should be considered to have expressly disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., and individual numbers within the range such as, for example, 1, 2, 3, 4, 5, and 6, as well as decimals and fractions such as 1.2, 3.8, 1 1 / 2 and 4 3 / 4. This applies regardless of the breadth of the range.

[0128] Although the various embodiments have been described with reference to the preferred embodiments, those skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the disclosure.

Claims

1. A robotic surgical device, comprising (a) an elongate device body, the body comprising: (i) a distal section, the distal section having a distal section width in the range of about 28 mm to about 30 mm, and the distal section having a distal section depth in the range of about 22 mm to about 24 mm; and (ii) a proximal section, the proximal section having a proximal section diameter greater than the distal section diameter; (b) a first arm, the first arm being operably coupled to the distal end of the elongate device body by a first shoulder assembly; and (c) a second arm, the second arm being operably coupled to the distal end of the elongate device body by a second shoulder assembly.

2. The robotic surgical device according to claim 1, wherein each of the first arm and the second arm has an arm width in the range of about 13 mm to about 15 mm, and each of the first arm and the second arm has an arm depth of about 20 mm to about 26 mm.

3. The robotic surgical device according to claim 2, wherein the arm width is about 14 mm and the arm depth is about 23 mm.

4. The robotic surgical device according to claim 1, wherein the distal section width is about 29 mm and the distal section depth is about 23 mm.

5. The robotic surgical device according to claim 1, wherein the proximal section comprises a camera port.

6. The robotic surgical device according to claim 1, wherein the elongate device body further comprises: (a) a first drive system assembly, the first drive system assembly comprising: (i) a first pitch drive system, the first pitch drive system comprising: (A) a first pitch actuator; (B) The first pitch motor gear is rotatably coupled to the first pitch actuator by a first pitch motor drive shaft; and (C) a first pitch driven gear, the first pitch driven gear being rotatably coupled to the first pitch motor gear, wherein the first pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the first pitch actuator; and (ii) a first roller drive system assembly, the first roller drive system assembly comprising: (A) a first roller actuator, the first roller actuator being disposed proximal to the first pitch actuator; (B) a first roller motor gear, the first roller motor gear being rotatably coupled to the first roller actuator; (C) a first roller drive shaft, the first roller drive shaft being rotatably coupled to the first roller motor gear, wherein the first roller drive shaft is disposed radially adjacent to the first pitch actuator; and (D) a first shoulder drive shaft, the first shoulder drive shaft being rotatably coupled to the first roller drive shaft, wherein the first shoulder drive shaft is rotationally constrained to the first shoulder assembly, the first shoulder drive shaft comprising a first lumen defined therethrough, wherein the first pitch motor drive shaft is rotatably disposed through the first lumen, and wherein the first pitch driven gear is rotatably disposed within the first shoulder assembly; and (b) a second drive system assembly, the second drive system assembly comprising: (i) Second pitch drive system, said second pitch drive system comprising: (A) Second pitch actuator; (B) Second pitch motor gear, said second pitch motor gear being rotatably coupled to said second pitch actuator via a second pitch motor drive shaft; And (C) Second pitch driven gear, said second pitch driven gear being rotatably coupled to said second pitch motor gear, wherein said second pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of said second pitch actuator; and (ii) Second roller drive system assembly, said second roller drive system assembly comprising: (A) Second roller actuator, said second roller actuator being disposed proximal to said second pitch actuator; (B) Second roller motor gear, said second roller motor gear being rotatably coupled to said second roller actuator; (C) Second roller drive shaft, said second roller drive shaft being rotatably coupled to said second roller motor gear, wherein said second roller drive shaft is disposed radially adjacent to said second pitch actuator; And (D) Second shoulder drive shaft, said second shoulder drive shaft being rotatably coupled to said second roller drive shaft, wherein said second shoulder drive shaft is rotationally constrained to said second shoulder assembly, said second shoulder drive shaft comprising a second lumen defined therethrough, wherein said second pitch motor drive shaft is rotatably disposed through said second lumen, and wherein said second pitch driven gear is rotatably disposed within said second shoulder assembly.

7. The robotic surgical device according to claim 1, wherein each of said first arm and said second arm comprises an upper arm, said upper arm comprising: (a) Rotation drive system, said rotation drive system comprising: (i) Rotation actuator; (ii) Rotate the motor gear, which is rotatably coupled to the rotary actuator via a rotary motor drive shaft; And (iii) Rotation driven gear, said rotation driven gear being rotatably coupled to said rotation motor gear, wherein said rotation driven gear rotates about an axis substantially perpendicular to the longitudinal axis of said rotation actuator; and (b) Roller drive system assembly, said roller drive system assembly comprising: (i) Roller actuator, said roller actuator being disposed adjacent to said rotation actuator; (i) At least one roller gear, said at least one roller gear being rotatably coupled to said roller actuator; And (i) Elbow drive shaft, said elbow drive shaft being rotatably coupled to said at least one roller gear, wherein said elbow drive shaft is rotationally constrained to an elbow assembly, said elbow drive shaft comprising a lumen defined therethrough, wherein said rotation motor drive shaft is rotatably disposed through said lumen, and wherein said rotation driven gear is rotatably disposed within said elbow assembly.

8. The robotic surgical device according to claim 7, wherein said upper arm further comprises an upper arm housing and a proximal attachment structure, said proximal attachment structure being disposed at the proximal end of said upper arm housing, wherein said proximal attachment structure is configured to be coupled to one of said first shoulder assembly and said second shoulder assembly, and wherein said rotation drive system and said roller drive system are disposed within said upper arm housing.

9. The robotic surgical device according to claim 7, wherein each of the first arm and the second arm includes a forearm and an end effector, the forearm being rotatably coupled to the upper arm, and the end effector being operably coupled to the forearm.

10. A robotic surgical device comprising (a) an elongated device body, the body comprising: (i) a first drive system assembly, the first drive system assembly comprising: (A) a first pitch drive system, the first pitch drive system comprising: (I) a first pitch actuator; (II) The first pitch motor gear, the first pitch motor gear being rotatably coupled to the first pitch actuator by a first pitch motor drive shaft; and (III) a first pitch driven gear rotatably coupled to the first pitch motor gear, wherein the first pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the first pitch actuator; and (B) a first roller drive system assembly, the first roller drive system assembly comprising: (I) a first roller actuator disposed proximal to the first pitch actuator; (II) a first roller motor gear rotatably coupled to the first roller actuator; (III) a first roller drive shaft rotatably coupled to the first roller motor gear, wherein the first roller drive shaft is disposed radially adjacent to the first pitch actuator; and (IV) a first shoulder drive shaft rotatably coupled to the first roller drive shaft, wherein the first shoulder drive shaft is rotationally constrained to a first shoulder assembly, the first shoulder drive shaft including a first lumen defined therethrough, wherein the first pitch motor drive shaft is rotatably disposed through the first lumen, and wherein the first pitch driven gear is rotatably disposed within the first shoulder assembly; and (ii) a second drive system assembly, the second drive system assembly comprising: (A) a second pitch drive system, the second pitch drive system comprising: (I) a second pitch actuator; (II) a second pitch motor gear rotatably coupled to the second pitch actuator by a second pitch motor drive shaft; and (III) a second pitch driven gear rotatably coupled to the second pitch motor gear, wherein the second pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the second pitch actuator; and (B) a second roller drive system assembly, the second roller drive system assembly comprising: (I) a second roller actuator disposed proximal to the second pitch actuator; (II) a second roller motor gear rotatably coupled to the second roller actuator; (III) a second roller drive shaft rotatably coupled to the second roller motor gear, wherein the second roller drive shaft is disposed radially adjacent to the second pitch actuator; and (IV) A second shoulder drive shaft, which is rotatably coupled to the second roller drive shaft, wherein the second shoulder drive shaft is rotationally constrained to a second shoulder assembly, and the second shoulder drive shaft includes a second lumen defined therethrough, wherein the second pitch motor drive shaft is rotatably disposed through the second lumen, and wherein the second pitch driven gear is rotatably disposed within the second shoulder assembly; And (b) a first arm, which is operably coupled to the first shoulder assembly; And (c) a second arm, which is operably coupled to the second shoulder assembly.

11. The robotic surgical device according to claim 10, wherein the elongated device body further includes: (a) a distal section, the width of the distal section of which ranges from about 28 mm to about 30 mm, and the depth of the distal section of which ranges from about 22 mm to about 24 mm; and (b) a proximal section, the diameter of the proximal section of which is greater than the diameter of the distal section.

12. The robotic surgical device according to claim 11, wherein the width of the distal section is about 29 mm and the depth of the distal section is about 23 mm.

13. The robotic surgical device according to claim 11, wherein the proximal section includes a camera port.

14. The robotic surgical device according to claim 10, wherein the arm width of each of the first arm and the second arm ranges from about 13 mm to about 15 mm, and the arm depth of each of the first arm and the second arm ranges from about 20 mm to about 26 mm.

15. The robotic surgical device according to claim 14, wherein the arm width is about 14 mm and the arm depth is about 23 mm.

16. The robotic surgical device according to claim 10, wherein each of the first arm and the second arm includes an upper arm, and the upper arm includes: (a) a rotational drive system, which includes: (i) a rotational actuator; (ii) Rotate the motor gear, which is rotatably coupled to the rotary actuator via a rotary motor drive shaft; And (iii) a rotational driven gear, which is rotatably coupled to the rotational motor gear, wherein the rotational driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the rotational actuator; and (b) a roller drive system assembly, which includes: (A) a roller actuator, which is disposed adjacent to the rotational actuator; (B) at least one roller gear, which is rotatably coupled to the roller actuator; And (C) an elbow drive shaft, which is rotatably coupled to the at least one roller gear, wherein the elbow drive shaft is rotationally constrained to an elbow assembly, and the elbow drive shaft includes a lumen defined therethrough, wherein the rotational motor drive shaft is rotatably disposed through the lumen, and wherein the rotational driven gear is rotatably disposed within the elbow assembly.

17. The robotic surgical device according to claim 16, wherein the upper arm further comprises an upper arm housing and a proximal attachment structure disposed at the proximal end of the upper arm housing, wherein the proximal attachment structure is configured to be capable of coupling to one of the first shoulder assembly and the second shoulder assembly, and wherein the rotational drive system and the roller drive system are disposed within the upper arm housing.

18. The robotic surgical device according to claim 16, wherein each of the first arm and the second arm comprises a forearm and an end effector, the forearm being rotatably coupled to the upper arm, and the end effector being operably coupled to the forearm.

19. A robotic surgical device, comprising: (a) An elongate device body, the elongate device body comprising: (i) A device body housing, the device body housing comprising: (A) A distal section having a distal section diameter; and (B) A proximal section having a proximal section diameter greater than the distal section diameter; (ii) A first drive system assembly disposed within the device body housing, the first drive system assembly comprising: (A) A first pitch drive system, the first pitch drive system comprising: (I) A first pitch actuator; (II) The first pitch motor gear, which is rotatably coupled to the first pitch actuator by a first pitch motor drive shaft; And (III) A first pitch driven gear rotatably coupled to the first pitch motor gear, wherein the first pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the first pitch actuator; and (B) A first roller drive system assembly, the first roller drive system assembly comprising: (I) A first roller actuator disposed proximal to the first pitch actuator; (II) A first roller motor gear rotatably coupled to the first roller actuator; (III) A first roller drive shaft rotatably coupled to the first roller motor gear, wherein the first roller drive shaft is disposed radially adjacent to the first pitch actuator; And (IV) A first shoulder drive shaft rotatably coupled to the first roller drive shaft, wherein the first shoulder drive shaft is rotationally constrained to a first shoulder assembly, the first shoulder drive shaft comprising a first lumen defined therethrough, wherein the first pitch motor drive shaft is rotatably disposed through the first lumen, and wherein the first pitch driven gear is rotatably disposed within the first shoulder assembly; and (ii) A second drive system assembly disposed within the device body housing, the second drive system assembly comprising: (A) A second pitch drive system, the second pitch drive system comprising: (I) A second pitch actuator; (II) A second pitch motor gear rotatably coupled to the second pitch actuator by a second pitch motor drive shaft; And (III) Second pitch driven gear, the second pitch driven gear being rotatably coupled to the second pitch motor gear, wherein the second pitch driven gear rotates about an axis substantially perpendicular to the longitudinal axis of the second pitch actuator; and (B) Second roller drive system assembly, the second roller drive system assembly comprising: (I) Second roller actuator, the second roller actuator being disposed proximal to the second pitch actuator; (II) Second roller motor gear, the second roller motor gear being rotatably coupled to the second roller actuator; (III) Second roller drive shaft, the second roller drive shaft being rotatably coupled to the second roller motor gear, wherein the second roller drive shaft is disposed radially adjacent to the second pitch actuator; and (IV) Second shoulder drive shaft, the second shoulder drive shaft being rotatably coupled to the second roller drive shaft, wherein the second shoulder drive shaft is rotationally constrained to the second shoulder assembly, the second shoulder drive shaft including a second lumen defined therethrough, wherein the second pitch motor drive shaft is rotatably disposed through the second lumen, and wherein the second pitch driven gear is rotatably disposed within the second shoulder assembly; (b) First arm, the first arm being operably coupled to the first shoulder assembly; and (c) Second arm, the second arm being operably coupled to the second shoulder assembly.

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